diff --git a/.gitattributes b/.gitattributes
index 1ef325f1b111266a6b26e0196871bd78baa8c2f3..fa8af47ed994671f4a76f30ea571bcb35ae1c088 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -57,3 +57,129 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_Thompson_Butler_Sat_Nov_13_103.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Spot_SAC_SAC_Wed_Nov_10_49.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_EER_AHG_Tue_Nov_9_40.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_Library_Fountain_Mon_Nov_8_30.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_Butler_Foodtruck_Fri_Nov_26_132.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_NHB_Ahg_Wed_Nov_10_55.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Jackal_SAC_GDC_Fri_Oct_29_14.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_AHG_Cola_Sat_Nov_13_96.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Spot_RLM_OsCafe_Mon_Nov_15_117.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/C_Spot_Rec_Bass_Fri_Nov_26_127.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Spot_Greg_Ahg_Thu_Nov_11_78.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Jackal_Libraryfront_Librarydoors_Thu_Nov_4_20.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_Fountain_Dobie_Fri_Nov_12_83.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_AHG_Library_Wed_Nov_10_46.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Jackal_Greg_GDC_Sat_Nov_13_95.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Jackal_Stadium_Sanjac_Sat_Nov_13_90.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Spot_NHB_Union_Mon_Nov_15_114.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Spot_Welch_Welch_Thu_Nov_11_70.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Spot_Parlin_NHB_Wed_Nov_10_52.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_Library_MLK_Thu_Nov_18_122.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_Library_Fountain_Tue_Nov_16_119.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_Boatbuilding_AHG_Thu_Nov_4_23.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Spot_Library_Jester_Thu_Nov_11_75.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Spot_RLM_RLM_Wed_Nov_10_44.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_Union_Union_Wed_Nov_10_67.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_AHG_GDC_Tue_Nov_9_41.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Spot_Library_Jester_Thu_Nov_11_75.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_Library_MLK_Thu_Nov_18_122.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/D_Spot_PerformingArts_Lbj_Sat_Nov_13_98.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_Lbj_Thompson_Sat_Nov_13_99.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Spot_Library_Greg_Thu_Nov_11_77.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Spot_LBJ_Thompson_Sat_Nov_13_101.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_Jester_Jester_Wed_Nov_10_64.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_Union_Library_Tue_Nov_9_37.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Jackal_Library_Fountain_Fri_Oct_29_10.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_UTTower_Union_Wed_Nov_10_61.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_Fountain_Library_Mon_Nov_8_26.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_Parlin_Parlin_Wed_Nov_10_51.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Jackal_Sanjac_Rec_Sat_Nov_13_91.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Jackal_REC_Footballfield_Sat_Nov_13_93.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_EER_OsCafe_Tue_Nov_9_39.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_Fountain_Library_Tue_Nov_16_120.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/C_Spot_Foodtruck_Bass_Fri_Nov_26_133.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Spot_Speedway_SAC_Wed_Nov_10_48.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Spot_SAC_SAC_Mon_Nov_15_109.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Jackal_Sanjac_Stadium_Sat_Nov_13_89.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Jackal_Library_Sanjac_Sat_Nov_13_88.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Spot_Speedway_SAC_Wed_Nov_10_48.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_Library_AHG_Tue_Nov_9_43.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_Library_Fountain_Mon_Nov_8_25.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Spot_Library_WagnerHall_Mon_Nov_8_29.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/C_Spot_Rec_Tent_Fri_Nov_26_129.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_Library_Fountain_Tue_Nov_9_35.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Spot_Fountain_Union_Tue_Nov_9_36.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_EERC_Ahg_Thu_Nov_11_80.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_Library_AHG_Thu_Nov_4_22.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_Stadium_PerformingArtsCenter_Sat_Nov_13_106.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_EER_AHG_Mon_Nov_8_32.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_Library_Fountain_Mon_Nov_8_30.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_Jester_Jester_Wed_Nov_10_64.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Spot_Fountain_Library_Mon_Nov_8_31.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Spot_Library_WagnerHall_Mon_Nov_8_29.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_Lbj_Thompson_Sat_Nov_13_99.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Jackal_Library_Fountain_Thu_Nov_4_18.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Jackal_Library_AHG_Thu_Oct_28_3.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_Dobie_Fountain_Fri_Nov_12_84.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Spot_Library_EER_Tue_Nov_9_38.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Jackal_Sanjac_Stadium_Sat_Nov_13_89.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_GDC_AHG_Thu_Nov_18_124.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_NHB_Ahg_Wed_Nov_10_55.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_Library_Dobie_Wed_Nov_10_57.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_Fountain_Dobie_Fri_Nov_12_83.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Jackal_Speedway_Speedway_Fri_Oct_29_12.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Spot_Library_MCCombs_Wed_Nov_10_47.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_Library_MLK_Thu_Nov_18_123.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/C_Spot_Speedway_Butler_Fri_Nov_26_131.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_EER_AHG_Tue_Nov_9_40.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_EER_OsCafe_Tue_Nov_9_39.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Jackal_AHG_Library_Thu_Oct_28_1.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Jackal_AHG_Library_Thu_Oct_28_2.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_Dobie_Littlefield_Wed_Nov_10_58.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Spot_Welch_Welch_Thu_Nov_11_70.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Jackal_Fountain_Library_Thu_Nov_4_19.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_GDC_AHG_Thu_Nov_18_124.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Spot_SAC_SAC_Wed_Nov_10_49.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Spot_RLM_OsCafe_Mon_Nov_15_117.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Jackal_REC_Abandon_Sat_Nov_13_92.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Spot_Dobie_Library_Thu_Nov_11_74.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_AHG_Library_Mon_Nov_8_24.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Jackal_REC_Footballfield_Sat_Nov_13_93.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Spot_GDC_AHG_Mon_Nov_15_116.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Spot_Union_SAC_Mon_Nov_15_112.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_NHB_Jester_Wed_Nov_10_62.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_Fountain_Library_Fri_Nov_12_85.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Jackal_SAC_SACindoor_Fri_Oct_29_15.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Spot_NHB_Union_Mon_Nov_15_114.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_Stadium_PerformingArtsCenter_Sat_Nov_13_106.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Spot_JCL_JCL_Thu_Nov_11_76.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_LBJ_Stadium_Sat_Nov_13_105.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_Ahg_Library_Wed_Nov_10_56.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Jackal_GDC_SAC_Fri_Oct_29_13.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_AHG_Cola_Sat_Nov_13_96.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Spot_Union_Dobie_Thu_Nov_11_72.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_Union_Union_Wed_Nov_10_67.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_Dobie_Dobie_Thu_Nov_11_73.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Jackal_Brackenridge_Greg_Sat_Nov_13_94.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Spot_RLM_RLM_Wed_Nov_10_45.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Spot_Thompson_Thompson_Sat_Nov_13_102.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_AHG_Library_Wed_Nov_10_46.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Jackal_Library_AHG_Fri_Oct_29_8.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Spot_Library_SAC_Thu_Nov_11_69.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_Library_AHG_Fri_Nov_12_86.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Spot_Hogg_GDC_Mon_Nov_15_115.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_Bass_Rec_Fri_Nov_26_126.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_Dobie_Littlefield_Wed_Nov_10_58.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_JCL_JCL_Wed_Nov_10_65.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Spot_AHG_Library_Tue_Nov_9_34.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_Bass_Garage_Fri_Nov_26_134.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Spot_Thompson_Thompson_Sat_Nov_13_100.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Spot_SAC_NHB_Mon_Nov_15_113.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Spot_AHG_Library_Mon_Nov_15_107.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Spot_AHG_Union_Mon_Nov_15_111.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Jackal_Fountain_Library_Fri_Oct_29_9.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/B_Spot_Library_Greg_Thu_Nov_11_77.avi filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_AHG_Library_Mon_Nov_8_24.bag filter=lfs diff=lfs merge=lfs -text
+random_mdps/A_Spot_AHG_AHG_Mon_Nov_8_27.avi filter=lfs diff=lfs merge=lfs -text
diff --git a/download_data.py b/download_data.py
new file mode 100644
index 0000000000000000000000000000000000000000..ac8aac33a66083591d13734d5882a82be8dd9291
--- /dev/null
+++ b/download_data.py
@@ -0,0 +1,59 @@
+import os
+import time
+from pyDataverse.api import NativeApi, DataAccessApi
+from pyDataverse.models import Dataverse
+import requests
+
+base_url = 'https://dataverse.tdl.org/'
+api_token = "70fcc8fa-3717-4c1b-863d-2da0fb5d9d35"
+api = NativeApi(base_url, api_token)
+data_api = DataAccessApi(base_url)
+
+DOI = "doi:10.18738/T8/0PRYRH"
+dataset = api.get_dataset(DOI)
+
+if not os.path.exists("random_mdps"):
+    os.makedirs("random_mdps")
+if not os.path.exists("delivery_mdp"):
+    os.makedirs("delivery_mdp")
+
+files_list = dataset.json()['data']['latestVersion']['files']
+
+# Function to download a file with retry mechanism and exponential backoff
+def download_file(download_url, headers, dir, filename):
+    max_retries = 5
+    backoff_factor = 1
+    for attempt in range(max_retries):
+        try:
+            with requests.get(download_url, headers=headers, stream=True) as response:
+                response.raise_for_status()
+                with open(os.path.join(dir, filename), "wb") as f:
+                    for chunk in response.iter_content(chunk_size=8192):
+                        f.write(chunk)
+            print(f"Successfully downloaded: {filename}")
+            return
+        except requests.RequestException as e:
+            wait_time = backoff_factor * (2 ** attempt)
+            print(f"Error downloading {filename}: {str(e)}. Retrying in {wait_time} seconds...")
+            time.sleep(wait_time)
+    print(f"Failed to download {filename} after {max_retries} attempts.")
+
+for file in files_list:
+    filename = file["dataFile"]["filename"]
+    file_id = file["dataFile"]["id"]
+    print(f"Downloading: File name {filename}, id {file_id}")
+
+    # Construct the download URL
+    download_url = f"{base_url}api/access/datafile/{file_id}"
+
+    # Set up the request headers with the API token
+    headers = {'X-Dataverse-key': api_token}
+
+    # Determine the directory
+    dir = "delivery_mdp/" if "DELIVERY" in filename else "random_mdps/"
+
+    # Download the file
+    download_file(download_url, headers, dir, filename)
+
+print("Download process completed.")
+
diff --git a/random_mdps/AB.SCAND_scenarios.png b/random_mdps/AB.SCAND_scenarios.png
new file mode 100644
index 0000000000000000000000000000000000000000..486edb064116ffdba0a3c82dcb8ffe6bd2a2fe11
--- /dev/null
+++ b/random_mdps/AB.SCAND_scenarios.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eac821c56eeee6387964ae922eaf5d5676845caa12d7b311ca28bc969594f67b
+size 412549
diff --git a/random_mdps/AB_Readme_SCANDv2 .pdf b/random_mdps/AB_Readme_SCANDv2 .pdf
new file mode 100644
index 0000000000000000000000000000000000000000..6ff691e6a6b5949e00a097ca7e7928460bbebd84
Binary files /dev/null and b/random_mdps/AB_Readme_SCANDv2 .pdf differ
diff --git a/random_mdps/AB_robots_sensors.png b/random_mdps/AB_robots_sensors.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b637304d89eafe832de6303a1a42028e083446c
--- /dev/null
+++ b/random_mdps/AB_robots_sensors.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c385fce01edd32038394ee60d338cc438e3e640250f1748022663f5c642aaf0
+size 1022694
diff --git a/random_mdps/AB_social_navigation.png b/random_mdps/AB_social_navigation.png
new file mode 100644
index 0000000000000000000000000000000000000000..ff0b6030512d20843a98dbeeb58dabce47bd2451
--- /dev/null
+++ b/random_mdps/AB_social_navigation.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e97c4c40418eba45075d521b95ae268479f5b0eb0f263feea0481477a4a9ccfe
+size 1002699
diff --git a/random_mdps/A_Jackal_AHG_Library_Thu_Oct_28_1.bag b/random_mdps/A_Jackal_AHG_Library_Thu_Oct_28_1.bag
new file mode 100644
index 0000000000000000000000000000000000000000..694398b4de30792b9424d7266da7a98d74cc60b3
--- /dev/null
+++ b/random_mdps/A_Jackal_AHG_Library_Thu_Oct_28_1.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45de4b3492ebe188e42f332cd204ffcd312459def728a4ff5be446baef5467f4
+size 3328856755
diff --git a/random_mdps/A_Jackal_AHG_Library_Thu_Oct_28_2.bag b/random_mdps/A_Jackal_AHG_Library_Thu_Oct_28_2.bag
new file mode 100644
index 0000000000000000000000000000000000000000..d5886ddcb4e5a33414ffb505b93d6be83a56d9b1
--- /dev/null
+++ b/random_mdps/A_Jackal_AHG_Library_Thu_Oct_28_2.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e67614af591441fc8c352b1b241cc2ad6f2cf24e0f83d728071f76d7ed91362
+size 2517274878
diff --git a/random_mdps/A_Jackal_AHG_Library_Thu_Oct_28_7.mp4 b/random_mdps/A_Jackal_AHG_Library_Thu_Oct_28_7.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eedd76a3f6076e2f0261b4f3d5b12629a3fffd30
--- /dev/null
+++ b/random_mdps/A_Jackal_AHG_Library_Thu_Oct_28_7.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1362a1c5d03d1db612b10026a95c50b15badbe14ac6cf6861742b6eb32e6bac2
+size 341236311
diff --git a/random_mdps/A_Jackal_Brackenridge_Greg_Sat_Nov_13_94.bag b/random_mdps/A_Jackal_Brackenridge_Greg_Sat_Nov_13_94.bag
new file mode 100644
index 0000000000000000000000000000000000000000..c5bda825267aca8d601874cc749a9cdb23a34c1a
--- /dev/null
+++ b/random_mdps/A_Jackal_Brackenridge_Greg_Sat_Nov_13_94.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:094c04cd69787b77d5cb701a119ba8c464ca8bcbec3f262447b5bdcd17dde7f9
+size 616997827
diff --git a/random_mdps/A_Jackal_Fountain_Library_Fri_Oct_29_9.bag b/random_mdps/A_Jackal_Fountain_Library_Fri_Oct_29_9.bag
new file mode 100644
index 0000000000000000000000000000000000000000..ba14016f22c87facae67cd2b439cedf37e5640c9
--- /dev/null
+++ b/random_mdps/A_Jackal_Fountain_Library_Fri_Oct_29_9.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5f6246d472d1193d6f6d1b0b5ade8b02e0bdc566793a48da3db54c2cbc79b46
+size 1970837391
diff --git a/random_mdps/A_Jackal_Fountain_Library_Fri_Oct_29_9.mp4 b/random_mdps/A_Jackal_Fountain_Library_Fri_Oct_29_9.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..05934282898ecbb39088fc9755cb2e05feed2c81
--- /dev/null
+++ b/random_mdps/A_Jackal_Fountain_Library_Fri_Oct_29_9.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:107c36c09a02013ef127b33faf5ddec5a1ca0978b63915cd427a02add8700a52
+size 157695006
diff --git a/random_mdps/A_Jackal_Fountain_Library_Thu_Nov_4_19.bag b/random_mdps/A_Jackal_Fountain_Library_Thu_Nov_4_19.bag
new file mode 100644
index 0000000000000000000000000000000000000000..c53f4118fabee2064bd5e0a4d53d808c4a161192
--- /dev/null
+++ b/random_mdps/A_Jackal_Fountain_Library_Thu_Nov_4_19.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d864c60d536cd66bfbabb65a2b111da773ec780497a6432b2faaadab55f2a334
+size 1202905818
diff --git a/random_mdps/A_Jackal_Fountain_Mccombs_Thu_Oct_28_6.mp4 b/random_mdps/A_Jackal_Fountain_Mccombs_Thu_Oct_28_6.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4ac79012e36a9f58997b7adc44da7e7dfb33be16
--- /dev/null
+++ b/random_mdps/A_Jackal_Fountain_Mccombs_Thu_Oct_28_6.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35d4850f07f0de9b0148b61894a0f84a532fc0fc7afa1114bb1c9edb9a9e6ac7
+size 55308059
diff --git a/random_mdps/A_Jackal_GDC_GDC_Fri_Oct_29_11.mp4 b/random_mdps/A_Jackal_GDC_GDC_Fri_Oct_29_11.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ae0616cccce76d0e2ed20b0550f80393be927f33
--- /dev/null
+++ b/random_mdps/A_Jackal_GDC_GDC_Fri_Oct_29_11.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96dfe2562fed7f0f46b5b5b1d59b4bb1312fc7a3be3a06c595349afa5fa65dad
+size 2035922
diff --git a/random_mdps/A_Jackal_GDC_SAC_Fri_Oct_29_13.bag b/random_mdps/A_Jackal_GDC_SAC_Fri_Oct_29_13.bag
new file mode 100644
index 0000000000000000000000000000000000000000..d086a725c26a702fdaf12142b05e8b3bae45e6a1
--- /dev/null
+++ b/random_mdps/A_Jackal_GDC_SAC_Fri_Oct_29_13.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bd175d7f0e8ac159b05a4fe0ae564ec497185837d99b2545cba31c295053a7e
+size 405104244
diff --git a/random_mdps/A_Jackal_GDC_SAC_Fri_Oct_29_13.mp4 b/random_mdps/A_Jackal_GDC_SAC_Fri_Oct_29_13.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e9fca7cd43035329ef8073762a743f207bf8660e
--- /dev/null
+++ b/random_mdps/A_Jackal_GDC_SAC_Fri_Oct_29_13.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b02d02b808b63c44781980976c24828188c3785191213f7127264d5c9465883
+size 29307230
diff --git a/random_mdps/A_Jackal_Greg_GDC_Sat_Nov_13_95.bag b/random_mdps/A_Jackal_Greg_GDC_Sat_Nov_13_95.bag
new file mode 100644
index 0000000000000000000000000000000000000000..52c16e6d1ea7e554262027876773ed019a43285f
--- /dev/null
+++ b/random_mdps/A_Jackal_Greg_GDC_Sat_Nov_13_95.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2af9c969c00a426d06ec1f5a613d538b49d11f0c015943c0383ac6160ffd0440
+size 440693701
diff --git a/random_mdps/A_Jackal_Library_AHG_Fri_Oct_29_8.bag b/random_mdps/A_Jackal_Library_AHG_Fri_Oct_29_8.bag
new file mode 100644
index 0000000000000000000000000000000000000000..34e4fc47eae237550a99f83be5e4970e5de77e6a
--- /dev/null
+++ b/random_mdps/A_Jackal_Library_AHG_Fri_Oct_29_8.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d127ebf0958a196a7b62c8c825e335b82a0856720aedd5ea1d4a1e4fb8c15a50
+size 3726130110
diff --git a/random_mdps/A_Jackal_Library_AHG_Fri_Oct_29_8.mp4 b/random_mdps/A_Jackal_Library_AHG_Fri_Oct_29_8.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b3b7c2c0d42c87e9596a28ff45245bcd75882680
--- /dev/null
+++ b/random_mdps/A_Jackal_Library_AHG_Fri_Oct_29_8.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50e02867cb0f8b82e183c92765f7ea976a2459ef87663ae1f7d04c1f343d05d1
+size 276535267
diff --git a/random_mdps/A_Jackal_Library_AHG_Thu_Oct_28_3.bag b/random_mdps/A_Jackal_Library_AHG_Thu_Oct_28_3.bag
new file mode 100644
index 0000000000000000000000000000000000000000..85920e085e6186ec9cdbfda805211991c71d13e4
--- /dev/null
+++ b/random_mdps/A_Jackal_Library_AHG_Thu_Oct_28_3.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8eb40f9b25a8a0e28d90e5b5b82c192a8f77f48a91275670d2bae58b15c037a8
+size 2518193901
diff --git a/random_mdps/A_Jackal_Library_Fountain_Fri_Oct_29_10.bag b/random_mdps/A_Jackal_Library_Fountain_Fri_Oct_29_10.bag
new file mode 100644
index 0000000000000000000000000000000000000000..468a66211bdb76a1b11693b8b5004afbcf091bca
--- /dev/null
+++ b/random_mdps/A_Jackal_Library_Fountain_Fri_Oct_29_10.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9682fe56b7c992af6a46c770bac76263ebf2928b2ca7c249cf6a42ff3a3743bf
+size 1631318720
diff --git a/random_mdps/A_Jackal_Library_Fountain_Fri_Oct_29_10.mp4 b/random_mdps/A_Jackal_Library_Fountain_Fri_Oct_29_10.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..db7caa43faae6d100b24e902e2c5cf0c99c92f5d
--- /dev/null
+++ b/random_mdps/A_Jackal_Library_Fountain_Fri_Oct_29_10.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:935e0347e0ff2d79c736e908201d4614592dbc3ec38039774bed48d298282655
+size 120507017
diff --git a/random_mdps/A_Jackal_Library_Fountain_Thu_Nov_4_18.avi b/random_mdps/A_Jackal_Library_Fountain_Thu_Nov_4_18.avi
new file mode 100644
index 0000000000000000000000000000000000000000..94a5bc54acd66e5fc1b26cfd6e63fe4ab533a595
--- /dev/null
+++ b/random_mdps/A_Jackal_Library_Fountain_Thu_Nov_4_18.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f272319272d2aebca5973f5b1ee401135aa296c17b1772aa2e61c963b7f3f36f
+size 74682378
diff --git a/random_mdps/A_Jackal_Library_Fountain_Thu_Oct_28_5.mp4 b/random_mdps/A_Jackal_Library_Fountain_Thu_Oct_28_5.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..80570fc947aef4de0c57d85b198f28148906144b
--- /dev/null
+++ b/random_mdps/A_Jackal_Library_Fountain_Thu_Oct_28_5.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5adcf92ee1795977e99fb968ed8250562c217e27ed313891b073d15a11c462b6
+size 80119293
diff --git a/random_mdps/A_Jackal_Libraryfront_Librarydoors_Thu_Nov_4_20.bag b/random_mdps/A_Jackal_Libraryfront_Librarydoors_Thu_Nov_4_20.bag
new file mode 100644
index 0000000000000000000000000000000000000000..b1f3924790b22cc8238851c6851249e98f27e19e
--- /dev/null
+++ b/random_mdps/A_Jackal_Libraryfront_Librarydoors_Thu_Nov_4_20.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b017f2024fd8a05c414a4e97da05f600f2d92c7d68eb78f58418ffe949b6a370
+size 336944282
diff --git a/random_mdps/A_Jackal_REC_Abandon_Sat_Nov_13_92.avi b/random_mdps/A_Jackal_REC_Abandon_Sat_Nov_13_92.avi
new file mode 100644
index 0000000000000000000000000000000000000000..9b49c81a9221d07a97261553358553376b9f3cd8
--- /dev/null
+++ b/random_mdps/A_Jackal_REC_Abandon_Sat_Nov_13_92.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:665d8cca1a2c4a650c6c85080ab4ac4b7dd0ee5572eb0d8590fda62c17146668
+size 28089908
diff --git a/random_mdps/A_Jackal_SAC_GDC_Fri_Oct_29_14.bag b/random_mdps/A_Jackal_SAC_GDC_Fri_Oct_29_14.bag
new file mode 100644
index 0000000000000000000000000000000000000000..e844de799a713f118ccd06af03d4992f46d87389
--- /dev/null
+++ b/random_mdps/A_Jackal_SAC_GDC_Fri_Oct_29_14.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f697a15d5df30c4b81e47f9d7128ad5c313071dc889e2095fdb5e0d204b03da
+size 241482439
diff --git a/random_mdps/A_Jackal_SAC_GDC_Fri_Oct_29_14.mp4 b/random_mdps/A_Jackal_SAC_GDC_Fri_Oct_29_14.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..edf5abf1110dbeaad477f41fede2de1a5387c04e
--- /dev/null
+++ b/random_mdps/A_Jackal_SAC_GDC_Fri_Oct_29_14.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:735267b030d963ef6e978a0e391f7d7c9beaa07ac9cafb1838fce003ca7ce84b
+size 20428609
diff --git a/random_mdps/A_Jackal_SAC_SACindoor_Fri_Oct_29_15.bag b/random_mdps/A_Jackal_SAC_SACindoor_Fri_Oct_29_15.bag
new file mode 100644
index 0000000000000000000000000000000000000000..6e3914bd2188ff25e11c6cfd6ad69980f9cf6d0b
--- /dev/null
+++ b/random_mdps/A_Jackal_SAC_SACindoor_Fri_Oct_29_15.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a053d21b67906607d71a9932bf821cdb73cd9bab892db6609aa99522ce0e50d
+size 96312239
diff --git a/random_mdps/A_Jackal_SAC_SACindoor_Fri_Oct_29_15.mp4 b/random_mdps/A_Jackal_SAC_SACindoor_Fri_Oct_29_15.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6862b478a23c3a3806aa526819d08230299b940f
--- /dev/null
+++ b/random_mdps/A_Jackal_SAC_SACindoor_Fri_Oct_29_15.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55c4bd145925b77f41eac8b3df2a3b06d8eee25e6ee93025fb92d5a16e554f4a
+size 5243509
diff --git a/random_mdps/A_Jackal_Sanjac_Rec_Sat_Nov_13_91.bag b/random_mdps/A_Jackal_Sanjac_Rec_Sat_Nov_13_91.bag
new file mode 100644
index 0000000000000000000000000000000000000000..de28e68b3dac5f7c934f9e7ea71c46c17e5cf350
--- /dev/null
+++ b/random_mdps/A_Jackal_Sanjac_Rec_Sat_Nov_13_91.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:429126ad912d37557d2bd9334325b11bc9ec9135b73eda76c80513305d3d6f99
+size 1022914246
diff --git a/random_mdps/A_Jackal_Speedway_Speedway_Fri_Oct_29_12.bag b/random_mdps/A_Jackal_Speedway_Speedway_Fri_Oct_29_12.bag
new file mode 100644
index 0000000000000000000000000000000000000000..cb2a1c2eda9c62d668c9a11642e8c8955f282595
--- /dev/null
+++ b/random_mdps/A_Jackal_Speedway_Speedway_Fri_Oct_29_12.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46c59d8564dc4ed5d32f9453ca5ab7c8badc8bae9be69c6194525f72240429cc
+size 1171532913
diff --git a/random_mdps/A_Jackal_Speedway_Speedway_Fri_Oct_29_12.mp4 b/random_mdps/A_Jackal_Speedway_Speedway_Fri_Oct_29_12.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2363aa1494478d1d87a31313dc6509704d70bfaf
--- /dev/null
+++ b/random_mdps/A_Jackal_Speedway_Speedway_Fri_Oct_29_12.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7382d5c4efaafc1f1bbf06693946333deae0c5ae999cd48cfe691ef813066572
+size 84199386
diff --git a/random_mdps/A_Spot_AHG_AHG_Mon_Nov_8_27.avi b/random_mdps/A_Spot_AHG_AHG_Mon_Nov_8_27.avi
new file mode 100644
index 0000000000000000000000000000000000000000..c92d3d8baf54341008e4c0c585cce813a24bcd01
--- /dev/null
+++ b/random_mdps/A_Spot_AHG_AHG_Mon_Nov_8_27.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82290bba3ddb5bd9d00a9eea27bd385e8b77d27df2295ae84899337a8c042614
+size 780343522
diff --git a/random_mdps/A_Spot_AHG_Cola_Sat_Nov_13_96.avi b/random_mdps/A_Spot_AHG_Cola_Sat_Nov_13_96.avi
new file mode 100644
index 0000000000000000000000000000000000000000..551ff755c9a5705cb784fca6cd4d967fe0c95998
--- /dev/null
+++ b/random_mdps/A_Spot_AHG_Cola_Sat_Nov_13_96.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:302be22d8e1e313adc6e4bff39d9005da1f14af129101bfcc9caaf3378be0278
+size 276068660
diff --git a/random_mdps/A_Spot_AHG_Cola_Sat_Nov_13_96.bag b/random_mdps/A_Spot_AHG_Cola_Sat_Nov_13_96.bag
new file mode 100644
index 0000000000000000000000000000000000000000..4a1fbd74a4ef846a8b3b3daf00dcd32fe1204297
--- /dev/null
+++ b/random_mdps/A_Spot_AHG_Cola_Sat_Nov_13_96.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a375d6bb80d3b4d9a13bd633f1ea78b8eda537091bc5cf9e3374ada9c5b3e2cb
+size 3497698505
diff --git a/random_mdps/A_Spot_AHG_Fountain_Mon_Dec_20_137.mp4 b/random_mdps/A_Spot_AHG_Fountain_Mon_Dec_20_137.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7c14b96a6ef03312308c5636590ae47fb66ede43
--- /dev/null
+++ b/random_mdps/A_Spot_AHG_Fountain_Mon_Dec_20_137.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:396a44151fb649e1fd9d11e08c56ea74ad7c7594e39aeb6be68876509edf20a8
+size 30462536
diff --git a/random_mdps/A_Spot_AHG_GDC_Tue_Nov_9_41.avi b/random_mdps/A_Spot_AHG_GDC_Tue_Nov_9_41.avi
new file mode 100644
index 0000000000000000000000000000000000000000..fdf6b96b0c1f0a29d0efd21119fb65ac0bd3b047
--- /dev/null
+++ b/random_mdps/A_Spot_AHG_GDC_Tue_Nov_9_41.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09db295f28d89b6191943e12faa6d30004eee8edc433fc6eaa4d46ccb0a62f81
+size 171378174
diff --git a/random_mdps/A_Spot_AHG_Library_Mon_Nov_8_24.avi b/random_mdps/A_Spot_AHG_Library_Mon_Nov_8_24.avi
new file mode 100644
index 0000000000000000000000000000000000000000..216b0c11b9f7b3d6704a6e7ed0b9d5dd91d874b2
--- /dev/null
+++ b/random_mdps/A_Spot_AHG_Library_Mon_Nov_8_24.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53c4e51d6c7efc432bed2cdebb2f7d40a72a677621b836ee206f07901a2e1d50
+size 337161128
diff --git a/random_mdps/A_Spot_AHG_Library_Mon_Nov_8_24.bag b/random_mdps/A_Spot_AHG_Library_Mon_Nov_8_24.bag
new file mode 100644
index 0000000000000000000000000000000000000000..44ef31c450584173f168ee79ab6bed385aa1aeb8
--- /dev/null
+++ b/random_mdps/A_Spot_AHG_Library_Mon_Nov_8_24.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ace10d6d88af32907b088351fdb2ba2d3dd31731b993954742eec1d50f7714c
+size 4037570186
diff --git a/random_mdps/A_Spot_AHG_Library_Tue_Nov_16_118.mp4 b/random_mdps/A_Spot_AHG_Library_Tue_Nov_16_118.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c803b9e17820c29dc1afd96a04ae4ef96e4b761a
--- /dev/null
+++ b/random_mdps/A_Spot_AHG_Library_Tue_Nov_16_118.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bb4d699482ac22da7ce07d186d7fd0d688fdcd3dfa569840880016e63630b3c
+size 24491272
diff --git a/random_mdps/A_Spot_AHG_Library_Wed_Nov_10_46.avi b/random_mdps/A_Spot_AHG_Library_Wed_Nov_10_46.avi
new file mode 100644
index 0000000000000000000000000000000000000000..620aaa2eae8e9c3135dd1e78a327208f4721b47f
--- /dev/null
+++ b/random_mdps/A_Spot_AHG_Library_Wed_Nov_10_46.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c5830c703e2dcefd2e566588298e63feb562876a9351ef3310e63482f4a33d7
+size 391938890
diff --git a/random_mdps/A_Spot_AHG_Library_Wed_Nov_10_46.bag b/random_mdps/A_Spot_AHG_Library_Wed_Nov_10_46.bag
new file mode 100644
index 0000000000000000000000000000000000000000..15a9f478e2a1739256e36480cff1077f8d6e4a3a
--- /dev/null
+++ b/random_mdps/A_Spot_AHG_Library_Wed_Nov_10_46.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7804347355769ee77116851410bf470f6f6ffbf38ec413a03bd3c2ab95152ac7
+size 4640537320
diff --git a/random_mdps/A_Spot_Ahg_Library_Wed_Nov_10_56.bag b/random_mdps/A_Spot_Ahg_Library_Wed_Nov_10_56.bag
new file mode 100644
index 0000000000000000000000000000000000000000..423c2de59aed628626d492606639e50065614ff6
--- /dev/null
+++ b/random_mdps/A_Spot_Ahg_Library_Wed_Nov_10_56.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a5359d9f9c7248bd27525b87b583de0aa5e189107f86ad1bf699be19c3d9c46
+size 4405971164
diff --git a/random_mdps/A_Spot_Bass_Garage_Fri_Nov_26_134.bag b/random_mdps/A_Spot_Bass_Garage_Fri_Nov_26_134.bag
new file mode 100644
index 0000000000000000000000000000000000000000..a5506fdb1b5c75c7415988b20c1c8ac9f8577cc7
--- /dev/null
+++ b/random_mdps/A_Spot_Bass_Garage_Fri_Nov_26_134.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c51d9503744fb4b60b92222e4edb677a4910a66109a3d22e6a5694ae152785c
+size 640252794
diff --git a/random_mdps/A_Spot_Bass_Garage_Fri_Nov_26_134.mp4 b/random_mdps/A_Spot_Bass_Garage_Fri_Nov_26_134.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9a4278718fc6dc8aacee9ce332cfccc57cf580d5
--- /dev/null
+++ b/random_mdps/A_Spot_Bass_Garage_Fri_Nov_26_134.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e836ea9125665061e5f37b867dfd77f236202d0a02ba52eb4a12a637f8401282
+size 5575792
diff --git a/random_mdps/A_Spot_Bass_Rec_Fri_Nov_26_126.bag b/random_mdps/A_Spot_Bass_Rec_Fri_Nov_26_126.bag
new file mode 100644
index 0000000000000000000000000000000000000000..7817d0b6ae3d1e18ca418a2c843b2925a5bb0413
--- /dev/null
+++ b/random_mdps/A_Spot_Bass_Rec_Fri_Nov_26_126.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2e97e9a87de9396be59ccb6c13426b9afa560dc578daf75829e2fd701f1d81c
+size 4966185501
diff --git a/random_mdps/A_Spot_Boatbuilding_AHG_Thu_Nov_4_23.bag b/random_mdps/A_Spot_Boatbuilding_AHG_Thu_Nov_4_23.bag
new file mode 100644
index 0000000000000000000000000000000000000000..78fe3ae2ed3c929e18b24b5517b29ed9488a80f3
--- /dev/null
+++ b/random_mdps/A_Spot_Boatbuilding_AHG_Thu_Nov_4_23.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df88f441509ce48574f22d1eb31ca1ed880e9ca1e21043b1b2599311547717fe
+size 880319407
diff --git a/random_mdps/A_Spot_Butler_Foodtruck_Fri_Nov_26_132.avi b/random_mdps/A_Spot_Butler_Foodtruck_Fri_Nov_26_132.avi
new file mode 100644
index 0000000000000000000000000000000000000000..a884aad8cb1dc37b798cfbea72ac89981f3c5099
--- /dev/null
+++ b/random_mdps/A_Spot_Butler_Foodtruck_Fri_Nov_26_132.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c684f09cfb8f833ed1f52bad98a25af3f854c8c8fe48c748a956ef9aa7735d7d
+size 118864958
diff --git a/random_mdps/A_Spot_Dobie_Dobie_Thu_Nov_11_73.bag b/random_mdps/A_Spot_Dobie_Dobie_Thu_Nov_11_73.bag
new file mode 100644
index 0000000000000000000000000000000000000000..196ab8e48418cf025167193b7b85849bd564007e
--- /dev/null
+++ b/random_mdps/A_Spot_Dobie_Dobie_Thu_Nov_11_73.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd9ed89f825aaea56fe21f1ae3c1749d935006abe2eb01951c68819f59bbb2b6
+size 570880576
diff --git a/random_mdps/A_Spot_Dobie_Fountain_Fri_Nov_12_84.avi b/random_mdps/A_Spot_Dobie_Fountain_Fri_Nov_12_84.avi
new file mode 100644
index 0000000000000000000000000000000000000000..f44a6a3e13c6ae45dd08d3bd94d67efcf5edf84d
--- /dev/null
+++ b/random_mdps/A_Spot_Dobie_Fountain_Fri_Nov_12_84.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bfc998877837f5a71a6565ef37109011c7a58fc0d58be8181687c5c37a95b43
+size 57328402
diff --git a/random_mdps/A_Spot_Dobie_Littlefield_Wed_Nov_10_58.avi b/random_mdps/A_Spot_Dobie_Littlefield_Wed_Nov_10_58.avi
new file mode 100644
index 0000000000000000000000000000000000000000..c010194c1d5743e134182f2ee58d85cae51524bd
--- /dev/null
+++ b/random_mdps/A_Spot_Dobie_Littlefield_Wed_Nov_10_58.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:824b1583220ca66eb14555cd0f58ca78bc434093611c5af6c1f3dc7765b1fcbe
+size 80518986
diff --git a/random_mdps/A_Spot_Dobie_Littlefield_Wed_Nov_10_58.bag b/random_mdps/A_Spot_Dobie_Littlefield_Wed_Nov_10_58.bag
new file mode 100644
index 0000000000000000000000000000000000000000..f70631055e981dcc7d26caa53e4681eb79236896
--- /dev/null
+++ b/random_mdps/A_Spot_Dobie_Littlefield_Wed_Nov_10_58.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5a0265faafa7cebda09965e841984623e951d6e5611769265df5a97e87387a3
+size 852673934
diff --git a/random_mdps/A_Spot_EERC_Ahg_Thu_Nov_11_80.avi b/random_mdps/A_Spot_EERC_Ahg_Thu_Nov_11_80.avi
new file mode 100644
index 0000000000000000000000000000000000000000..28249fa01dcc0d2edde3a235c9a9444b18a2ed40
--- /dev/null
+++ b/random_mdps/A_Spot_EERC_Ahg_Thu_Nov_11_80.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c4512ad52ad0a22a654a9b63781542cb6cc4d5597b952376f63aa7332cbb1ad
+size 84654862
diff --git a/random_mdps/A_Spot_EER_AHG_Mon_Nov_8_32.bag b/random_mdps/A_Spot_EER_AHG_Mon_Nov_8_32.bag
new file mode 100644
index 0000000000000000000000000000000000000000..cda589c8a10cb11ba01adbadc852f4ead2f833f2
--- /dev/null
+++ b/random_mdps/A_Spot_EER_AHG_Mon_Nov_8_32.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7058633db470143b5af82a879a030ec48d5fb38edd57b5364a45ef912bbd1edf
+size 2064909533
diff --git a/random_mdps/A_Spot_EER_AHG_Tue_Nov_9_40.avi b/random_mdps/A_Spot_EER_AHG_Tue_Nov_9_40.avi
new file mode 100644
index 0000000000000000000000000000000000000000..20a32f2b5ae734aa1fd5a5715615f06cf09b7277
--- /dev/null
+++ b/random_mdps/A_Spot_EER_AHG_Tue_Nov_9_40.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa3cde24b9e6ccf50feec7697c3f81f0da4a76716302d017f20a5ecae0a8b7ca
+size 107533058
diff --git a/random_mdps/A_Spot_EER_AHG_Tue_Nov_9_40.bag b/random_mdps/A_Spot_EER_AHG_Tue_Nov_9_40.bag
new file mode 100644
index 0000000000000000000000000000000000000000..b17409b9e89acfddc8b525da1e7559d0219bb313
--- /dev/null
+++ b/random_mdps/A_Spot_EER_AHG_Tue_Nov_9_40.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5789cacad6ef3838a608ef1483376c8d3dbe46e66232fc36739f7c7b8742e7ce
+size 1428253714
diff --git a/random_mdps/A_Spot_EER_OsCafe_Tue_Nov_9_39.avi b/random_mdps/A_Spot_EER_OsCafe_Tue_Nov_9_39.avi
new file mode 100644
index 0000000000000000000000000000000000000000..f32b18d09c7ffd3c0997a290027a851577193895
--- /dev/null
+++ b/random_mdps/A_Spot_EER_OsCafe_Tue_Nov_9_39.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e873ad10889ff445e9f3e67c6294f86c2c0f05c0c34f05663984e4a8344e8701
+size 55875098
diff --git a/random_mdps/A_Spot_EER_OsCafe_Tue_Nov_9_39.bag b/random_mdps/A_Spot_EER_OsCafe_Tue_Nov_9_39.bag
new file mode 100644
index 0000000000000000000000000000000000000000..eff4e535b68d5803d41444dee8432df494756674
--- /dev/null
+++ b/random_mdps/A_Spot_EER_OsCafe_Tue_Nov_9_39.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9e7760d01f59635382595cce7ac8050a9b305e45e469f8cb091e4105d3e81dc
+size 1148479919
diff --git a/random_mdps/A_Spot_Fountain_Dobie_Fri_Nov_12_83.avi b/random_mdps/A_Spot_Fountain_Dobie_Fri_Nov_12_83.avi
new file mode 100644
index 0000000000000000000000000000000000000000..6106efbeebd07d8c8018c6cb7e36ef5e526d7f0c
--- /dev/null
+++ b/random_mdps/A_Spot_Fountain_Dobie_Fri_Nov_12_83.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0562921aa5e37e3a2d4a8e0ae372080603b7889ff14720c8cff716eb7031bad9
+size 63688150
diff --git a/random_mdps/A_Spot_Fountain_Dobie_Fri_Nov_12_83.bag b/random_mdps/A_Spot_Fountain_Dobie_Fri_Nov_12_83.bag
new file mode 100644
index 0000000000000000000000000000000000000000..cf8a2ef389ce80782563b9a1c2ba361bbe3d8540
--- /dev/null
+++ b/random_mdps/A_Spot_Fountain_Dobie_Fri_Nov_12_83.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:866a415396a242f93ba1b84ab81e39f91e784a69a5b19f36c82e331972ed55ab
+size 1028378882
diff --git a/random_mdps/A_Spot_Fountain_Greg_Mon_Dec_20_138.mp4 b/random_mdps/A_Spot_Fountain_Greg_Mon_Dec_20_138.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b2c0f42b06a374ac9e12d094fea001cbae7700ed
--- /dev/null
+++ b/random_mdps/A_Spot_Fountain_Greg_Mon_Dec_20_138.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32df1e0aeb3cf186f3e4efc9f91e669958f0104e8d79339d3dd9ba43414852ad
+size 21705004
diff --git a/random_mdps/A_Spot_Fountain_Library_Fri_Nov_12_85.bag b/random_mdps/A_Spot_Fountain_Library_Fri_Nov_12_85.bag
new file mode 100644
index 0000000000000000000000000000000000000000..50591e5a644c59145a9f5698593a277c2d3cb422
--- /dev/null
+++ b/random_mdps/A_Spot_Fountain_Library_Fri_Nov_12_85.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5b4bedf2daebbd3d50a19a14c65d0952f6042eb4b1098355944d36bbc532380
+size 1345282199
diff --git a/random_mdps/A_Spot_Fountain_Library_Mon_Nov_8_26.bag b/random_mdps/A_Spot_Fountain_Library_Mon_Nov_8_26.bag
new file mode 100644
index 0000000000000000000000000000000000000000..998b359934b92e39c249b85af3d4107d09803596
--- /dev/null
+++ b/random_mdps/A_Spot_Fountain_Library_Mon_Nov_8_26.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4bc49ab175731a43d6f1da8a5900210836cb8292e4924e3553f79da72c01557
+size 1718261124
diff --git a/random_mdps/A_Spot_Fountain_Library_Tue_Nov_16_120.bag b/random_mdps/A_Spot_Fountain_Library_Tue_Nov_16_120.bag
new file mode 100644
index 0000000000000000000000000000000000000000..e81bf38548be5daf73f0b98b60636321f19ebd0d
--- /dev/null
+++ b/random_mdps/A_Spot_Fountain_Library_Tue_Nov_16_120.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21ce7ff4192e58c35a0b92fbba4a57233ad505893e2f8f2098cc7ee1f9343d3b
+size 947344256
diff --git a/random_mdps/A_Spot_Fountain_Library_Tue_Nov_16_120.mp4 b/random_mdps/A_Spot_Fountain_Library_Tue_Nov_16_120.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..02ddc91c63502cf8859a55a5ff454560ea7ab5a6
--- /dev/null
+++ b/random_mdps/A_Spot_Fountain_Library_Tue_Nov_16_120.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61d32bd2829b0c49d4b5c94a7c117f77730e8419e28422c3ce075562d3e5ade7
+size 12241788
diff --git a/random_mdps/A_Spot_GDC_AHG_Thu_Nov_18_124.avi b/random_mdps/A_Spot_GDC_AHG_Thu_Nov_18_124.avi
new file mode 100644
index 0000000000000000000000000000000000000000..1b6ed2b6fc3b27f8e54423668e96dd5c67c3a89f
--- /dev/null
+++ b/random_mdps/A_Spot_GDC_AHG_Thu_Nov_18_124.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e69964a2cdf1b29cace73b7d8f77fc86414c3138f2059979fe66bca2a7240b6
+size 107058084
diff --git a/random_mdps/A_Spot_GDC_AHG_Thu_Nov_18_124.bag b/random_mdps/A_Spot_GDC_AHG_Thu_Nov_18_124.bag
new file mode 100644
index 0000000000000000000000000000000000000000..4e15868f031282bde9f7106e693d7769099fd02a
--- /dev/null
+++ b/random_mdps/A_Spot_GDC_AHG_Thu_Nov_18_124.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a9deae2ed87f87fb0c3d3e621e2de1a2a76e574cfb279505f60506816cfb701
+size 1512143559
diff --git a/random_mdps/A_Spot_JCL_JCL_Wed_Nov_10_65.bag b/random_mdps/A_Spot_JCL_JCL_Wed_Nov_10_65.bag
new file mode 100644
index 0000000000000000000000000000000000000000..f9f460cf23087cc420653860a7e8a9408b4af842
--- /dev/null
+++ b/random_mdps/A_Spot_JCL_JCL_Wed_Nov_10_65.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a02967d7d36a3199497b057b6b186d5825eb9fa4b6e3410fce853134d7c2b856
+size 813331442
diff --git a/random_mdps/A_Spot_Jester_Jester_Wed_Nov_10_64.avi b/random_mdps/A_Spot_Jester_Jester_Wed_Nov_10_64.avi
new file mode 100644
index 0000000000000000000000000000000000000000..e5efacf67a760238c84b91f194e0decb8adda414
--- /dev/null
+++ b/random_mdps/A_Spot_Jester_Jester_Wed_Nov_10_64.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97883c47de91476e9c2531fc227f7c199f9d9ee56f45d9c9d7d2355e11cb023f
+size 41933710
diff --git a/random_mdps/A_Spot_Jester_Jester_Wed_Nov_10_64.bag b/random_mdps/A_Spot_Jester_Jester_Wed_Nov_10_64.bag
new file mode 100644
index 0000000000000000000000000000000000000000..db107ccc2ebf4f2343e0901fb7d3e1f3a5deeb2a
--- /dev/null
+++ b/random_mdps/A_Spot_Jester_Jester_Wed_Nov_10_64.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76d63449dd315f227cbe5ae2da8d72e55649ccd64b92576f4a45b6ace7ba1818
+size 955629533
diff --git a/random_mdps/A_Spot_LBJ_Stadium_Sat_Nov_13_105.avi b/random_mdps/A_Spot_LBJ_Stadium_Sat_Nov_13_105.avi
new file mode 100644
index 0000000000000000000000000000000000000000..0c30f0d379066490f4680c7daecda82cda27480d
--- /dev/null
+++ b/random_mdps/A_Spot_LBJ_Stadium_Sat_Nov_13_105.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2fcee7f9dec1bb77dbb7f802094a52222f0e18386a39bf8ca6f02721f6efb37
+size 185439266
diff --git a/random_mdps/A_Spot_Lbj_Thompson_Sat_Nov_13_99.avi b/random_mdps/A_Spot_Lbj_Thompson_Sat_Nov_13_99.avi
new file mode 100644
index 0000000000000000000000000000000000000000..9fc81f5d0ac43a3f71f7c64860b1d663d09c825c
--- /dev/null
+++ b/random_mdps/A_Spot_Lbj_Thompson_Sat_Nov_13_99.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51fe20711d2200434333078df2ed833a829c6f77d8ae7650a320a1c6fee55c60
+size 117065438
diff --git a/random_mdps/A_Spot_Lbj_Thompson_Sat_Nov_13_99.bag b/random_mdps/A_Spot_Lbj_Thompson_Sat_Nov_13_99.bag
new file mode 100644
index 0000000000000000000000000000000000000000..53d57b828e2c8d65c355b5a864f75276ef4c4159
--- /dev/null
+++ b/random_mdps/A_Spot_Lbj_Thompson_Sat_Nov_13_99.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6729b95b67c6e4813492bfa08533e2e1e5e402deabd5270799abbd6f74e6012
+size 2386785231
diff --git a/random_mdps/A_Spot_Library_AHG_Fri_Nov_12_86.avi b/random_mdps/A_Spot_Library_AHG_Fri_Nov_12_86.avi
new file mode 100644
index 0000000000000000000000000000000000000000..5af1ebf40709b91af75d29bd2b21a07d42d7d428
--- /dev/null
+++ b/random_mdps/A_Spot_Library_AHG_Fri_Nov_12_86.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c22a13a170b4c5bdd74864fa7da0a57efaea04cc81b6db2754f86f3e0aab8ad1
+size 359610592
diff --git a/random_mdps/A_Spot_Library_AHG_Thu_Nov_4_22.avi b/random_mdps/A_Spot_Library_AHG_Thu_Nov_4_22.avi
new file mode 100644
index 0000000000000000000000000000000000000000..ac8d4261724792c75accb1587f681c52aa766bae
--- /dev/null
+++ b/random_mdps/A_Spot_Library_AHG_Thu_Nov_4_22.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12ed632f5a2b207424dffc04ccb26cfffd90ce38b6cbe1ed1ac83299849fd19b
+size 426728204
diff --git a/random_mdps/A_Spot_Library_AHG_Tue_Nov_9_43.avi b/random_mdps/A_Spot_Library_AHG_Tue_Nov_9_43.avi
new file mode 100644
index 0000000000000000000000000000000000000000..788322c4b7351cc3a76162373b531f972b36f0e3
--- /dev/null
+++ b/random_mdps/A_Spot_Library_AHG_Tue_Nov_9_43.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:051df781b20ce655f54200a201a971af91e2b40755e670abb6a11e311f4dc32e
+size 326336298
diff --git a/random_mdps/A_Spot_Library_Dobie_Wed_Nov_10_57.bag b/random_mdps/A_Spot_Library_Dobie_Wed_Nov_10_57.bag
new file mode 100644
index 0000000000000000000000000000000000000000..f101ccb1b6d496963bb7070e37f78c7f785ea035
--- /dev/null
+++ b/random_mdps/A_Spot_Library_Dobie_Wed_Nov_10_57.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0181a76c117e6e8e5a3dc35bf4890ad9ec8dc576351b3905531d5a11e01691bf
+size 2369886525
diff --git a/random_mdps/A_Spot_Library_Fountain_Mon_Nov_8_25.avi b/random_mdps/A_Spot_Library_Fountain_Mon_Nov_8_25.avi
new file mode 100644
index 0000000000000000000000000000000000000000..f5e308585ebe9b4f752e50b0eac5abf92ebb303d
--- /dev/null
+++ b/random_mdps/A_Spot_Library_Fountain_Mon_Nov_8_25.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:beffa8899b7b22fdf2a3c0c35d2937c7526d280c00b064892c8b6becf29c0864
+size 116577820
diff --git a/random_mdps/A_Spot_Library_Fountain_Mon_Nov_8_30.avi b/random_mdps/A_Spot_Library_Fountain_Mon_Nov_8_30.avi
new file mode 100644
index 0000000000000000000000000000000000000000..d319a97883b7c46340b8f9c54552bbc82b4901dd
--- /dev/null
+++ b/random_mdps/A_Spot_Library_Fountain_Mon_Nov_8_30.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a843daa47c0e0f6269f5d6e323e61584c24aef2feb52f6925b7f7b60a39b65c1
+size 128752776
diff --git a/random_mdps/A_Spot_Library_Fountain_Mon_Nov_8_30.bag b/random_mdps/A_Spot_Library_Fountain_Mon_Nov_8_30.bag
new file mode 100644
index 0000000000000000000000000000000000000000..4d43135a8a00030df2d6d9d0fe452ff4955b480e
--- /dev/null
+++ b/random_mdps/A_Spot_Library_Fountain_Mon_Nov_8_30.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a841f0309acb79c67be079822d986612b49d644e959723133c362b25b9460b6c
+size 1606914557
diff --git a/random_mdps/A_Spot_Library_Fountain_Tue_Nov_16_119.bag b/random_mdps/A_Spot_Library_Fountain_Tue_Nov_16_119.bag
new file mode 100644
index 0000000000000000000000000000000000000000..99a064a0c4ecfa81ce5c13f33fbedf39baa448a2
--- /dev/null
+++ b/random_mdps/A_Spot_Library_Fountain_Tue_Nov_16_119.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73ccecd5e4565ee18028d3af04f92810b574c0954cdc3b2e17cfab980152952e
+size 732350251
diff --git a/random_mdps/A_Spot_Library_Fountain_Tue_Nov_9_35.avi b/random_mdps/A_Spot_Library_Fountain_Tue_Nov_9_35.avi
new file mode 100644
index 0000000000000000000000000000000000000000..5a5b581fe53ebd49e9778345a0e3dc2c822bc4a7
--- /dev/null
+++ b/random_mdps/A_Spot_Library_Fountain_Tue_Nov_9_35.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d70982c340980177190474e37d787264a6e617f333d5cdc40f1360a0e13ae8f4
+size 159351374
diff --git a/random_mdps/A_Spot_Library_MLK_Thu_Nov_18_122.avi b/random_mdps/A_Spot_Library_MLK_Thu_Nov_18_122.avi
new file mode 100644
index 0000000000000000000000000000000000000000..6f0edca94d4b70cc5f28bff9e24d4f4dedf53189
--- /dev/null
+++ b/random_mdps/A_Spot_Library_MLK_Thu_Nov_18_122.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d66bd5ba3687b68bf4ba767a1b0ecfaa9f0075f9b13c6106462204052c81690c
+size 48900386
diff --git a/random_mdps/A_Spot_Library_MLK_Thu_Nov_18_122.bag b/random_mdps/A_Spot_Library_MLK_Thu_Nov_18_122.bag
new file mode 100644
index 0000000000000000000000000000000000000000..c60691595704ffc00ce3e81f6ab0317bfe2f0329
--- /dev/null
+++ b/random_mdps/A_Spot_Library_MLK_Thu_Nov_18_122.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0aa22b2030eebcf72b13a8f47bb0398aaa487850e4ea2e14875ce12657853ffd
+size 1083186856
diff --git a/random_mdps/A_Spot_Library_MLK_Thu_Nov_18_123.bag b/random_mdps/A_Spot_Library_MLK_Thu_Nov_18_123.bag
new file mode 100644
index 0000000000000000000000000000000000000000..d2b8e7d0c4e49eae4e2ff38440aa621a8fd81abd
--- /dev/null
+++ b/random_mdps/A_Spot_Library_MLK_Thu_Nov_18_123.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:081d04b2fe2e533170a496ae9666815b645d372ae7d36d4cfb55a40c1a596020
+size 2769205120
diff --git a/random_mdps/A_Spot_NHB_Ahg_Wed_Nov_10_55.avi b/random_mdps/A_Spot_NHB_Ahg_Wed_Nov_10_55.avi
new file mode 100644
index 0000000000000000000000000000000000000000..1c9d4aff6966aa5a928b1b155e24069a7e3c88ca
--- /dev/null
+++ b/random_mdps/A_Spot_NHB_Ahg_Wed_Nov_10_55.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80538697abb504237d56dcc848b58630d2eb859d155a203518bfb8573a6e9c8e
+size 11319658
diff --git a/random_mdps/A_Spot_NHB_Ahg_Wed_Nov_10_55.bag b/random_mdps/A_Spot_NHB_Ahg_Wed_Nov_10_55.bag
new file mode 100644
index 0000000000000000000000000000000000000000..c2a0fd0bf310542d98c39b89ab3375370148f43b
--- /dev/null
+++ b/random_mdps/A_Spot_NHB_Ahg_Wed_Nov_10_55.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:410729605c7ccd5a0c7e64c791bc749d6d5dd4cb49e848f0c182b881b205d134
+size 171991737
diff --git a/random_mdps/A_Spot_NHB_Jester_Wed_Nov_10_62.avi b/random_mdps/A_Spot_NHB_Jester_Wed_Nov_10_62.avi
new file mode 100644
index 0000000000000000000000000000000000000000..b5ea9f41394777c824ec73fb58d28dd8a24819e7
--- /dev/null
+++ b/random_mdps/A_Spot_NHB_Jester_Wed_Nov_10_62.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cacb0e4ea5f055eb2497a8e1e40ca189f2a36db103996f9e3b619527cb824b9b
+size 466463010
diff --git a/random_mdps/A_Spot_Parlin_Parlin_Wed_Nov_10_51.avi b/random_mdps/A_Spot_Parlin_Parlin_Wed_Nov_10_51.avi
new file mode 100644
index 0000000000000000000000000000000000000000..69c919756bfddd89631528943209de3d6b5c0303
--- /dev/null
+++ b/random_mdps/A_Spot_Parlin_Parlin_Wed_Nov_10_51.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3408898e52dd64cd5aaa0247aa5b66d505b2958f56b0b04fd68c5a3143480bd4
+size 28326826
diff --git a/random_mdps/A_Spot_Rec_Tent_Fri_Nov_26_136.mp4 b/random_mdps/A_Spot_Rec_Tent_Fri_Nov_26_136.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7a48a2c0e8a874cfada9602bd547ae3b60ca46c1
--- /dev/null
+++ b/random_mdps/A_Spot_Rec_Tent_Fri_Nov_26_136.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:281b36d93e24dd84f6fcb026d2affe0674d18c767784b79224afab4097dd00a8
+size 21746086
diff --git a/random_mdps/A_Spot_Stadium_PerformingArtsCenter_Sat_Nov_13_106.avi b/random_mdps/A_Spot_Stadium_PerformingArtsCenter_Sat_Nov_13_106.avi
new file mode 100644
index 0000000000000000000000000000000000000000..465e18ffa56d13c74c50be157bf838c5972f5eb6
--- /dev/null
+++ b/random_mdps/A_Spot_Stadium_PerformingArtsCenter_Sat_Nov_13_106.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11be5fcb86e7eabe3be403b6426e727ddd7689f20da258f79f27c3b98a5e5541
+size 109458012
diff --git a/random_mdps/A_Spot_Stadium_PerformingArtsCenter_Sat_Nov_13_106.bag b/random_mdps/A_Spot_Stadium_PerformingArtsCenter_Sat_Nov_13_106.bag
new file mode 100644
index 0000000000000000000000000000000000000000..91f28478ea0e334c6bb2188bc9f43bd0acd15eb8
--- /dev/null
+++ b/random_mdps/A_Spot_Stadium_PerformingArtsCenter_Sat_Nov_13_106.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef3621635c8e2305ca58c1550fb590f5b6850277b0f1db26515bdb8923a1d5b8
+size 2040601465
diff --git a/random_mdps/A_Spot_Thompson_Butler_Sat_Nov_13_103.avi b/random_mdps/A_Spot_Thompson_Butler_Sat_Nov_13_103.avi
new file mode 100644
index 0000000000000000000000000000000000000000..8a720402acbcd5cd990b37cd80132ff7b1858ce6
--- /dev/null
+++ b/random_mdps/A_Spot_Thompson_Butler_Sat_Nov_13_103.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:430a2f1d07d015020691d87adadd49c4565dbbe57c197eb11444aeb10f3df10f
+size 20036964
diff --git a/random_mdps/A_Spot_UTTower_Union_Wed_Nov_10_61.bag b/random_mdps/A_Spot_UTTower_Union_Wed_Nov_10_61.bag
new file mode 100644
index 0000000000000000000000000000000000000000..2c7e68f5d639d47a7e239363aa5111c27e5c7b53
--- /dev/null
+++ b/random_mdps/A_Spot_UTTower_Union_Wed_Nov_10_61.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f395e9cbd26fa77ea7c01f1264d31ac6f9ec0c662a9438067deef578fc1a0a2
+size 1472269754
diff --git a/random_mdps/A_Spot_Union_Library_Tue_Nov_9_37.avi b/random_mdps/A_Spot_Union_Library_Tue_Nov_9_37.avi
new file mode 100644
index 0000000000000000000000000000000000000000..7c906beca63d9ec25c9048710ab75ce2b203e85c
--- /dev/null
+++ b/random_mdps/A_Spot_Union_Library_Tue_Nov_9_37.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:593b3adc5375631df485a2347052646cc77b27b4647c8a22d8a247d7adf73c1f
+size 424159752
diff --git a/random_mdps/A_Spot_Union_Union_Wed_Nov_10_67.avi b/random_mdps/A_Spot_Union_Union_Wed_Nov_10_67.avi
new file mode 100644
index 0000000000000000000000000000000000000000..725644754851e93027fc6b00c7ae465e40d64c4c
--- /dev/null
+++ b/random_mdps/A_Spot_Union_Union_Wed_Nov_10_67.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f38fd95e8830a827d402af0ab8479eb640d0d003fd204459b4da1829a5666a08
+size 34419116
diff --git a/random_mdps/A_Spot_Union_Union_Wed_Nov_10_67.bag b/random_mdps/A_Spot_Union_Union_Wed_Nov_10_67.bag
new file mode 100644
index 0000000000000000000000000000000000000000..145e5de90463e52421c409af3f2a9d3b1637970d
--- /dev/null
+++ b/random_mdps/A_Spot_Union_Union_Wed_Nov_10_67.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cbd928801a30bae2cf26560cde481e6a8673c75e4fdf39dd1fb28e4f0ef998d
+size 898839087
diff --git a/random_mdps/B_Jackal_Library_Sanjac_Sat_Nov_13_88.avi b/random_mdps/B_Jackal_Library_Sanjac_Sat_Nov_13_88.avi
new file mode 100644
index 0000000000000000000000000000000000000000..372ad0553ca8f44cbc5eead00c210abb4b5b7a24
--- /dev/null
+++ b/random_mdps/B_Jackal_Library_Sanjac_Sat_Nov_13_88.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d371b75be54f7b981417824ae8313f572a32346482fdda6c8efaeae24749920
+size 190367612
diff --git a/random_mdps/B_Jackal_REC_Footballfield_Sat_Nov_13_93.avi b/random_mdps/B_Jackal_REC_Footballfield_Sat_Nov_13_93.avi
new file mode 100644
index 0000000000000000000000000000000000000000..5f2f674b9e69e97f7aa94cecb222744846218371
--- /dev/null
+++ b/random_mdps/B_Jackal_REC_Footballfield_Sat_Nov_13_93.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a5908829b2cecb87c78e9c443798f6a0ee10d229833aeb2dab63cd95bb1f7a1
+size 78557872
diff --git a/random_mdps/B_Jackal_REC_Footballfield_Sat_Nov_13_93.bag b/random_mdps/B_Jackal_REC_Footballfield_Sat_Nov_13_93.bag
new file mode 100644
index 0000000000000000000000000000000000000000..0d09c9296d8695c5b76d957aa8cf3c4d995c5cba
--- /dev/null
+++ b/random_mdps/B_Jackal_REC_Footballfield_Sat_Nov_13_93.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6abe240ef13e77027ed5362e22a81a972402e975d8219e17306ff35d279c5565
+size 559902879
diff --git a/random_mdps/B_Jackal_Sanjac_Stadium_Sat_Nov_13_89.avi b/random_mdps/B_Jackal_Sanjac_Stadium_Sat_Nov_13_89.avi
new file mode 100644
index 0000000000000000000000000000000000000000..faf0fa0bd57b42429bad4e3dced2ec876a6f2fcc
--- /dev/null
+++ b/random_mdps/B_Jackal_Sanjac_Stadium_Sat_Nov_13_89.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:826b940805008579fab7b458227276fff383f6c2c5c6005268e43307797ed724
+size 99543138
diff --git a/random_mdps/B_Jackal_Sanjac_Stadium_Sat_Nov_13_89.bag b/random_mdps/B_Jackal_Sanjac_Stadium_Sat_Nov_13_89.bag
new file mode 100644
index 0000000000000000000000000000000000000000..41640f1bc76fa644905fb02cbaf72a5231d43a44
--- /dev/null
+++ b/random_mdps/B_Jackal_Sanjac_Stadium_Sat_Nov_13_89.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:009212b687ae0d6540fcfc8a86e4ce583d0dab7be74028f4663dc9fbaa22a96c
+size 688529164
diff --git a/random_mdps/B_Jackal_Stadium_Sanjac_Sat_Nov_13_90.bag b/random_mdps/B_Jackal_Stadium_Sanjac_Sat_Nov_13_90.bag
new file mode 100644
index 0000000000000000000000000000000000000000..0aaf1c62940bcd74d83b1569fc117d8fba488a62
--- /dev/null
+++ b/random_mdps/B_Jackal_Stadium_Sanjac_Sat_Nov_13_90.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8859f7b76841b8652ab7cc46504dbe6a54debd892dda6e91c4097532dad124d1
+size 611163920
diff --git a/random_mdps/B_Spot_AHG_Library_Mon_Nov_15_107.avi b/random_mdps/B_Spot_AHG_Library_Mon_Nov_15_107.avi
new file mode 100644
index 0000000000000000000000000000000000000000..51cacead6f56e955939c976359ab5f203e9f504b
--- /dev/null
+++ b/random_mdps/B_Spot_AHG_Library_Mon_Nov_15_107.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c340514d802e50a9d5f3d49566a0bdcb88bac2f5bc77fc1725775675a0929445
+size 356288672
diff --git a/random_mdps/B_Spot_AHG_Library_Tue_Nov_9_34.avi b/random_mdps/B_Spot_AHG_Library_Tue_Nov_9_34.avi
new file mode 100644
index 0000000000000000000000000000000000000000..9a2845cea12beb160d16492a138f686f4fdd1805
--- /dev/null
+++ b/random_mdps/B_Spot_AHG_Library_Tue_Nov_9_34.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:142b38cd74f1986137519bcf113219aae7098377e3a49f9c6d90ad060f0b2125
+size 374257580
diff --git a/random_mdps/B_Spot_AHG_Union_Mon_Nov_15_111.avi b/random_mdps/B_Spot_AHG_Union_Mon_Nov_15_111.avi
new file mode 100644
index 0000000000000000000000000000000000000000..dbe5d05a7115803ed425b507e816cdbdb82ce702
--- /dev/null
+++ b/random_mdps/B_Spot_AHG_Union_Mon_Nov_15_111.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47bee6770972cefcf0097e8899f139483b8b729810294a3d923ab4e0f4d9376d
+size 313181982
diff --git a/random_mdps/B_Spot_Dobie_Library_Thu_Nov_11_74.avi b/random_mdps/B_Spot_Dobie_Library_Thu_Nov_11_74.avi
new file mode 100644
index 0000000000000000000000000000000000000000..e6bbe9c7cc8408635f471e2871e9df7e68297e29
--- /dev/null
+++ b/random_mdps/B_Spot_Dobie_Library_Thu_Nov_11_74.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9ed6dc72158d60bb162f36a64c861317648af4421f93b5d7997a8f3e01f9584
+size 236048150
diff --git a/random_mdps/B_Spot_Fountain_Library_Mon_Nov_8_31.avi b/random_mdps/B_Spot_Fountain_Library_Mon_Nov_8_31.avi
new file mode 100644
index 0000000000000000000000000000000000000000..08a40ba132ad3358333ed26efbd32fb9896f87db
--- /dev/null
+++ b/random_mdps/B_Spot_Fountain_Library_Mon_Nov_8_31.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aad863c7ecf391ebaf8082349283671a323b95e009dc37ab1e01eb2e4f9c60e9
+size 128566432
diff --git a/random_mdps/B_Spot_Fountain_Union_Tue_Nov_9_36.avi b/random_mdps/B_Spot_Fountain_Union_Tue_Nov_9_36.avi
new file mode 100644
index 0000000000000000000000000000000000000000..796ad378952dd32f2f7eef74d50c4744c5f509fd
--- /dev/null
+++ b/random_mdps/B_Spot_Fountain_Union_Tue_Nov_9_36.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75442b51a9150f6bc961ad955549f93169a9edb928371c456fb66de7fb90ebfa
+size 273792580
diff --git a/random_mdps/B_Spot_GDC_AHG_Mon_Nov_15_116.avi b/random_mdps/B_Spot_GDC_AHG_Mon_Nov_15_116.avi
new file mode 100644
index 0000000000000000000000000000000000000000..bee4c02d70a86dca458cf3b20fa8741610426fe5
--- /dev/null
+++ b/random_mdps/B_Spot_GDC_AHG_Mon_Nov_15_116.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1e52391d1bb26ddc403cd9cdf76b1a32a99ea65eca21ca8867ad720332bb059
+size 94066914
diff --git a/random_mdps/B_Spot_Greg_Ahg_Thu_Nov_11_78.avi b/random_mdps/B_Spot_Greg_Ahg_Thu_Nov_11_78.avi
new file mode 100644
index 0000000000000000000000000000000000000000..12e6b4571b3443c01514527daae3996806de6336
--- /dev/null
+++ b/random_mdps/B_Spot_Greg_Ahg_Thu_Nov_11_78.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e5a9c80227a37ce2ebeac343e06624956504c29f015c9735cbdaca690b9468c
+size 316307140
diff --git a/random_mdps/B_Spot_Hogg_GDC_Mon_Nov_15_115.avi b/random_mdps/B_Spot_Hogg_GDC_Mon_Nov_15_115.avi
new file mode 100644
index 0000000000000000000000000000000000000000..1664d8627c9570c81b882a58f9d0bd977d009d6c
--- /dev/null
+++ b/random_mdps/B_Spot_Hogg_GDC_Mon_Nov_15_115.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5681bfbece9eb7a96bf56169d7857555de4d6d6c3e6a1f1bfe0e2ccb96b74fb7
+size 355325604
diff --git a/random_mdps/B_Spot_JCL_JCL_Thu_Nov_11_76.bag b/random_mdps/B_Spot_JCL_JCL_Thu_Nov_11_76.bag
new file mode 100644
index 0000000000000000000000000000000000000000..93c9d153e515d8a2fae895c0cba60f69088b5d2b
--- /dev/null
+++ b/random_mdps/B_Spot_JCL_JCL_Thu_Nov_11_76.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:447792da927b3551c47bccf8f46257b7910234bb3d47f6a8fbdaa9cc0016c096
+size 1510898191
diff --git a/random_mdps/B_Spot_LBJ_Thompson_Sat_Nov_13_101.bag b/random_mdps/B_Spot_LBJ_Thompson_Sat_Nov_13_101.bag
new file mode 100644
index 0000000000000000000000000000000000000000..097cce0f21a389d4f71479b98dbec0c033997aa0
--- /dev/null
+++ b/random_mdps/B_Spot_LBJ_Thompson_Sat_Nov_13_101.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45b78115170bddd41e672d16f5b4b29e8419558fae08263a49adcf3d252023c7
+size 1229045761
diff --git a/random_mdps/B_Spot_Library_EER_Tue_Nov_9_38.avi b/random_mdps/B_Spot_Library_EER_Tue_Nov_9_38.avi
new file mode 100644
index 0000000000000000000000000000000000000000..4364a5588db490f33c24c53e80c0742c7da0ff33
--- /dev/null
+++ b/random_mdps/B_Spot_Library_EER_Tue_Nov_9_38.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c5cc2abbf5a31072af74264f290bdd01551ee5f2fe495f9e67e70518ba439d7
+size 448263390
diff --git a/random_mdps/B_Spot_Library_Greg_Thu_Nov_11_77.avi b/random_mdps/B_Spot_Library_Greg_Thu_Nov_11_77.avi
new file mode 100644
index 0000000000000000000000000000000000000000..61c2d9db7ddb8595d2130282258f63cfba04f406
--- /dev/null
+++ b/random_mdps/B_Spot_Library_Greg_Thu_Nov_11_77.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8a0c6c6bb475fa1ede9ddc2237e4438873b26ff3a6802c8ec638f83bb545cab
+size 79358520
diff --git a/random_mdps/B_Spot_Library_Greg_Thu_Nov_11_77.bag b/random_mdps/B_Spot_Library_Greg_Thu_Nov_11_77.bag
new file mode 100644
index 0000000000000000000000000000000000000000..5702c203d4d8b93e91d8fc277d5cc30e80b4c63f
--- /dev/null
+++ b/random_mdps/B_Spot_Library_Greg_Thu_Nov_11_77.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd536ed31948b3d8a90a0975a7762dd4fbfea8b571641f99f6038046208b0311
+size 883593039
diff --git a/random_mdps/B_Spot_Library_Jester_Thu_Nov_11_75.avi b/random_mdps/B_Spot_Library_Jester_Thu_Nov_11_75.avi
new file mode 100644
index 0000000000000000000000000000000000000000..62de3d5bcb5df2882eb8be07637bff9f53a9eef7
--- /dev/null
+++ b/random_mdps/B_Spot_Library_Jester_Thu_Nov_11_75.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e93c2820a7f9f0df49f931aaf063111a31e16e8b4585b7d9551c305f3b7af775
+size 49486792
diff --git a/random_mdps/B_Spot_Library_Jester_Thu_Nov_11_75.bag b/random_mdps/B_Spot_Library_Jester_Thu_Nov_11_75.bag
new file mode 100644
index 0000000000000000000000000000000000000000..0611f340e90f6893a3f671f0a65722f3ed019b7d
--- /dev/null
+++ b/random_mdps/B_Spot_Library_Jester_Thu_Nov_11_75.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d1e3f6af00751a3faad216075f00cfe1ff24464ce647477f7b04aaf98866e3f
+size 872938588
diff --git a/random_mdps/B_Spot_Library_MCCombs_Wed_Nov_10_47.avi b/random_mdps/B_Spot_Library_MCCombs_Wed_Nov_10_47.avi
new file mode 100644
index 0000000000000000000000000000000000000000..74e12e45ae88a6ddfb66b9eab0a8fa0279dd96ae
--- /dev/null
+++ b/random_mdps/B_Spot_Library_MCCombs_Wed_Nov_10_47.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:466321010f9cc88bd32b082dd4e17e9ee81c1eaafc9029b1399365d8eb6651e2
+size 137669090
diff --git a/random_mdps/B_Spot_Library_SAC_Thu_Nov_11_69.avi b/random_mdps/B_Spot_Library_SAC_Thu_Nov_11_69.avi
new file mode 100644
index 0000000000000000000000000000000000000000..e79b49c2879d5809d23698929d9fad31d414cf71
--- /dev/null
+++ b/random_mdps/B_Spot_Library_SAC_Thu_Nov_11_69.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bf8c7ba4e886226dfbb2b84977b972d6823a499f78ce852031f751c45198c4d
+size 177408846
diff --git a/random_mdps/B_Spot_Library_WagnerHall_Mon_Nov_8_29.avi b/random_mdps/B_Spot_Library_WagnerHall_Mon_Nov_8_29.avi
new file mode 100644
index 0000000000000000000000000000000000000000..e12d93a2472b265ef2f14c8caa8e20e97ba2317f
--- /dev/null
+++ b/random_mdps/B_Spot_Library_WagnerHall_Mon_Nov_8_29.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:653e0e0f3d07c368fb81c08ddf16c15af787cfc6b8d7e383de63f2fdd632f603
+size 177205594
diff --git a/random_mdps/B_Spot_Library_WagnerHall_Mon_Nov_8_29.bag b/random_mdps/B_Spot_Library_WagnerHall_Mon_Nov_8_29.bag
new file mode 100644
index 0000000000000000000000000000000000000000..6dfea0982565c42710c164f49af3805618ef6bb2
--- /dev/null
+++ b/random_mdps/B_Spot_Library_WagnerHall_Mon_Nov_8_29.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1601191f6654dcaeb081a655332d28a85fb04d2258bc217b341cc13d3f34298d
+size 2091399921
diff --git a/random_mdps/B_Spot_NHB_Union_Mon_Nov_15_114.avi b/random_mdps/B_Spot_NHB_Union_Mon_Nov_15_114.avi
new file mode 100644
index 0000000000000000000000000000000000000000..1101d1e40dee79a7461c096813fa8dc26d4360a8
--- /dev/null
+++ b/random_mdps/B_Spot_NHB_Union_Mon_Nov_15_114.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f536171cf1da56ae7c31cc07237e976bccdae9e3309e7f38d52261da6571f51b
+size 330242736
diff --git a/random_mdps/B_Spot_NHB_Union_Mon_Nov_15_114.bag b/random_mdps/B_Spot_NHB_Union_Mon_Nov_15_114.bag
new file mode 100644
index 0000000000000000000000000000000000000000..6ffd2ccad0b4ae10effa0b7f7331a13c6d869714
--- /dev/null
+++ b/random_mdps/B_Spot_NHB_Union_Mon_Nov_15_114.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d07e43e493cceb3317c98cc550f9daa6f7d077974b52605accc606d8454d452
+size 3690163920
diff --git a/random_mdps/B_Spot_Parlin_NHB_Wed_Nov_10_52.avi b/random_mdps/B_Spot_Parlin_NHB_Wed_Nov_10_52.avi
new file mode 100644
index 0000000000000000000000000000000000000000..ae22082f10f11ed5eb46b2d744f797b6230a20b9
--- /dev/null
+++ b/random_mdps/B_Spot_Parlin_NHB_Wed_Nov_10_52.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a81dbfe978bcbc6b07b5f39dd25de686e8fc07e9da28bf70747688a50a47ec8
+size 409503072
diff --git a/random_mdps/B_Spot_RLM_OsCafe_Mon_Nov_15_117.avi b/random_mdps/B_Spot_RLM_OsCafe_Mon_Nov_15_117.avi
new file mode 100644
index 0000000000000000000000000000000000000000..52dd52b1ffe40033f0a306abe3860f2808338f4c
--- /dev/null
+++ b/random_mdps/B_Spot_RLM_OsCafe_Mon_Nov_15_117.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:872708388070c3694be58301b1a1622cf6b51f5ef4bcd1dbe23d2e9c66dc286b
+size 91190396
diff --git a/random_mdps/B_Spot_RLM_OsCafe_Mon_Nov_15_117.bag b/random_mdps/B_Spot_RLM_OsCafe_Mon_Nov_15_117.bag
new file mode 100644
index 0000000000000000000000000000000000000000..6b926b9208324c6842b4f7e2552c86823c10390f
--- /dev/null
+++ b/random_mdps/B_Spot_RLM_OsCafe_Mon_Nov_15_117.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abf974c6dcff33edb08def4d3e31528867e9bf5ef2c5c4ff77bc9724fb2673e5
+size 1342749743
diff --git a/random_mdps/B_Spot_RLM_RLM_Wed_Nov_10_44.bag b/random_mdps/B_Spot_RLM_RLM_Wed_Nov_10_44.bag
new file mode 100644
index 0000000000000000000000000000000000000000..9ccb912c9b87a15d5a55f4c7bb9144563ccbea74
--- /dev/null
+++ b/random_mdps/B_Spot_RLM_RLM_Wed_Nov_10_44.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c90b9733f600b5aeb0225b42d98ea4d44e4e44c5b5df54208cfedd6aced72de2
+size 159860509
diff --git a/random_mdps/B_Spot_RLM_RLM_Wed_Nov_10_45.bag b/random_mdps/B_Spot_RLM_RLM_Wed_Nov_10_45.bag
new file mode 100644
index 0000000000000000000000000000000000000000..ea72a536fa59396a609998f327b2ed10cc45e2fd
--- /dev/null
+++ b/random_mdps/B_Spot_RLM_RLM_Wed_Nov_10_45.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2c953edb319ee7b0697a1c05cf77bde2c30ab1002969391a4bb17b1d8b6b63d
+size 555139334
diff --git a/random_mdps/B_Spot_SAC_NHB_Mon_Nov_15_113.avi b/random_mdps/B_Spot_SAC_NHB_Mon_Nov_15_113.avi
new file mode 100644
index 0000000000000000000000000000000000000000..dfeadfa4dc8f56e878191fa2ea10edf9930b3c36
--- /dev/null
+++ b/random_mdps/B_Spot_SAC_NHB_Mon_Nov_15_113.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:859917b727b0a35bc4421b934e2ce8053e11b953daf152184eec9633c87d683f
+size 223362002
diff --git a/random_mdps/B_Spot_SAC_SAC_Mon_Nov_15_109.avi b/random_mdps/B_Spot_SAC_SAC_Mon_Nov_15_109.avi
new file mode 100644
index 0000000000000000000000000000000000000000..6b338095651f8b2d597f6afe0593df0948eab518
--- /dev/null
+++ b/random_mdps/B_Spot_SAC_SAC_Mon_Nov_15_109.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f1d6107d74fbc3894dd958c5757bd6592f0589aa92155a03bb24cdbe055bebe
+size 54318476
diff --git a/random_mdps/B_Spot_SAC_SAC_Wed_Nov_10_49.avi b/random_mdps/B_Spot_SAC_SAC_Wed_Nov_10_49.avi
new file mode 100644
index 0000000000000000000000000000000000000000..f098d8b8bc6cfbcade8bfca09fbffef7e81c478c
--- /dev/null
+++ b/random_mdps/B_Spot_SAC_SAC_Wed_Nov_10_49.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0703ecabe9a17e10ec68bdce983da09c5d2ae96d6d4dd43b331cbbed1a4c58d3
+size 38305248
diff --git a/random_mdps/B_Spot_SAC_SAC_Wed_Nov_10_49.bag b/random_mdps/B_Spot_SAC_SAC_Wed_Nov_10_49.bag
new file mode 100644
index 0000000000000000000000000000000000000000..ac312a2eebda2f75a18e6ceafec3878d8b0317d3
--- /dev/null
+++ b/random_mdps/B_Spot_SAC_SAC_Wed_Nov_10_49.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58ea9b50412861cf197d42f8dea957e9367777b9fc3035a62de19bab769cc405
+size 866911041
diff --git a/random_mdps/B_Spot_Speedway_SAC_Wed_Nov_10_48.avi b/random_mdps/B_Spot_Speedway_SAC_Wed_Nov_10_48.avi
new file mode 100644
index 0000000000000000000000000000000000000000..61e53b1397193d4a130b67ff9c38d6cfba2fee4c
--- /dev/null
+++ b/random_mdps/B_Spot_Speedway_SAC_Wed_Nov_10_48.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5968690be50c46fedbd76a31965b6e7a5e3113c910e7cfc4540bee177218f195
+size 40929414
diff --git a/random_mdps/B_Spot_Speedway_SAC_Wed_Nov_10_48.bag b/random_mdps/B_Spot_Speedway_SAC_Wed_Nov_10_48.bag
new file mode 100644
index 0000000000000000000000000000000000000000..7d696c3fda8c327f87427587621e5f3bb90c9235
--- /dev/null
+++ b/random_mdps/B_Spot_Speedway_SAC_Wed_Nov_10_48.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c9f01285fb8f4978c1d9ce6d94a78146bfbc9dcbc305490268955389f40f29e
+size 677185678
diff --git a/random_mdps/B_Spot_Thompson_Thompson_Sat_Nov_13_100.bag b/random_mdps/B_Spot_Thompson_Thompson_Sat_Nov_13_100.bag
new file mode 100644
index 0000000000000000000000000000000000000000..bd35c27989dacd930f6a134304b5c50550d60e6a
--- /dev/null
+++ b/random_mdps/B_Spot_Thompson_Thompson_Sat_Nov_13_100.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25e72a17d36cce74700fd31d4918ed054b392cb4c78848c00dbd3521d5a8fb10
+size 2839474594
diff --git a/random_mdps/B_Spot_Thompson_Thompson_Sat_Nov_13_102.avi b/random_mdps/B_Spot_Thompson_Thompson_Sat_Nov_13_102.avi
new file mode 100644
index 0000000000000000000000000000000000000000..4271f18e54ef9280efb77d9afa5dba9067776282
--- /dev/null
+++ b/random_mdps/B_Spot_Thompson_Thompson_Sat_Nov_13_102.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbb63ddcc6d11f2ab365fb0801c263d29e65a9cc50baf789bb63c46da75e9bc0
+size 21113578
diff --git a/random_mdps/B_Spot_Union_Dobie_Thu_Nov_11_72.avi b/random_mdps/B_Spot_Union_Dobie_Thu_Nov_11_72.avi
new file mode 100644
index 0000000000000000000000000000000000000000..d54a57f76151862bed6e10a04027efcde188ab18
--- /dev/null
+++ b/random_mdps/B_Spot_Union_Dobie_Thu_Nov_11_72.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86018ab6c30dc5ba20f33aef51408fff9ce9e40cb163afed3cb3d7ee8815e52b
+size 373194432
diff --git a/random_mdps/B_Spot_Union_SAC_Mon_Nov_15_112.bag b/random_mdps/B_Spot_Union_SAC_Mon_Nov_15_112.bag
new file mode 100644
index 0000000000000000000000000000000000000000..dad54e9729c49b03332c579a41924398e7df7b7b
--- /dev/null
+++ b/random_mdps/B_Spot_Union_SAC_Mon_Nov_15_112.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab356bc1a540a40ff295622e0dcce67366e18aba36c08f1a146b8a9761bca1e5
+size 3988680298
diff --git a/random_mdps/B_Spot_Welch_Welch_Thu_Nov_11_70.avi b/random_mdps/B_Spot_Welch_Welch_Thu_Nov_11_70.avi
new file mode 100644
index 0000000000000000000000000000000000000000..34960beb7f6a05c1af2e5d4a2390e9749623daa6
--- /dev/null
+++ b/random_mdps/B_Spot_Welch_Welch_Thu_Nov_11_70.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2f79960f34566f0655ad05118e33df95ba0214af4378243a707bf9b8447af70
+size 38414870
diff --git a/random_mdps/B_Spot_Welch_Welch_Thu_Nov_11_70.bag b/random_mdps/B_Spot_Welch_Welch_Thu_Nov_11_70.bag
new file mode 100644
index 0000000000000000000000000000000000000000..eb1c276fbc2baf2014746c4fbbb83144633cb2d8
--- /dev/null
+++ b/random_mdps/B_Spot_Welch_Welch_Thu_Nov_11_70.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da62cb866c634cad9da1a5dd47db1f400ada3ce7121dd23f5ec9cdd442e5d92b
+size 465873826
diff --git a/random_mdps/C_Spot_Foodtruck_Bass_Fri_Nov_26_133.bag b/random_mdps/C_Spot_Foodtruck_Bass_Fri_Nov_26_133.bag
new file mode 100644
index 0000000000000000000000000000000000000000..14895ea5b2776fdcfcabd6f217c4d1a3ed7df3eb
--- /dev/null
+++ b/random_mdps/C_Spot_Foodtruck_Bass_Fri_Nov_26_133.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:698f77b86d9d433cc62561406ee7940cf7be4daa6f1dc7fb4cafb6619e8daffe
+size 1529176805
diff --git a/random_mdps/C_Spot_Rec_Bass_Fri_Nov_26_127.avi b/random_mdps/C_Spot_Rec_Bass_Fri_Nov_26_127.avi
new file mode 100644
index 0000000000000000000000000000000000000000..b147e82baa0e0473fcc9e565e01ba20a5bf0afcd
--- /dev/null
+++ b/random_mdps/C_Spot_Rec_Bass_Fri_Nov_26_127.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f7f8fe88518ca2c05b7176d36b3fdc9f5290d2da5dc918e59394c51795868a5
+size 314922868
diff --git a/random_mdps/C_Spot_Rec_Tent_Fri_Nov_26_129.avi b/random_mdps/C_Spot_Rec_Tent_Fri_Nov_26_129.avi
new file mode 100644
index 0000000000000000000000000000000000000000..64e127cf5613fac4990359467f88e05ba42f3504
--- /dev/null
+++ b/random_mdps/C_Spot_Rec_Tent_Fri_Nov_26_129.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:050bf83b2e97c5ebdb79dc9f6561b109583dfa9e0cc0d94301c32b93dfeb2cb2
+size 205128810
diff --git a/random_mdps/C_Spot_Speedway_Butler_Fri_Nov_26_131.avi b/random_mdps/C_Spot_Speedway_Butler_Fri_Nov_26_131.avi
new file mode 100644
index 0000000000000000000000000000000000000000..77c22263280b7edf6db50adcc12e7a991c1f0ac7
--- /dev/null
+++ b/random_mdps/C_Spot_Speedway_Butler_Fri_Nov_26_131.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32483e9a5494a0025540cd986e0c44ed415cafd3e780fe03a6554113ae9d4640
+size 413192662
diff --git a/random_mdps/D_Spot_PerformingArts_Lbj_Sat_Nov_13_98.avi b/random_mdps/D_Spot_PerformingArts_Lbj_Sat_Nov_13_98.avi
new file mode 100644
index 0000000000000000000000000000000000000000..3c7bfa06d844296f65254392605032a8d329d4ee
--- /dev/null
+++ b/random_mdps/D_Spot_PerformingArts_Lbj_Sat_Nov_13_98.avi
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42c6b2e33b18bab04b34a94dc681d321a6fe549d6c70a82998f6d39cd458df54
+size 217886158
diff --git a/random_mdps/human_trials_setup.png b/random_mdps/human_trials_setup.png
new file mode 100644
index 0000000000000000000000000000000000000000..00943bd0a3ebe5a6859c46c543f566daaaa2145b
--- /dev/null
+++ b/random_mdps/human_trials_setup.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cab43b951d31137fd2a8f6732c66f8602cfe0a6fa00c57588d20a5c71b6f9d6
+size 689005
diff --git a/random_mdps/map_polygon.png b/random_mdps/map_polygon.png
new file mode 100644
index 0000000000000000000000000000000000000000..f2c53d3794f47ad6a15e466957954db4f4335387
--- /dev/null
+++ b/random_mdps/map_polygon.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4876fd52807e96ee39772aff3a4e94480185b31619819b332ade292d0bf218ce
+size 405854