diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b00_004/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b00_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9e871dbf5131ba478547f596076ee9af07894641
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b00_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63371714882c8349c307e4f40df25b97ce854c9d641ed57bd59d9f0491c1e1dc
+size 586106
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b00_004/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b00_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d185f08909a6afc25bab9c80d253cec187d5d2ef
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b00_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e5d6d6e0294b68e03b6d4f3c6aac7fd8423707bbb8ae57969d9b0a8bb341bc9
+size 247473
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b00_008/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b00_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4b7cda67493c8772cbfbde7b3cc13ab04209703d
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b00_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:daf911b994a1fc4ecd00bb9f685727b6a72c9ca6b16dd677b9f81633c51468b6
+size 521429
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b00_008/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b00_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..dae36d66a8ca62004e6ddfefad2bcc7b2193f0d1
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b00_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b058bc6a53190057b02cda2763e0dbb740007d1021bce537d40d5e79ff02054a
+size 292012
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b00_010/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b00_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6198be441ec2a5d9d30af06b9eac281ca84680ab
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b00_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cad18f64145b83f3966dacc5d4530332f442486903eb0f32660b3784069cd136
+size 515738
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b00_010/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b00_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f8ae762802c45462013053cddd75da5e55428bf
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b00_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e882d7c5b2b7c7887b7e036e217150426095bb23759df142abd4572e7ac14a6c
+size 234026
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b00_015/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b00_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6a01f43ce993f4e941f7e9a194895a1ec401a282
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b00_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:104ad4996d8a4bc2d3edbf2dc50e60d69560e8285ed11b7fa9e97ebf06589591
+size 341749
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b00_015/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b00_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..18468dc32bca39f967f6703a84069670ad82f34a
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b00_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a983b78e40ae833348e474ff8aedb038d1638c6c2859a01e5f04a05ee113d7c
+size 190954
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b01_005/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b01_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0b3478c2498d8ce89517123abed782ec38742661
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b01_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5011fd03d2e920b7b6c39353da8e6d0e6a1961ff5ae3dbe09e2aca179dd3aa00
+size 537198
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b01_005/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b01_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a38f962960a9bbe55c0e471ebf4284e8d9ee03d
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b01_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acd65c8e54589458ebcb955b9a05d71df325900d5c27c9e3a56d0a9296e0178c
+size 321679
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b01_016/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b01_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..594ddd108faca66617703227c3464f974c9a0911
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b01_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8decc466ac601bc91d9a9141a8b7c51c3ab4ddd439ed7c2e9e90316d4e6bb13c
+size 504991
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b01_016/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b01_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5edcb3ee3bbadbd6fa15128223ad48ba2fd9854b
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b01_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5bb9c5bb098a755a9de4a8881977ee558ee927280447ee0048a3d1ed0a8378e
+size 226949
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_001/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4f799b859fc89c378656b19f2686dc01988eb6fa
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b90d16ad032a8c14d57dcb57b584c328798e2570a3e310caeeba8abd00ae7d13
+size 354301
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_001/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d06ad682209e1dab5165eb512db3e73c6a1cfa5d
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc26363d5e4a6a71f728a99c72cacc0e91772528cbab2ed25a1f8e675045df05
+size 107199
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_003/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ea3b24fbcf6d2551046c170804d54af43c8e86e1
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8347364129dd0981d683061ee759c8e5adc0959adcb291d36432be3628bbcfad
+size 393453
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_003/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8104ac7a2deda3073063a4b6646bd53419f309dd
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d76252550f642bb27dbdad9cceececc7befbf214611968adb57e901d9dba629d
+size 200430
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_004/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9dd230f83a27a5cb40fecab0f1187f549ccfe0da
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0dc1492d35a0e98ea0b70ae7cbc967853cbf198895a5e6b53a3d63a57395297
+size 526812
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_004/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..89a5d9cf508abac001dde0e665d6083ca83e8be3
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02c485d1d21098afceb7afceae66b3315fbe2dcac10fc1e9dd59315e9fb41f5f
+size 272304
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_006/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bc9b1033c9e52b4e76bfbe7ae0f9ec57e5b4ca5b
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b02475c5e13d5dc50882152bb1fda98e20dcffef7a63b678f119248a9c57f2a6
+size 677524
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_006/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5285f2c23545ef01a1d7fb8ac7cafbd327cf2f7c
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54758348817e223f60c5766fa309c0e2dd432891c916cdaa578c179f238925c3
+size 351378
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_008/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..38a9fa127ff69a574f8663bd4d108327ec47f4cf
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7f9744241f4a2d9df4835af4933aab63275b48d187ea64de7037ba22d64da2e
+size 554813
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_008/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..580fe72bd46762cf904d24892647d25080f17a42
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:514d5427f023c240e3481cf3546dbb685fa163cdb660831a01086adc91978e0b
+size 349263
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_013/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e4486eb4ae1b3e5b9f6106354340cdf148d5fce7
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6dc7a45718d00aff515e2c0bd1653e76f00f1f0344f241410cd89c944220af39
+size 405741
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_013/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..15395e03fd17be24113e3246fd139a81679d6669
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5db9893e776c513f549ea7a53ad337e4a1bf047231eb4efbbb7df9c3ca80d649
+size 220189
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_014/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ab011146b8eabe0b26b5a86119bd9df4631df25e
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:263601a80c1703a4403241f7f185e4688af4cd7ac28f8968efd8b1cfc464a4f6
+size 566500
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_014/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a76b7ea04d7d84fadaf065e72a83c354600ead0e
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b491a13ccf8730dd241153fef7c59c6e1b55abd2b70818936e9450c01f34dd9b
+size 317784
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_015/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ac421599de53d28af7e0187d1c96791bc1143bda
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26e574dc3c7e748ed3a1a70f10f00cf3abf5e9b0725bd4f8904ae7282d322759
+size 616677
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_015/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c3704e17b85c9de853ea2d20058c36c8a9eb5a64
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b02_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:834dd8cd66d0bd54f8341cbfe37ea1fedbab8dcd508542b86b925edf97c17b99
+size 382004
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b03_002/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b03_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..51ae7ebc13a47e05ec7df43aec34eab0f87cf971
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b03_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1bae04c32c71f65f603900c85b94524565b4fec994d5da4de749616a0ffa9ce
+size 482621
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b03_002/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b03_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..64b882d6d5270bfcee86469e8084645d45e1ad84
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b03_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c256a5aa0e88504e7726c162c0117c4219f4dd9fefe86e3499345258762e0556
+size 267639
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b03_005/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b03_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..736b4e3447e612c7513a78a8ec70a432952866ff
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b03_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d60abc9bc9f41fb0a438073d946ad72e76b2b2d22e1493ff17bea818f788969d
+size 303010
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b03_005/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b03_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4033171a32f42fe0e9208a20e57d8211ac6205a9
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b03_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05c7827a03de93c8fc5d33a9bd061050221a39b83086d526525bba3d19818859
+size 139086
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b03_009/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b03_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c70c882e9f909aabd79811a000c3f062f6cf334c
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b03_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb74f65fcc0bd2cdb38069269fcb72088f9a1e2f0ad34ad1acd81d7d95f642f5
+size 560490
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b03_009/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b03_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cdb3d15516780b41ec81be368b2d59a5bc5daa35
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b03_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da2739d6eb8c48762832f0ce548a23e8235db990f3348ad5b5ce4b2c5bb3587b
+size 357492
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b03_010/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b03_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3485d91fce2afc4de062825df193d1de997f2e0b
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b03_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70cbc9a88d126ac9f7b5170e193775215fa3a644a95f697239da0601c2fd1a9b
+size 574998
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b03_010/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b03_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..617b943a5525785bb3e202f73cd5bd33dc8b16ea
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b03_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07d0bba717bd3e4310f6d6fe3fbc61d676c08a8ae94cd88158de3f169722806e
+size 337305
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b03_012/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b03_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5fa1061882ddff451d15d23b5221786058c249f5
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b03_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a94e36d994cb4c8dc109cd4f8c4faaf2e00524d74a22806475c477e2edb2072f
+size 660305
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b03_012/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b03_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c6ad1e3adbc67dac5f9a767c732870d79c7499bc
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000036/scene_b03_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f4a4f75bed165ace7a8775b5d61a709acc740a94b6608a86901a8879a10c8e9
+size 316784
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b00_001/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b00_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e26f398ed7e4ab8c9eb334a26ddfa9cf2cccceaa
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b00_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad7bb67dd29a88b6d8c34f52c358cd4e7b6007b48e3415196f9e7b14fc1b2f6d
+size 379827
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b00_001/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b00_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f1b4a9a5db87908ffc1fb47485e1d8558f1c1b2e
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b00_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63c19a192c8f7baf1dbcdb8766ca13e740d580cf57b9162494aeb6b65da377ab
+size 197721
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b00_003/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b00_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..49008d69befb0072ae572e86519627bab54e49e9
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b00_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:daea5b56403d2da24eceba095fe789761db19ef20cd2af83ab5afb9888fadcc5
+size 461361
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b00_003/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b00_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d02ade94375ea5f56581ca85386bd6e7e7e8b633
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b00_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78b62051e1940b0809006d04ffd9b2fecfcd0737376e94508e164f2cad1dffc5
+size 300742
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b01_003/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b01_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7caaea35175158341ebcb5941a00fa5d8ed4eaa4
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b01_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:977eebe5d5bcc8bf1fbd0da3ccec8a20767fce371b2bf5ab11e4c3991291d5f1
+size 403414
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b01_003/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b01_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7c03a3c956c03e30c121efeb428adb60d3c5c561
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b01_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd6248e58632612a29e9b95ac63d818ceef6e26e00bba3df48b7a3e1e1d85470
+size 285979
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b01_004/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b01_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6d16dbb2b875c1acb9deaa42c67e656c0271de81
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b01_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8787e1affd5d9e1f83f1c12cb03a0be7207974adf4af1cf4645d79f8bf8f50cd
+size 293520
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b01_004/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b01_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..802713dd991032485c549ea3f9889cfd761e5b49
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b01_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02a3a9202a8bcd434b6d0af440603f686650b4e82ec8f6fef3459fa1c407fee1
+size 188040
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b01_006/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b01_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cbb64a76676879cf6e39bcc6f8f21916d4872405
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b01_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2ba53d09e16ed645ec7ad9ca0092325c7eeccb6af4ba877a35b17329e6387ef
+size 453184
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b01_006/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b01_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f813109cca37a25590b8d9d55e42daf0efab259d
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b01_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa944e62fc9fc7c08372d665056865a31e2e0f3232ab15a8c424feec76969e49
+size 237199
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b01_007/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b01_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e87df71a18026dc1c153056c7c8f58327deb8366
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b01_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65f224c0d255e3384ec1491b1675da279b619b8cae7660c846b3d61d374026cd
+size 295083
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b01_007/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b01_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4340bd01d1e7659e372373451133ae39e1d76ca1
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b01_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d1225ab94a00bf6d044785f1abbcfec85a59928464614a4088f59648bfe722e
+size 112366
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b01_009/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b01_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b1709ce128b5fc6c90df6100b9ceb82505208eff
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b01_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b04a0804cb10e0f9a99dc5a13eaeb7b83b2d0795032bcfaa0cb54fc6a6529d08
+size 456505
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b01_009/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b01_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ba7bccc8436e2ddc95dd77d4b72ad32af1930812
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b01_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6585862382cefe2a9a92af7ebee3c40e6bba2e6eff41f6cddee92c8e44534ab
+size 220961
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b01_013/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b01_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6dfb8a748805f4c335bdd71378a46910f8dea626
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b01_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01c64002aed9c103c3fa32fa9250f52f931b6c80ab1c3d62f337713fcbc382b8
+size 425425
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b01_013/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b01_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..eddc1ee1abd61863bfa10ddfa9e4dd576e4f7f48
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b01_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6eb67131917aba7da39e20a6dfc8f601b0a4af70b7a6be9a9885bbdd03ee360c
+size 219035
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b02_002/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b02_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2a0da0ccad79c025cd3ff84f30b96fabd8379ff6
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b02_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f597d6dda3cd9392501d0697e54ddc0e5b6894cb069b6ac0b883bb6c888a31e
+size 263684
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b02_002/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b02_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..631ad8f53d715b66ad285243f8f72186ffbe9618
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b02_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cdd1fa5e81bda55b7d86ebc5fd11005e7a1eb494d76dd444e2020226465e4c0
+size 164722
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b02_007/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b02_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e3e00577db494ee4c386dc9160e5177e56bb95a5
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b02_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:871ed2856100f5dfb11797ce284f5bf6cd5764bc74249de81aac7427edc8bab3
+size 414945
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b02_007/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b02_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..11017788f850bd0baae234389baf9600cd630429
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b02_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44d1d5a6ec320793d167de0c3738e433ad0eccb139b495f719a14dc9ba6a392c
+size 244347
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b02_016/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b02_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..206cfcd01a840653b3bd1c13dd24b2b9ac57a23e
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b02_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a88dd04374392dc0963ea8c9ff3cbbd1b7186fa10ebebf4531c22c8cab375915
+size 581235
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b02_016/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b02_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..10977461def79f4ab291e52ca7d261a805503f1a
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b02_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba333227ea89b87ef33aaa62c9c65fef10a5ef494ad42d707fa65b3c2a03e54b
+size 225532
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b03_006/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b03_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5f670c15e4141bd158b1c82887bc88d5e930abfa
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b03_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c72cd7c09f2b42d07ef72c7c057f28b82bc0ed80906212d5d826e0a1c2013fda
+size 502419
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b03_006/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b03_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b259c4d2667e1b7823d2990a32489bcd9b512a1
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b03_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:512fc382c95fb140ecddf5708f0c33f6922f5c4d60f89abf66eee6e5a1c66741
+size 282983
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b03_014/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b03_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e59e284cd5a468323a69b65a3c3e36f72ec12535
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b03_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:356d0543daccacba18f40ef98c3a033fa53b6350ef3c99726e4222d378bc1f46
+size 472766
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b03_014/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b03_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3998e8450d4887378dc074c2e3b4bbb3a9d7aed2
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b03_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0212fb78b3c8dd0919b1a552ca7f7617c1f26cab1ae7c92f58f2d1aaa0080c1
+size 346847
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b04_003/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b04_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7dba8ce3c6846d380120b55a887a3a1fbb0927e6
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b04_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a67d85cf43e8f265d05cdaf0d9c9d96f49fd13b3c349966e7d4c65f64e40b7e
+size 423483
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b04_003/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b04_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d7b6f3223a1f47027c072442983b6826e7b0e864
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b04_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c645a97eb7459c4f459b2e2c67747447d99d831538593107104a9268d8b2899
+size 270161
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b04_006/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b04_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b19419ce9a356e3d7b69c61532d0e380a6ddaffc
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b04_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2f447f13de6ae9f6f5c40db01b0ba6640d1d6842368608aa59d2d694495e503
+size 523567
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b04_006/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b04_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c96c5b6e78d562d8e269a7bf167003ebcd1a9687
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b04_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b254b462912cbecf3850f9992df6565da41b7d56d199c57529796c0658b71b92
+size 320158
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b04_007/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b04_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8a794da95dc0f4fd07a40a52562c4d47538e9502
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b04_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad120680c25c74904d39a889618318c7a5cb449085cb75667500957ce51e5b04
+size 345977
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b04_007/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b04_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b7ab4c7aee357845efdb6960d3b66d598eb5e762
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000083/scene_b04_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ecd7f778c7af20659116016407f4d62cbce7b3756386a1e80220169b5bd3958
+size 215609
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_001/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ecc5de13a85ebd6255d723f2ae84741b806abdba
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7321b5a8ec556079bf659617bd3d9e0ecff5c70f8e7226547a4a47598aa83ad7
+size 433856
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_001/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..46932c409410ce8e9871751f5acfb49adf605bfa
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ab5c77d986abc15af331b426c268efa07ef9553767702ef622a01190358265d
+size 200653
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_002/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..90e516533410af063cb2925e36979c3f8f51ac12
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1b8e54bbb2c074f91b87ede898e77aee77ae816408f1ddbcbc0949294fb0d54
+size 563749
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_002/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a025be3fccd2a14437fd30908f08c00fb10dfe44
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec0847bb95af6b4ce02f05c333cbf2385ef114139cf35ad8b05269fe8fa2cd17
+size 269293
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_003/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..68a3285714acf9705c82d9d3fa873cccf4d405b8
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eda1b04d840cc7d13ca89a8d28ad48ea6228556d05a5321e84472f5bf05051c7
+size 253120
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_003/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..493f6b166f488f98ca70dcb9b520995d85d4c178
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3b8b236e3ee7436a2d9e18aa49a668048fd595923e444cb42803ab432cb6a8f
+size 173526
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_004/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..19ad9b29b485d6870912535a1ffbd9545cc025db
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02c4e63159bfd12e5f890b94bbbd24d7ef31cf0ad515d853d24ff53cd1df139b
+size 582774
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_004/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b62cebda661441b7e0fad376d335cf830d1927ed
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a57ff42e0f7abc42138e6161eb788f0a92228adebabe903a3125ec0d7595146
+size 351334
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_005/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..952dc50cd68a077450963c7dde43f3d55cb437ba
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acf098d7f75b7125326da95c046eb792c0e02e779ff7be2893ba5ddec26f79bf
+size 524549
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_005/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..730314822e1c2291fec548d810223556186a3981
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee8e7f4f9b646bb009bffa16e90140b4c34ba92ad0a493ab8531c1b013dce667
+size 259310
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_006/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..713d782eb105272e19135b11af598e143fae74f3
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d61f1d333da780af0dfc4aae6db37fa79484f9a63861c432db46dd6af9f8d25b
+size 449851
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_006/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2307284729b72a1fb7d8704e1f99fb5c6d5ac09a
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bdb955ed9175c6105d6ef9573bb07b2e47f46d49ea24f306e7a5e3ca4885dcd
+size 222609
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_007/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..75aa7198df853fa4e30c14326a5626e14b0bc1a2
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:451dac81425d941b1ac70f607f5b2ec7c89f024289ef4d2b4e038b0e3a12fd2c
+size 397623
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_007/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..53581594a1d4d6bc40e11062fd3c0e33a62d8286
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55a117c2a97aa7b6da6d0a7b48502a1892c17859a9ef43e148d70a30d029c222
+size 249777
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_008/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1cbbaa3a0e975c5e0405a0ad962bd68d613385ea
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d834df32dd0c6950b7738154ad8936d5eeaf5b8f133cf363d128bdaff478593
+size 580451
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_008/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8bf4dca4f977c04bd9bda02a1f781c92bdc6981f
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a80631aedce16770e64081e995d64c5d0e554abe806a8302d27bcc03c4143e19
+size 249426
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_009/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..53b444c42dd85a0b891879cfef2c1730887064fa
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c16201a75b7578e19453cc02265ddce1808c290316c57680991289414b0142f7
+size 487046
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_009/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4d852a9a76864caeb022af645b8be228bcb41c0b
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bdf3d28025858f82312cdd61a4fd6fb8f995986d79392a74d6dede893be0e90
+size 284474
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_010/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f10286be960e1ae5c2a1f3b363370cb5fbeeda91
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:659e8d9170491917a271014576979ea24d183863921d0e78bbd9cdc062635fd4
+size 357790
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_010/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..be9e7890bc37c3f774d2beee6c25b1cd236c57f8
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe2782f94fe50fd304efbb96af6fa69827a97d6277a833f49f147ecb55930f58
+size 229357
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_011/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c3a513a32fa914a8b4c09eb532f878111d8c8eda
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:365fc5cceb4247ad892e6e71a8f40321ef6c92de99c648dc5a99c6c7139391f6
+size 606193
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_011/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..80a53656c2d01c2630ef94bbfc4361a0f4ff006d
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08903d6f1482fde45f2a12a677007ac1bffedc5cf86cc3dcfc058fb903bcdf45
+size 370391
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_012/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fe244275888ad94a791e5bbc6e381be5dd59843c
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:748dd63cfc1dd4155d6b37f5e1b6d874077b884763694b23289b8ee8b5e8fad8
+size 386303
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_012/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ae9a21d294cc0fee4014425ba1cb63fa412934f
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63171455dd9a64be8dcbf4452fbc97935eba97f4e8c3d392353bfc20914f11a3
+size 227175
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_013/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..803369909ecea174a6c5f27f2a390ddbcf22f972
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6953d9a15c8ce1988da8f605ee1746e64849914fd1e5a3cd12d1324b38d32efd
+size 341689
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_013/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1bf16e3b202c480478d485a1296079389ef4138a
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:731f7e80fedbef85afdee6e2ae61180b870a0a99cb1097193bb2a973343d4b92
+size 176315
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_014/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1cd6df252556368a61f96e195e83c50cf4d26c66
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44559385ddde50c774e9510e88837a2c93d8eddf359147ab69f61ea1eadcd069
+size 533543
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_014/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7ff820c8d7736b81cb254c43937dc120418a8cb6
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6281e37a895b6128b0f33503e493d2b4b0d92f5789b4963f49b998760425030e
+size 210674
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_015/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..208a1848c343544deb78666641e73df50f2e9509
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:116060e9de24a65ce5462dc489d83a72207e4a068db501c77ed3c71028dc6314
+size 543514
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_015/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f498a13eb4d7727511c26906ea7733ff4db3d07
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ab3c314c38e2d04c846b855e87fb62be228361e1c911fb9f266171fb0e036ab
+size 305282
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_016/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d07c88e9d574a38f1a8c2a52f70009560e0654bf
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd0cc005ef3de24747057b75826dfb66f8489de65f51d333d6c06e33d9341117
+size 378503
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_016/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..41888e984938f54a8217c4db5724267694f18de1
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000164/scene_b00_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d47cdc49443c8541585adf79ae3f7cc080ad6ff79a87a47ed9f62e01da312796
+size 249861
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_001/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b56ba4f499aa63b23cebbf211d59d91c020f3b0d
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9c27426ea6b289324b759c6cc5e36d4a883ca393b4057ab9d1e07c2edf68a9f
+size 139513
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_001/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..bd4a3d42145b5a60e5a44813ac4b001e244c96fe
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26f44e205be2f8d4afc57e7258c404bb1efa2031953bbbc256434e4c147af8e2
+size 63998
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_002/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d4210c7e9f0ca0f7248c7bce8920f667e06f3424
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9d6af8a448ba176fd56e4d0abec44b48a33e6d32d54b54f910480d94268c731
+size 290403
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_002/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2ec5242cef64508d713fbd26d2b998e84628b163
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17d0f738a4698aff7a5976f19a58a33d0872431ea0e9f116a0a0faaf64665ca6
+size 164177
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_003/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..34b1ce8479601bc89e2bf444813c807203d2ead3
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acb9a64571cf22bdbd4ec2b4e270272827c8013aa8bec9b99cfebedae8f1507c
+size 386280
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_003/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7dcb34170291d0b254b991f7da66f7fc05f22e47
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65bd2d5f01bb001f4e1de6b8384151160f2a417a5e45c669ac0b5b3eb595899b
+size 182744
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_004/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..389486d866bff43ca558ab7c97d208f317271f06
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c064f13d1022d6aa85f3a08dc87f5bfa23f3122fd589e25570462940fc7f1a16
+size 232601
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_004/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e8d8edf2e98b7d03b3d2b2324a00ac625eafea83
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f486ebf05287a66db34864dfb2cd748d4ebfbaefc6ad11ab523418805be459a0
+size 103011
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_005/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..15ddd3145a044e08d669b2d9cb68b80384d3cec5
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aaf559e387eeee8d78bcdf4c37b403a7f775880d6252083504c376d7bd9897a2
+size 420454
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_005/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..bd2f9c84f3ad0d39f3978ba1f9e8d354e4f2560a
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf0e0ad0858255a3ad466ece73bc8b7cff8ea764ed4f8a7392236ae6bf9ef52e
+size 168336
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_006/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..54b6bc151305620378bd11c1f94ce6241504ffdd
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b52a52a7a4ab308912274952d291aecbd078bff24197b2c9bf17267783a04b08
+size 295329
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_006/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..25bdf854747de228b29b0d7b4e0fc294689dbfd5
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4fefe72ba81ad84b56204ceb5e79c580ddd92d814e76866c88db8474a12f448
+size 157135
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_007/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0aed865e10f8c83df9d5e14f0bcdd16b722a2f06
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:800531488b47ccf7ba3f7605146ea6559d78360af39453c6927f77dc106b73e8
+size 279483
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_007/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..acc33b11806dbc54cc429dbeb91beb71cfabc082
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f12ff74e943db046927400a3a7a1fd4e8f70e2b327dec65556ebe67ad94a1b36
+size 103622
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_008/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a3b73bc03125ebbaf2d0d7c2c8640ca760a2a95b
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa6f5ab68826b704a9e9f2ce384d4ea6da7d388d9058acfcc7faf284a0b7b732
+size 249937
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_008/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9b23f799a5e2745c075b2433ed205899ff658f57
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9acbb3bd450029fc8e178f3b66a3ae6a61c731e74e09dc590c301940e7bee066
+size 133535
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_009/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..70495319f928df0eb77b4820c9594191ca219c78
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86fbb139db2361e0398a24b36b8fe90ae1b075c0f3ecf1c0967b5b4445a56c14
+size 247327
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_009/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ba065459936b64301a1625e3d7c88d34d5ef3dd4
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34d377f396465d29ab5208799e291ce17b852c950369d7f6a3057ba66df305f1
+size 88741
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_010/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7c96d78a306568d9efe8326a87b9eba54b83eeb7
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:386c40c93fff0a742b9bc2ae596e3ac291265904a5f46b4b4cdcf9d6c660ed71
+size 342175
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_010/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f9b7bc61f43cf07ca8d18fa71fd4b6a17189c37
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eaadb915372128206f9e55866c0431b62f1793f4a7b05a584e6da4b5d5d308bc
+size 170751
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_011/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fff3bdd78fe24b64fb547bb897765622a1c81813
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd8d99429c22bdf477061a3e02f43ca7859667e04b90cd4b982e666e2fda077c
+size 430692
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_011/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e0a41ba2775d37ee07b536350a0cbc40f6931ea
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:196c302d53643be70b3ed0d2a3c1e01d6560daefa7242249e59cc13d988ca0a3
+size 180520
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_012/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c2478b9e81b778f9788aa85532b3813218010ed3
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59fc521398fe5103cd7bcb234bb77be0655036b93f58d07cbbc0ac291cfd5ec7
+size 380031
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_012/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c3f9d30f15224cdbdfdf548b2c123eaad5ff2aa4
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9019118f6a30af02bc2225f94214d57c5fd0b7d2543cf07a11497f048bb097b
+size 68137
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_013/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a5ef283168bf4714ff1844867cc4250031f1fafa
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32dca9203d094f745724775f8a0f577ad53f106c994207bc2d9c02a63c188392
+size 294906
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_013/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb4bcf5085cc4c14ceec8f288636ce91200958e7
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:823e8b1344ca3980cf9b9cef44fefaec93b67850e905072b282ca8752542f173
+size 166458
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_014/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..877b90b9dcaaac5655b201ef9db3f50665bf7bda
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb74af68ed0ecfc28aed0e1967f2b46049d6301aab69d4e47daa0c7268746eb3
+size 451532
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_014/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..20e8b19d1b81a0eb409b4088cafd38b82bc897fd
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7ede0b41ebd780ae8f47704ab169a35b0cc0cf2f111d83e16ce4d2625e606ce
+size 209486
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_015/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9307fa9f81de844c4007d49190a21cfd05ec9474
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f9324a5a26c0b511dca1bab1a9625002cb2c11d3259e373ce7dc530f041dbae
+size 437479
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_015/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e0571ddae08489d4a3c24c8aaf3fa7071316a9a5
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fb6b32c64faeda4a8e5121b4085d16599b346f79ef19bb27eaee68df91fb84d
+size 206414
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_016/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2bf14d7cd33a6f6665b7b688fe02a52195929ac8
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f69dc5c516e159b59099e0bdfdae2754e20813d4d5e73f8706b470c7910d6773
+size 338031
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_016/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9fc4347c744007d2366dbe270e084c6ac65d7357
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b00_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05a31a8a38d15d4a288f7a9c23fb262d2cac54c0ad0e9f019d706573cc46a42a
+size 170164
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_001/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..98e4462c04f700713c2ba583bbec0f46639f5511
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2b3647435df07237bbfe5dc26be74e495f1f2c32d8eae5e42602eee19ba0e67
+size 374996
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_001/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6eabe92ca052da2dec8ef8f8c95e4b34ecb996f5
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e556532e44c6845a38a7b6e89a678ac642b9418b8bdea34f75f82947cc61bcf5
+size 139202
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_002/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3514b6a8d157e06eac5ef5768533628ad82048ac
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2034eb45885971aec4b57c58add139e334951714bc55e7c3b49ccff7bef40f8
+size 357807
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_002/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f2bba753fb3a7602e3dc8833fba95c8a9c0a097a
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8f6384d7de2cc6c771785c2cf4b6323b02c70a906a95fabe84e87ab28753355
+size 133484
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_003/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2fe12a5076342660b917528873207e17586a87a8
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a10bec581023296d48fcd6e346f81bb59d9a09dcd54faa25c8e59a4741bb200d
+size 370035
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_003/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..788c8c8ee5aed0ed393a85dc363ed1d97300d7f8
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76785919b5913b3e51c47cb91699b9a1c4cb3a5450fd474db602f9329d1adfb5
+size 108846
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_004/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6ed67825674f546d66e4cffd42f928227c2eb286
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b05996b55470619a9f571f963d07005bef0d2b315c5b25c2db8ab24fb10f0e3
+size 322244
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_004/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c04be786f3af868c90f6eae2c9309da7f132fa16
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a246981d714397ee120be9bd0fc0ce5215e4f2b081444fe733c27c489e6bdbeb
+size 132607
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_005/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..27fb5c1a60294bc0420bd9a5bfbef2bbbe9add2c
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b11e4498f0d285b826aa9fe59871487b0bb7b26eb8262b77055fd2871929819
+size 240648
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_005/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b96aef08ffdd780ed003e15e43c6ecde2766849
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41b6b8ece778b914754c0752bbe0471091ad65042a6a723d00a755bd6a0bd469
+size 143004
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_006/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e9163424f24c3f1ecbb9d9311a1c992f3cfa2767
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c88782339ce34eb2b4f63c59e6d25400fa8abe267799a84585eb32bf58ee827f
+size 287544
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_006/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..48bf8048e088bc0b931d4304327e11927b72c153
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dc211aa35aabd6afd2d41a12d64c5ee6b11dab899323a13bfec130529858bc4
+size 69895
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_007/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cb0aeebc186d6f9d43924962e6dd99dc685cf6ad
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfb0848c4a8bd8d23cb353a42ab4b1f10856df0b4719c4df2b4f6849d64affa3
+size 289518
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_007/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5eebf5be9c1c07ae0879a1b12ba6bdcd60c51b62
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c409af718c65eff0c325a00eb9fc5d17ce65a896fe774a9e54e26fdceaf3772
+size 71335
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_008/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cc5e458211717d6b943881a9bdfd1dcb48618555
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:952b545883adddcbe4584ed8eb01186c86f86c19b236c73630fdc04e1669f39f
+size 333183
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_008/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ad42129f63e474ddde5a4705e07a6340f7441222
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6e578b86de74da5d17d8c58dfa4374b1cce1bc4dccb9da2abd9f173bf925d0d
+size 177920
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_009/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..69e67ec874ce1e2435fe43d1b20a96aa6cd98f31
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dce464f6a67ccbe5ee0c859335730422df3b24d4433d1a5b2b44620f0b5094e0
+size 425309
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_009/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..420996aca97cd4fb1793c210ce9f1aed28db91dd
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6eab6b834138dd7505917255fcad670f5c0967fb823edcac5ec946dbb34d92a
+size 192379
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_010/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..160ccc42ebc63b9fd20af0f1d06db6fa72ab59ea
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a5c62935e00a09c6356cfe792865c06bf56b5be622d89e27476c5281c51e215
+size 279830
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_010/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac108a17b05a6e57b2c836b794ac6e67b7ce07be
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68af753ad6e0ae3a3165350288be08c617cea6a7c0e5b25253eeb83eaf48fe5f
+size 77179
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_011/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fe7fa64abfc1a760a74cbd1aece08c97a332942d
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:099e6bf13bad0210f75e5f923ba9c856cf27c3e7ea4711ba53a2f0a3dfccbea7
+size 248691
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_011/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..09c463ed54e591081fe2a4b53f10359b7715dbcb
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e8b8e4c3f5fe798563beb40602cd799b6b72e58e07be1c509384446340178c9
+size 76805
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_012/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3049432d0a83e4f0b6e51ecd3ca5ef2eca53be5c
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f745a5e0f93aae4c95e940d572d1d8b311ebf7043bebddcccb1fa72977d2ac9c
+size 215302
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_012/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..91aaace712bfcfcd0fafee83dbff2de81231b1bb
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5ab0c4bb33e1e0205bb27ee451598bf6f759173c327c2ad145cdcb595eedbc8
+size 109054
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_013/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..850e2e65e52e1480c650121399e7a2bdaf9dc0a9
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d39bf28e048ae788d34de2bd95184c84fbd09bf2a02b5956aea30ad66cb2ed8
+size 228363
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_013/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..bc8d2479cfb6ec59ba56ce07c6c671e43276ce8b
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae2751d5d689604896cc1e5ded381c0ac8e69a0ac89c3befa09012ae8a21e2cf
+size 87659
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_014/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fa1fbc1830f2aca9fbe52835191eb33376486b65
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ca89011703736093ee85da1af99beaecd18937e1d194883bf7c6c6344a02e95
+size 292894
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_014/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9f666ad41c4bd1014e97353e593829a6a8f9af65
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2211b2646fa15caee93d2cb7a8e530420d3c0b2e2fd01aeccf94d5950269e2cf
+size 82269
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_015/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4aeb2c10aa1ca2de1fb2a90613a0d8c314173008
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3d581793befc4c6bd0dc98128dc3e4be4c3bed0b241826c755dd108e3fc94c1
+size 288551
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_015/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a56763c80a673bbb6abe4fd9b79565b2c5d354a1
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6e323f5dc81bf200b4d6a1013c62fb9089b10b67d4511c8b65e3fb54f8af4fd
+size 74919
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_016/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..33339b2a78e388c676a6765d87815341c5771145
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53346e0f92a1c5ead5d79dda113168736e3533f7e6b38be5cbe16036ba8b389b
+size 401233
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_016/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e6fe4b0eb3a64379e70d0b933c9daf0af639b160
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b01_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3532072508d097bd3b9377a5ad6455ecae5ad8596ca9ccf7f86d8fd877ae2c9f
+size 148443
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_001/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b0fd705672ad0ae211cc594b2e11e86326e0bf67
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7500db090f2a09a78caf2917c218ebacf5c840c5db6a45cc52ec72de0ad2ac1
+size 246167
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_001/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d451d22ccbba154cd4fbac22a07a5fbd2de59f3f
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a426c4b869261edaaa4339d84221b2e938b6157ae629fa53fc5ca0eced2e9d9
+size 86662
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_002/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f99dd9a1363824788f027ea03e3fd4e8d09cbc01
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:603aa6a9f9262fafed7001699351007236875e78445640f708b01ab946f2e708
+size 249183
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_002/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7f90c79ec4f210ee1375b0382be06951a1437bbc
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16701c309423d53bed75ed360f68321cb029134de8234bd103ea7ed1b12937c1
+size 62658
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_003/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4743502df16fa379c5712cea36cdf0fa7e36acc8
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb178d2ae75cf422dd99ad0d7d14ed3149ed189782f22242b0ebd3d438c5e5b2
+size 290761
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_003/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a7ef5d2b175670f7a193fea5ba33d9716d8ddeb9
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e0735f86684827dc32b2cc35e9a089b4377ae8b3b7418a5c92be8e14e2b87d2
+size 81248
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_004/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..019ab66b9d4af78a89e85fbca48e44290cd3e21d
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2853e4a9364856854f22cb6dcd99a465e55b9b8f3452036b4cfa8291d160372
+size 429465
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_004/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a312946b2288b841301e2fc2d72720cd6033bbef
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08a3dc9f9fe5ee953ba33f1129d64408ec0ccd87ae7ef148908ecf06af7f179b
+size 176124
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_005/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5d305beee8dd8fb57138ad339e16ea2cd919f1c3
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:824f5e341cb578244d8961d01a1f76f4402dac1a2c209f8ca7a875b4d3eada0a
+size 269555
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_005/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b167cabdb7648fecfdcb97b1be68e14139dd7dba
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74b7bbb611340226b88bd0dd10f483ab7672cfb1c2c2619aa83d70d9ca7074ec
+size 118816
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_006/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3c6d8c503b88aeb6582a4e373c8d1c09466cd153
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fb453533c74cc8f5e313e30db991ed53e97fd037cc159ec7fadf616594e020f
+size 216748
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_006/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..fa86445344ad5dd47219805336f10d783c5bb115
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3ed04fdde2b9db38d480850ae8da41b409894143f5ba50e136e1bcfb23874ed
+size 62202
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_007/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5b0456148ffc91f06ad174d112aca43dd931c804
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bc6b0a3b54a0169799399a385418a09357d19d9bd01ee3a9076f0724be45e77
+size 294725
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_007/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..edc9a0134e450bc63067006d2a618d3b37945495
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f633f2f8fe1ec1a7ca7437e99c2b9413cdefccdae382b35fef679d6198568d1
+size 162875
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_008/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ad85a4a5ffc2374e697ffa6065ff924b838b9ecc
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fcb33e7b06672b03fc02b3689ff6435ea1e3371cc34f930b0aa58925a241d84
+size 224557
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_008/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e14b4b7bd98591db6eadc9bb4afb7dd159bcd65
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80b2d370ce37238f3d7b894c5008f376563ecb9a0c01c4f486fd754c9316538a
+size 71610
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_009/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bbc2753c6c1381f22544d3c7a4139fa0427f0b03
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d20a9c4fa8f4229ba37a3cc56ceac80fce64392e3521876bf042966c70193254
+size 207935
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_009/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f5a32752ff8ed328e635442f02c08b04753b47c
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a47e1b4839d16a876c26daa287c62339f93a2bbf1c2cc21f38c5c28da1bafc6
+size 90043
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_010/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5a58e1318ccab5b9c6ef5b509c47758ad77f98cf
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:014a4d71db2884995e3e25cc3f781259de9a9918908dbc40e6568793c321dc24
+size 212347
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_010/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..524cb8c8300dcc35f89a37d504b07ae0f37f04ae
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24fafc6042030b4b260be7d5766b8b399e46838a42186d83f3199344261d4a1f
+size 83822
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_011/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c57d11a24a4410874ce920fad1b793c81c40429d
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ad415e809b1b7d25db1357b6cfe21aa9951abe79ddcfa192ea1756d3eca84e2
+size 223179
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_011/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..257f5f5b180dcca694e39accc319f67f94a0ab40
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83d77c1bc387ccb296cecf53d5ce7232a1cb703fd17f48d936f40219e6d0cbb7
+size 85286
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_012/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8423e914c7a50105cc061b0e14973dbaa7fe5bb3
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04e1564fe8f161f4dd93160bff1d6de2bda72d82d569b65e831d1ce2ccd4365c
+size 169352
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_012/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..93e250156b82aa9c9956594f67c132f8612aa3d1
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a17901ef77d7b60888f70b4ae4429f89a5b07b73d7cdf8b138567867353822d
+size 80312
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_013/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f1d712d227041a130d23588fde3afb5a69534419
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:948fff8c89d7b2bd95cbe162d282fd6497332fa8fb45fefcab40f023420e02e7
+size 444617
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_013/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a9f550d5b14bdc25f55984f03c68601c6a682bcf
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09a2e692451c803f7d1d000b66de7ff42727535db9b7d871b2bee968a65de24f
+size 192542
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_014/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7e86a3413b757603fdfb1de08430d4505ee0a01c
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ada123c333a94f14f516644443879b3a4964ec7b405f6bfc474a4151a32e63a9
+size 344999
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_014/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3f75d1914056698a43e1640701f05663e19e2794
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e88be65d2c4f29c4f46c51748c4ab6b23391eff03a4d44265e4503d618e26fb4
+size 160910
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_015/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e3fc584ef6ae4039045f131ee1b01add956d7e03
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88e9dc5c2453d5e464df4ff91ddc8bbf6c618f809762f88caa6b06994732dbfb
+size 406661
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_015/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6cc249f1985d788f4db1edf0375b50ade9584b9a
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7aa79af18f694fd7d325c4f9361d82e8b2d0aa3fff01d35a689cb9f06236f36a
+size 149595
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_016/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cbfda6d8955a05a82087b96f63d71a021d97599c
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33cd76b408c95deec85ae553b652431379b9116fef2d3cfa2aea20a6ceac5525
+size 475860
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_016/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..558a15d74042f9eedfaaf835dbc3214d6150db28
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000170/scene_b04_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02046ec68c695a0da4ada0d41cfd0eece38d36b8ff13eee265528a6f489b2feb
+size 181263
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_003/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..569feb7bd79aded8dab4302c4faddbdabcdcb14d
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb8bcd6a38279d2836adad2ef0211a420c72a50bd20430783bd89c4c30c957af
+size 230094
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_003/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..dffe0740339de89e96f366db8b1a80e26492b3c0
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a106ee14d001757a4befefee57cdd7837e6d69921a11002d9dcb4a8bc51397e
+size 93203
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_004/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0064de6039272f9e72f46498704626c622e6c1ae
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdaef9108cd0dd79346fa1daf6900b25261c54f7ff19658cc11991c6a051d823
+size 188753
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_004/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2dc904c633ddaa05e980a2642099b2a61e133c39
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f6099682d326f679781200a024740dfa0c726e1646cda6ba77d5954a790012d
+size 62502
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_008/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..74d34beff281a3ec5f74be78d22da833fb00c60d
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a9488c58bed4c9860d566072d98f8332e52816c7764a2c2d018a3e5aee536c9
+size 316137
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_008/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7761e105098bc8093074098a37717a22e65c9f72
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecafcfc616e9be399aecfb335b812b9f320d732496fabe74a5877ab4ea764553
+size 170384
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_009/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c347185de78f330ed11ec53b083f65ef652acaa8
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42f88c4052a7d2c4476dc8b693902c3f77285301914ee544e43d18383a39afc3
+size 195562
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_009/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1a5f2b4870e699d6371fe637e6f6db503ac46b9f
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a210e0773cdc2b5cbe3650112c487797193e33c19308cdd0c4b8ec8a67aa4113
+size 76806
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_010/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..92ac74ac5f64a230f96a989e77a89f173bbeb7b5
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d38917fb68415da17b77e4e080785fd42680b227704d81bc4e535ead1c2a4644
+size 161451
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_010/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..09721820ef9063b0b454184099bd1462ffe6b6ae
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e636c2336b46ef187b12dd4003bb5ce39539e5c47f6daa4ab145629a09597b57
+size 84043
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_011/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6776b02df555733d01a45605cc0ce8174a6671f1
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f03d4d271c9edee95cc74475e8e8a922676319ff04164dd2eb59f77a85861abd
+size 162649
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_011/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c5c523bc8eab4917b1374ec21f234c5cb8b42c87
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e614c088449d8fdd1f9e75650924323ae4d13b9dd98dcafde5d2f21707c79a6
+size 74391
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_012/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0dd7818ee8514a8696ef6d076ea665c2b04988d1
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff1763aae04cd10babc22d72b3f6888af357878d10de67439e66e3d848a7ed30
+size 204811
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_012/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..dde657eaa1e55a6660e739e18cc7b429d965075d
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18d3186841601ab2ce882ef1f61944098ca08b7e68712c75ef6cf7904a3a502f
+size 75748
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_013/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..187e91699de520b53831cb145b32b8ae5a3a0c9e
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb5a846199850ae9087acf7481ed226fb1c39c364f4601ed7245356f644aa7a2
+size 225650
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_013/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d19754517088aca361850caa73eade589850a3c2
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99ce9c252ad6ac2bc6a4f81ed80c961f3e1e46690304e911068065620ab18d05
+size 97259
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_015/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d54d854fa00446b81a7b3dcecce75ad3194e694e
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6520f653041fb7095b6388b5d82aa6101322cfca60e7245486a20abea649c1c
+size 152427
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_015/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f2dab1474e3584a22ce9a00606182dfad095ce04
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b00_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9e732017d13ad0d85eb74f6c162fde268b06fffd3567059ad54a770f1359e53
+size 53890
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b01_001/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b01_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0fde07c5c83c53d1b83fc825a670caf6bf145049
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b01_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88f56285656edba702b2ff6e937f063a492ac14d7a9b6f6dba464d561692f9d0
+size 239893
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b01_001/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b01_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6e6c81f50ebdbb5c3416badad20cb4ea144c1f83
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b01_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad7ae9fe0de8610aba3e72f833180409c59f19ee483e7ef5948b37c71f2f6d61
+size 112053
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b01_003/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b01_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0113e369271f9d50547cd7e1a7b5a56ad446d17d
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b01_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08d7dccdefc9d34baff0193a7aee0d977c0fdd24baa5f1bd53ddfd1ec6552440
+size 227712
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b01_003/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b01_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ddecd724f50eac7e02a6cfe1f58f37ac49e4a2a4
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b01_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7ff07f987f3255c0d1819fd01040b36af36a3cf584052b8c23151065f3d3b0d
+size 110725
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b01_004/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b01_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f462cf59c755e9c0fbc5416e962cf63c50922e24
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b01_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54a944a9f4103f4dc8428581a312f911e2ea05c0f7a196cea7d8ea96bfa0a577
+size 244147
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b01_004/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b01_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6651f20e435b42a88630b2d3162019e749e4df94
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b01_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:feb1db8950ec4b1dde1ff27c6403086a1e528248e1c70403955b45dafccb4385
+size 84068
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b01_005/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b01_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0c8accc18c2870386a7295013b8fcc2975355a6c
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b01_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb4ba0600b0979df591a44e36b80922fe930dad2cf4fd4170005d777cc99a526
+size 157618
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b01_005/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b01_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f57597c7dfc8a6a7df280612ef230adb9e5f501b
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b01_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c525b2fda760019a2f8618e8b61bb2735ccd82fc96d646384b3290f3b45c11f3
+size 76772
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b01_012/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b01_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..309543a62c48a34e15cc3c93bd11f8fd819426fe
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b01_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47f35b1d22d2e9c06cefb67b7ff05aecc5a204a2988577d6b7f170d2ce089a11
+size 265709
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b01_012/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b01_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d8166401dd1af2096d6d74ea7579aac583bb5612
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b01_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:407e7fb24a1af637d76376dbdb629619d608bc69b5c2c5a789a45dd1690218dd
+size 89991
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b01_015/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b01_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8d24a853ca4097f98a0df4e5b6dccaaa4fe9a5b5
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b01_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b31892bb4769f0bb8e2edde0791a58d4ef19162d58b94c3ca3d9c7c87f00f083
+size 210716
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b01_015/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b01_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..dabae633a62cdd849a665884307d8161e361ae19
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b01_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9898ab5ce31373a226f22338047d236b1b9038c733c9cb4c00aeeae2f7dba9bf
+size 93866
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b01_016/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b01_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a05ca340c90c1546417a82a4f77e29a1c3ef9055
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b01_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d58d106f1a4b55794b38d28fa75e815288468c1a2cf0c7fc17f9fec87713288
+size 235441
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b01_016/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b01_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..216b1a7e4cd3b3635568d8d023def13c2214330b
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b01_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3e48807d0d1ba11732d09c15156b3c2e0b53467844880040906c6b6b3037a58
+size 122079
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_002/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bddcb309fb8a977a4ddab8074699a781845456f2
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8db25ae1d57583a6b1a0ba2fd4a3a986efc6e093520bc0fe4889ed6ac94316a0
+size 234585
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_002/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..dfb02641b095c2ed016c0dcbc654db563c860df8
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed55d7fe13e84a3539c55b3383ea21c9172ee0d6bd3be0fa07cabc61b5b463d4
+size 87675
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_003/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c51ce0cac3b3c3cd776bb5c9f77163d5080d9b28
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:264a6d7b37a6eff54bf66a9c0c220d21ebaf47e86e63a03334748cc77ccdbcd2
+size 138859
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_003/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7c2bdccb12eb1f9d82321ec6c0021b4f5b068ad2
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67798ff166407c247fda5a13e2e518caacde2a03127db20b3b130a1a922907f7
+size 51193
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_005/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4ea7ae951453515a0cf6c3d39c3b2067a9e7a0ff
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7debb0dcaf59afb2d2d243d7a3b2fa835dfbb176ae83474629009ff638618c6d
+size 303556
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_005/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..93fe1db248bb2380ebd3d1d905e343b44654b96a
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25cc93e696be4c86612c86ce5ee3319dc2b24c95b285585b3ac71548372bdeb1
+size 105441
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_007/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4f8336fd5f122fcaaf2800ef0a2173d6a6016609
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6fe205ab914e25ad952035617e44e3a00d21bbe26245f7f65af4b1b3191e267
+size 347485
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_007/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..490104a10547cc92ceb8cd27a8fa303b880da661
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:308e3d6f1d17dd43ec6b2426373534914f04621ad9bfb16a131911ddfb8628a7
+size 91641
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_008/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1bb6eb0c6c84b9fa5d7518bb18410d321e140298
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1473eea0a4e51c41cf8383c425db68f30a9ae19fdf44e10272b717a279a959bc
+size 360340
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_008/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c2a777916d7b1585c899847ef02ec421af6463cc
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6c7b0cee6deefd6b9ac96560ea8ef8ec0b6679dd76f302377f260f88e6d3fc2
+size 106060
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_009/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c92a4c7effaf988c3a002719bd20a738f7964d96
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9877b3588f5ba9e40d15d936a4a16de852796c34146cea1fa7b4b2d6d9d32a55
+size 229067
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_009/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..00a224ba2846369061be0090737d605fa17fa8a6
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d8fd4b3b8fa49170b6e42d1ed51d84719f493dffad770c8a908bf86a46db45f
+size 75422
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_010/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..23f58e92319c1473d57c1a32f66469ad5fb298c7
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e48786cec8f1d4f2c8a3fcbe7e7d36bc5fb4c5d75e8ac945cd13bb05ae459d23
+size 300101
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_010/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..64e1e5b41472ce4954b15290561a356f67053461
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef421ba989802117728ddfd38b738af03f6e06c024817674fd3ed13e96a8c32c
+size 111341
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_012/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c7a2c158b7d3d59b1e4f63e923445c882866967b
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d964f7775aa8d0f117e7704a671b11da69df4929e1d4bd4d34f5eb211f068b3
+size 238509
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_012/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..464321cee5e9009cb6f31019c13a8d725a304d9b
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f32c3704845a6dcef7b7173e80b43239fee24557bc8582593f8e9c332c7b878
+size 86517
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_015/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..49c7b629e83329c9477fe485f2e12349cd2f7fbc
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22faa45e8fd9b1df5444355751107dbc321ec38c90b1482340e9f1fd70146fb1
+size 286517
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_015/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..13ebecfc7951e72ed04dd4aa8b088cf0969933bd
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b03_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fcf03100ae3837314c25723b3cba82f4a16c5075389fe2fd52b5baba0ebc2c4
+size 99303
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_004/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..553341d254954887e2d139a11774d06f2fa8f579
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6e87f3b3a2e5b8b7dd6a518beb5ab79544b1c54160528dc4628205030cff894
+size 236338
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_004/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..bc32f5a2744205abd60fa71a263d6d68800dbdce
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7da2227069f84280ae994ceaab8fa2f65937e8ca872e83a96f206c6f53fc1401
+size 113767
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_005/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3c5f9d771b4dcfe85ac1e81901f7234c854bfca8
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13fc49ba0236d2abe9c46082a7e40cdbd724e392bd7f8ef01366eb5ee56fd003
+size 232754
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_005/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..eef21b0b4ec159b23d58c60397633a8e4b181b12
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:496b282d992afbd2455f83e0acc9b941e7994ddd96353933f7088739a41cd992
+size 99315
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_008/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..46ce58277cbd541d8eccac7d1290e313f20a4f23
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25e06176b576a8b8ce9a62ae5cb3ba332c01177901d680c34c43f01dbd2420b9
+size 262288
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_008/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..15b97762990b46e47982265afdae395f0b09498a
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0dc67e9a7a869e0beea532c92a053ea8ae6915d4e03e5b0a1b789974966d25f
+size 107487
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_009/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f8078016441af8acb147c952fa04b8bdc1097524
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5a31fa3359e759af6ed0b9c23687494cd0d374e420561596c9e5c0d20bff40c
+size 266663
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_009/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ae3bacd80324efb90c45023c05c64c900d022fa2
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1240bfee953f30966068ce8e788b8d4822280281939f68abc82e86cc38b2d2b5
+size 110160
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_013/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a16721d75399ae35cd95123374b04c3e65c424bf
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a6b9692297813e7148d8e2374dadaad972178f1a98bcf3fc4710045063dafe4
+size 236628
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_013/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7758926fa3ca8cfbdcc2dc95e9501066fa074437
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41afa41f85d7bc44d86ce0f0aebb3c38afc179e1da2ceecf879d15b779eb629d
+size 97578
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_014/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6fd280963661c6d79f40c9041998836dd8bc2a66
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c72990a495b1b5b16491715eac22b0348d30686a0fb8ee327a7ebf7bfab0b462
+size 269331
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_014/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..edfe4c8c52676f98c976fe8aef906e9906f931ea
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:baad353f2e792d98adf61634c67186ef5200f340f0e13311bd3951b97d2090f0
+size 105764
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_015/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e060044c5eb63a4b2675c92b359aed12ec7b9e57
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8a0584cd75df8482819252bcdc80c3543c83baf9260cf30cea6fac391523812
+size 169247
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_015/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..755f53bfbdb4db548cc87d3d7766f1e0f81e1d00
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:693d29e3dd1fdd59a32d888d32bd7aa378acf81d41ed669ec6a5a35c1666ab6b
+size 87307
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_016/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..544faeeb9999a4f9314ddfd77bcb6c80b6b366f9
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a7eb2874c3f8e03e4e04bd4d94dd45d53ca44d096ec92123ff7daca08079666
+size 302598
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_016/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f027d1c434f16be289c177e2363ee93bbc355735
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000418/scene_b04_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bba17c568da1a4cd54ce90d2abbdf1b653c25285333eb190ca7a550fd3ec7ac9
+size 102789
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_001/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1d55180de5546d613803242bd03d4f057b99b4f1
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4888058c511b4035f171e41d851141ea1ac8a502420d55746acebe3a9b7cf1b9
+size 223981
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_001/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f1978ee915393353314323716e99f2cfd1bfb79d
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25f77c0368a4526572250a9fa82d30348f815a1b479460bc6208771bdc137238
+size 139320
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_002/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..55391ed98b4a159eea515ef734c9614087a6baee
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:972d24c729511b2f0f82d4135df44e9890250a1b71bce657194bd2b351ed2a2c
+size 188909
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_002/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..716fc6491a8c77d5a4c13b1afba6c4bd57abfdf7
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c681a13d2f2480cb00f5213657d035c8863cecf603ffde2a7bde167b9bbc50d3
+size 74156
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_003/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..84fe91919bb2646b547757c8a35ab9635a2a147b
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b710915f38bc42fc81468052d56423d28abbd24c2fc5f942519c9a82de16e596
+size 295493
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_003/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f41ea942438671091b9232319d3ac1f1c7bc5811
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ae30c8b8a899d31b4c1509d33b5198142dda2549d5943ff3fff4d3a54f01e51
+size 154154
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_004/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b0493e34cc76992d13af162a59ae94ea6e401bc5
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b09d9598e0177ca3d97f532d9f08e17058680e719d19db3ba3118d55b821503
+size 299889
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_004/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..fa3ae5ea5ca268d05c7eb731a19ce169c09668bc
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:173772db1902fc6377863332bac20a8dd9e80c7222f23e4af5a38dac23283b36
+size 185030
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_005/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b9a96e8388565fa94d83e39f976f326a6bdcad6b
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec259a8bd186e32287885c81fc24f4de556e12149eafa1a94eebc1ab9ffae45f
+size 426954
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_005/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3c3c5b730d70ceb58b84171201d6144d81bf141
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f45ccddd8fb97113f7698094d19736a572b79b98791495376689e1e7913a1023
+size 168212
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_006/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7b9136151304cc0ed76b3885dbc2a686b101be0f
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:919ebe07462395a01450b8229deca8265e5ec6ad22a9141d7082b9c7f2796ac5
+size 374548
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_006/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..16abff9f6d13fc0f847ba80c10029db108f47356
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17c2f19612adddf6360fc714859e231b39546ef11cf838503509a429c4746e05
+size 105569
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_007/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b813f13006432efbbc56d83a6d7fb0254b539dc4
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a246edffe5d855db796bce4c9b054e20497d58310d7b091d219dcd9bd52817a
+size 419212
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_007/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2a8aaf5f3dc325ddea5e7303f509e0644a67cc96
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f117761e208fd00999108dbc3fe12ccd20b52b47f9e9309e515b8d81dd068cd4
+size 192204
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_008/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a82e5f156ceaefb75cc0489ea25493de144e1e4f
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6e7d8bea09194f979fa16fe257387ba22f520477b36cc18b433b1312d17566e
+size 357086
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_008/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..de097e13d262ac54cd00cd37d7a02ecd0443a19c
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19cdf5ecec5239549c9bbd07b600d6fc4df90a7d40b1ebf3c8a06cef6e670931
+size 137255
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_009/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..81beda358c3009de14c281d4a92deec879710ec8
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e712aa3707962d5d1becdfb3273d024e27f14d4b4c693d3ef02027df736ab695
+size 336232
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_009/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ffd0ed05efc754c666ef8eeb379626a2d0129637
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7456bd96977161c984b4332bc7f51d94dd13b869a9e8ccc2c16e0ff986004ef
+size 172129
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_010/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8a2455e5675b95d9f76bd8717074312b3ef6ac1e
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91057f33a8866e6b073d939fa424e356079281f2f54357dc1b0b5e95015cda40
+size 317841
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_010/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e947ac1a3938100434d86a90594d9ec9ab70790e
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13e7a6cfc57a1dc8053f1df2dc7126c8985fcc5a93e0b223817d3f39f093b21c
+size 181144
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_011/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4bdc3fd3095c8b9c8c042a0075f9f820e240ce91
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9617d88e41937f8e000d4427aefd09c97ffd305b0bffbda7661388a92ca118a2
+size 479051
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_011/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a9766757220e1b1016259203bae81b6433b9a28
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df792a2e75d6f627b23739e9f6a29359ccf8e5e6330d096f701c568eb8cef683
+size 185994
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_012/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fc369a9b454a6036767481e62169693270967754
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1baa32c9b419fb9fad1ff1e69566870e12b34136716f1bf014062509b307b1ad
+size 197735
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_012/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..79f163b622f88325107fc4a803afde0a68577b81
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f32c242c18334a520dba718f15a264a1d23346c1b7821efc0976b9e3dd016c4d
+size 85355
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_013/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..183df2932edfd247c036badbe86bff5f0b4cdda7
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09a3bc5a1f45249b7190b0e36b89dfe9dfb692d116a4f968f647bcb6c9006ed1
+size 189605
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_013/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2a972aa4366499448ba57e53530be9e8741d7653
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d51e4c48eb8d9a03644a3156e270040ca0b0130f05c95e54b4f3f967a09e0ee
+size 102598
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_014/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..12c1e8e7b43b5c0891e72359d5f529a19730fbf9
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e446ff7264e3aae358754ceb19ac0a1e8926d942abcf9dd51a76ba00eb2924ec
+size 252654
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_014/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f9fe2341e1f770ec38b72f2738155290d21a497e
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2759fd1ef35b8cea97214fbc033159d61a5ae6227552071cab51df023eeaba97
+size 165920
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_015/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c3b41a1e30a65dfbb5990932f78d50d7fbd31537
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c716b716c54c21f4da959b4e028244a66388713420238eb306f031169e3346b6
+size 369896
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_015/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f5637b2f57113eb6f3eaad965398fed26103d3c
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c3b3acdbfe16eee8adc4f93a09e6ac9c26bf18477da6ac2e6b486e8ffd56a80
+size 195464
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_016/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0c65d13ba9c3be8ba8b10508adfb649bd91b92fa
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fddc7f018cf55c22d92ae8bdcbe87dd7118201a033b41cd2e75c3ae04c80852e
+size 422741
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_016/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a019185591b8595e79c9462bb0553676958bb7c1
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b00_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8874b2a6a489258db03d0af6bef350a5506ed203364cebe6c931fab315de7792
+size 149324
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_001/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b2ad58ed336b58cf51b4fedd4322237fd5ee64d8
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f710d88baffd72459d71b99c466315e8dcc2a767b3e1d1cf328420471a3f6538
+size 350046
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_001/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..93a849c5f45a57c8eb7ad3fb10fa7a7a00b14dea
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43c31978429634a5a471d9efd5e25236b20f7644afbc09c56bca168cd16626f8
+size 162027
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_002/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1082ad23b9ebaf202551f2c00f09dc2bd6cec539
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6943c595a3d6816bb3f47a09dbfc664e4c5530ff0a18eb90674c331fffb6b2ea
+size 378168
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_002/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b1e0131d9b2d641d646575fa9678850aa384aea8
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d8763a7fd70fb3dd2c3c5b376e46144230dbb71ce41dacceca266e3ed4e97a1
+size 134588
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_003/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..49ee0ac963e3fcb89c77544968cd5f26fea04197
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:015296bbfde362d03e6bbfe821942d76ac93a47113edee589ce14ff6f8470358
+size 307860
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_003/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d21789ea100e69f6ad6f618e92862fae4eec586b
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4ec16ae90deff1377a4b516d5dbe966d6aea8caf57d061a7e48d48d7ff4fbcd
+size 133513
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_004/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ef0fa98cc16e6a92e2d785368c556533948a1cca
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8a5ddc3746dadab3efd46d967e998499449f50de16f5c89c278dd3e0491fb9d
+size 173934
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_004/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..44d30fd1216f821b453c0b84e7b43c29fc1efe36
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f10e7656f18df7347801748e290295072cbb1ffaa2a9687748e069969a7e6ad3
+size 93092
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_005/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..41501b8f86dd2a9dc14804748b07beff2c99dc9b
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bab0884d7e10a9f7778186be570c42be8b94226399334bf900dbd2ae20d3f081
+size 426624
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_005/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c4f1d9c89ce12938089fe5e3a9a2eaff65cecc3e
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9591cdb7d3b29379ab663a10900795222b228ac1e60fc462def813f11d3de45
+size 238737
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_006/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..09818a18cffa77805c7611f3f859d60a1963621a
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee44ffbac9076885a6dd81184c5bc1983b19f2dc23ac675f0a7fcdc2ccdc4456
+size 410390
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_006/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..19a8659d3502e1521c78896d620e67213c9899fe
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4df31bb8c1ca3c1b2107cfe8a4d212e05cc863357d0eac038f52e0e02d2c35d1
+size 176905
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_007/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..73795327251e7662844a8e2d9039e1407a8bc968
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5308777c160b70d53448dbb6e02e17faca7b12d29948d55d8aa12f43186c7e95
+size 167648
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_007/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..291a63c1b36aa505f082cd633f74289d2d4add9e
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ad9dc9b55239c5185903841468e0d0655071535af4e6bbc9cbae87ce60940a0
+size 78134
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_008/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..df9fecb123042371c232269c752e642407291955
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c7c98ecd0a506c77bba8338b02c52316560d921bc3a9385d410937521023fb6
+size 389338
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_008/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0da8b1fa18dbf7e1d1154e0135bca498dbf9f19e
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2ce93e4bd7fc69729bd42cb81d2a61600c20b02455541723b6c8d98386b0bd7
+size 141192
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_009/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1a2a70dea755a2ef0145521c87db45e165a6aeeb
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d35b1c2df441dfbba9c26d4d88912a06d35c40265e3e4c9ec2edae1af145741
+size 402682
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_009/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..911c251f00a37274e841c66041c375001dfc71b8
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb70ae6792a694ac839920cbe6976d00bcf3a2a925cb658264c37256a053a0ea
+size 140789
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_010/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ec689b5b4a271a2e6343c2b8cfa7fc27851bd248
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:437402cc6ad0f6f6e132d02318e7c451a6df6e144b718aa54fe1b906c6abbb46
+size 183428
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_010/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..bf4adaa6dd72367e1b227872142e3266cefe5b17
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa177b89e10e486eb92541f90939efe5b52252da6d1dca7637c5637bfd4bf986
+size 116558
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_011/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..31b9d77a87d7084c2fce14cee995c963f63feffb
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a2fa63539d274fdc44106bde9d8302ae7d011a733d313d740339f744ab39344
+size 150780
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_011/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd3a8ca8dc8a1dad59966076f6454da2ef88ca6b
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:387287cf01a1ed1cb717510a92f963db527aa2614f1b5a744cfbf2344ac985b1
+size 75344
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_012/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cab8b01f39e02bd62688b5b547d3ab09f1a1dc4d
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01686a2d345b4987f502ee8799a91188915e2d94af23a6d6b8b304ec702090f3
+size 155359
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_012/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c7d9c191494302917a889fee532bf864fcd0869
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ebbda3dee0af07731297283611bcb3f55528f69a88c22e48adb5935d0400a42
+size 84063
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_013/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..de17db2ca7bb3a4329e28dbc93caabcdf23ad23e
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ab049d0d70f22f206b935edf0b1c5a093603f6305dcca4476008eee63bc7b4c
+size 452871
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_013/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d38f97ceb8bc5a5bb4d9945580580e97dcc44b90
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c57f35db059db58eca6fe03af0d1385e853bc03179a1457eed752d64bebe5e4
+size 292455
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_014/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..77491937a69c9763056bcb9a3578cbcbc2c9ba1d
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c17463af8628162c115a8546c72990308794874cdf106d883810019b14526c7d
+size 345922
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_014/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..83efb5d1fc59cee72a0f7d95e7451fb7620b3bac
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77ae1fd4bf54d0c6d8d82d8ab6c1046692bf378baa5517081d20156778c56ab3
+size 190872
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_015/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d0e7c5cf7009747931051ebf4b6fdbc41fdfcb58
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07d7dd8dbceb5c027a1e6f97857b2fd39ba68af5d5574861e7784ea746826fe0
+size 216607
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_015/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ddfa4e12705a776adf59aed32b3e541e400170dd
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abdeb4ce53fb72026b367756c1eb9f8f29ed1e490a45156933d427524fa5491c
+size 109339
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_016/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..827dc64469182aee9e35a47fb283d8c8cadffa0c
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62573dbb23ff1b26dd89b4024270f4ad87a35c6e2d24a3988064b56e527d1fc1
+size 417114
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_016/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b7ab439c5ce6f333c64fd19f2494555dbbd9777
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b01_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93f34fa8e74b50f68766aabaf3fe95b73aa08603c79dcdcbb4add58c34f213e7
+size 131339
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_001/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3ace2806414ddfdc5bac067ea43fd704e3373a09
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd40be981bd38313639cdffc379dbec59e14c4ab18df61b6eee11fb631f274b5
+size 440354
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_001/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a356734cdf6a4c606832477466c8e8be16ec71b0
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:214c4b5298697fcb324c58b327d0cc311ae4cfe1a10884bce0d9725583685488
+size 136200
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_002/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..336d3d69b884b2dede08daa43120613a9426020b
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:348dbc01fad5985bdd1c3c0d1a0a81bdd369d475fcf956a637afcc444ee72b02
+size 297194
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_002/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d90ff2d2bfe5b742da434e9cd44993617b49ff81
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9a7b126fcde9ecc310cf1fbc8beb810814dca1cea8540844674c954ba699dc4
+size 97616
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_003/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f560e7c17046bb0bc706ac097760b472e6a6a1d0
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45d2f33611631d883525557d74ec15099fde2b7331418949d7f4bdff806c5918
+size 411530
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_003/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..210c5530c02211f88ddd317743c32593293c6201
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de2a751776b6187174c5e3559994a316dbc26d4eaf0edb795f66b33d6ef76943
+size 152096
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_004/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..97190b9a4bec3eb25746fd13cce326328a85cef1
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5625f56973da9f33e549a0fe499cf6e059ce4b2e63e69dc0a1d5f19f6fc68a5
+size 347925
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_004/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f3d17b40db6cd5c684011d7c55381d60bd2a157
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:780d3747df37100be43cff236baf12ffcb56e315cedc90ae2ca4c002dc47c3d8
+size 152565
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_005/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5ca6de9e5e470e7c56876dc39b438a1dcb308a32
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6e14bdbb240d63ea644ecf2978f5dfb8e3099d8057da009e10398df203905a1
+size 391610
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_005/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..01e322c9b3317d1761ec8ecc5dfd33d369311e2a
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4361f684a8172baba349d75ba24bb72165b864235b36a6f79f13fd0109c2a8b9
+size 135736
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_006/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..83dd274eea163695315afecff50d48df9bfb8142
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c98a68ab4337fc13d94c78832b3b3c41b12699a4bdda797c60b720dc67297fb
+size 416026
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_006/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ad65b2a15d196962c32715ce2e74880f54d8bc8d
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39a6dacc2c4bca0c20b7e3c2ed2cf7cd40e2452650dbb09f02f974fd58087d64
+size 153176
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_007/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..061220edb7282dd5fa22bb2118a00a0b0fbe36dc
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00cf8c5131ca2551f5409941b214e5e16971faeb8bf9213cb05014d69f9e013b
+size 128777
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_007/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..02f595007757a0290f9abffe48105691042342bf
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5dfbf26d3b4bfc45dcc7a118c12bc079c21596206d9ce1093299bf2e53c01a13
+size 82254
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_009/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bf9416f77a4a9c211cbb621bcb048050e2e745c5
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0c52f695ba35b8c409288ca748838c9dfce2ba8c34ba59692b45abe2c60177b
+size 168798
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_009/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..996f4d777550e19f64ceacaf0c133520a7ab09f3
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6efd949e3c96be2679402c1c8314c1b58afa2aea4232b88b7f70d229f4758855
+size 128664
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_010/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..99f9d5ceb05a31e210f408417fbe38a5d9bb3ea4
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff804c404ab72abb6ce36cdc15b33044b3e85a310d7225c37e390e8ae03291dd
+size 367200
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_010/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d66613af595997b7d4466daf6cf2130deefaf03e
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea9e29b5ccf72223f980aa8dedf7b38fc822a0c526ff6c96c0254de987889d9f
+size 163418
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_011/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f832a4ddf1baef4d7aabb9a00eac1282879801c9
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e4ea2afe7795444c3de2b650a385794ea288c37ae417905f59655937a676cbf
+size 166908
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_011/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..327b708919d553541e7b7149d76bf07e167c6136
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51e99b5f56c2e4fe2dfc3d4b5e3462a5d15e5a22bd9f963ed1885ed57791c27b
+size 107587
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_012/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b4a1b5e4d44512e77282d50f45b5eff3639e8343
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a81ac3304f1e0547173c8e583160d64594d242c05b064d5ac04ffa14d8d690e7
+size 179558
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_012/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..eb866279a926c6a5e0ea7356571819bc6f21a0b9
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59f41fa011122e73f6b1b89a9a8ae202bd6f93b209cd85804db50447c4e5d2b3
+size 125669
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_013/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3e80187bea055ba5d81f3d0795ef9e8cd6614767
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80294392bdbea9a1ff8f0424cb0b68e312cef695bbde268ed6e1911f7f65ccff
+size 366089
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_013/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e32952b9044f272b818b7b0c09cb80dfccf0ceec
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b7a8a6e8ea16d188736454b77ad6d8703202b83918f3ee373f524f3eb5a2d0f
+size 125673
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_014/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5e6635aff158d7f06cc6b674ba20c984a97023c3
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:051f417f7bca61f86116261a0e62d3d780b2d907a36fa4a85956f0fca7343be0
+size 213317
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_014/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1095c500fe2b34b06e23f63c75a06666e7cc7618
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4491389ce0f68e0bb311c96bc77e369bac600d9b45e5ae30c0454c306462bda2
+size 85892
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_015/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..52320ef98427c849682ebcdad8c424adaf4db0b6
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdaf0ec9fd10af5cec4e1e197b048eb3a50f8fb8fab4295e58e48bbefd7f35c6
+size 234280
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_015/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c78119093ba1430b73afbda1da8ce1723ead5b16
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:083780c810886e58bbbc84497c4f759825cd6f5ea7adb5e0e96fc322e358a9ca
+size 135768
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_016/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f4e067d1929198a302921367df31445ec296ff2f
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f95aff661448f5b2a3354b3d91b204eb6427db1b582884b23cf9d5686b6c095
+size 429353
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_016/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c36dbf90f572a0cd2f7455fb443471f1a5e6ac4
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000675/scene_b03_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5ed487a4d8365e89bae6821a7f42e7e9a21021160f1ce10b23933a491d4ede4
+size 211432
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000773/scene_b03_008/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000773/scene_b03_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ba3293241e3b880cda2cf39cc039eab064304cfe
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000773/scene_b03_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:545cb36e2dccd0d281966def210881281737fcc578475da3a53e6fb40ebc130f
+size 536821
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000773/scene_b03_008/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000773/scene_b03_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..dec6b3ac49f4046190a76fbcd6e4714e091bc36c
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000773/scene_b03_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cc2b349a35bc590631d41cec8dd4851aecdf94ee74d3a2b6dc00b4c5c13c13b
+size 230367
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_002/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4a907d0609853173b03de574748f314660966d87
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:761963eb55da5ed5fdb93a389b48a2db9315f06bc03afbee430ddd9c3c1f187d
+size 372424
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_002/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e72499e8852f4a895c50a759c300d1432f7d5bca
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75ff72606589743af9e5bf69c652871416616d7001c452e5d570e9c1e9764657
+size 205878
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_003/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..988ffa8cd393fe83cb6ef8b65fdd453a975f7ca6
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1738a2a7086cd12344300c2b2e4301101772f421dac4db762ac64de7d563aa84
+size 560304
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_003/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e08d152a7fbc705bcf7c97537d27b1a71b56335a
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e13fa92676a30020d8c56eef9867f9c5c8ac66c158fa62c2b0e5a20b4a3d9db
+size 208982
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_004/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f265b745566eeaa4d928feebacc24219b6cb6abb
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:748acd3697ff7fa8237c1183a037820bdc7a5e569d0789135b61e909501d30db
+size 493561
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_004/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6e57ba591c729153e2246f86d524c09a6f42e633
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2af7ca60db18f4d5f47b059520e53bd4768223f7024ecc01822fc3f736e9d485
+size 267156
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_005/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..dfc31b80a947c186e4a371b846d6cfb2e10dc03f
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24fcdf163014fb001710db888fbd0004249a5b7c650de0a2ba402b7d22de2861
+size 421888
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_005/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b46e9ea0a00b0bf8f528a515e9592b46c21061b4
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e783662bfe338bf25d560ea6c45833e06aaa8a176e349fa1df53f21b0dc9cde5
+size 178392
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_006/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cf0fce4bd696d410a263f7a33b070359261edbb7
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73efd5cd7661151c23567ebb0ca3abc731559607a84237d653f289061ca60948
+size 242566
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_006/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4688ef0eb0535b6599c3f08d7ed7d7c88527a3dd
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3de63bf4f0eb1f53702b2a7b1e0032a1e2b5e9aef57722dd4aa40e31ac60977
+size 123504
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_007/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9d46110cacf83dc8dea88097a56d5dd4db729837
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:429d53f3a6c4e05a53076a0197cd8de8fccc153a178af74ed13d515986274c25
+size 208200
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_007/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d1cac28bed4d0aec6f4f5c6e1e6ce899c8dcde4
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:049347b266b5f4688d9ade58fb42dfb1dcf7465c27804ee12f6fdfa5ec13b9df
+size 104472
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_008/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e79d85abd5ae0d1b25d1b0395e0e3e8dfbe3a000
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0eb2c1287f554c7baae484c4a74a169f920183a29ec7acdefef31111652f544b
+size 199177
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_008/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2830d771cc6eaca953f68be91e1850047f4ffbb4
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d06cb6e481bbaf22754c11284d002531fc17620fd73ec7e51aaef5f350992555
+size 102911
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_009/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..79ccb70e9899eba0cef8e3187dbf4fec54fb248e
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bce26b22be1e27b7eaefa96170fdc47b1714388bbdccaa22e1f668bf5d02a2f1
+size 389563
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_009/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb38ad2e7317551553fcb3de16d245cc3d1bc0f7
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:892f3bba10f6acfc6fe49483ecbd99f4d42ccdcc2555922e29bca82711d4b29e
+size 211808
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_010/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f9c10acd3206b230310b53600e139ce4c4e37e16
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39408332b231a4c78c717134aa95b47d476a1301851394e6fef0bccdd6574f41
+size 252897
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_010/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2efe8a5019eb0b40df2bd33422a77a6c36a89ab8
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5be6d0876e68b05fb6c4e7479ee5d33d06a164b028f1abd937bd935a26952c9b
+size 156108
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_011/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..97d3cf27f63bb0c2abbb9379c6977321567840e8
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:478d4ec11e2bf03d1fca4c23d094b38217358a3e8a874e19224de37ddce5851a
+size 307100
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_011/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f937c71365e10625fd5ba043f52ffd1f72f1b62
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d799843264b46b5750567df86623d31001ddf984994ab3abbe90669a1db75418
+size 109593
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_012/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c3af4279275795872ac2c1ae1c48c8a1129dba9e
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79a49187ac080afc51d0b9bc69fb1dc738e92d509c4bced39f05a9914376c25d
+size 282652
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_012/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8edf5fb0bc3d8388a4cb7de886e726e38ece782e
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94ba3e76ad2d763a2c831b603f62b481928c8df41006798eb4886bf7fbad9a71
+size 132544
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_013/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..aabb288bc3937bdc5365ff5c8bf0a0e7dc47ba69
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad11a9da3c198521f03fcef377938a4fc686db59f8aec18fe5898577b9b855e2
+size 424519
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_013/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b1e543bec1ebf53f1f3b7b284833af8bbef28373
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29bb74805eeb4973d9b837e2553bb964b4de9d079e915284da2ce07c520b7034
+size 107137
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_014/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..733b7ac8bbb9e7df1a8b0f64aba7ce743dc0886a
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9792ae92fc6132e63f7a97495c1cb4384286578bebe9679badd2ed833aae006f
+size 278307
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_014/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..65337613614554167f3c3961f55f5e72c674d96f
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:158da7032b3882093818528e5b26a747ffdcd1c2d5d9840a6875d25a12ec54a3
+size 79163
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_015/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9380afbec0d97db0e07ea61039f60f866de2fbc5
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae3d29ce4183957c75bdeca60def205c677defd58bc88570fbb6bc172a18d4da
+size 387396
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_015/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3acaf0adea3c9bade6e2cc463aaa6d9bb9fcde0d
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3db24ae6a6411fbef5e04afee463be01b21a00be69eec64074aa2961a730af2f
+size 185410
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_016/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ea1980a074019343dd7f87aa0e2804af536fafa7
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebf0f636abf13e77f1bcfc5577a8747c862ad84ebc44bda54e831a1cc8c23d90
+size 472447
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_016/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..94324bb71340a0bd2b2f89551fa0038b6d2fa9eb
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b00_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b913364c672ec686d1cfe931f8feecf40fcf33f09dea60952fd7ac9cb44b951d
+size 256226
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_001/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..587fee28422cbf7ec82f3ce7c5924ce2d2fdb4d2
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d0fee7ee23b36cc6bfe8efe5c645df81c30286bc73ee9ab9c12e94d30fb8b52
+size 232990
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_001/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..23faf16d1a8b33d2c7858ea59760cf747e63f8b8
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9eb4897c69d90ccb708a73622d7a9e7ebd2cfc3e38cda00889612427d3163b27
+size 116688
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_002/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cac3e3a7bbf6247d5f6500b4bd2ae17de8ecf635
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b0b7a1341f46e322a01340d8216efd25d0f89baf420d17ccea540297c829cac
+size 235220
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_002/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ecaae6dfb8dbccc9568cfe71aeb4fbb4aad95e9a
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f773b0b1ffa6dff5584543b3e0ec5842f3490c9c1fb0cf020347472634d82ef8
+size 132351
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_003/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..81ad26afe864b89e9c856062733debba274047b0
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8bb9ac141f02861dc3d5c3f661cfddd8850839e334178d2ff4d801fc864da3d
+size 368497
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_003/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f111aee5364d3ec1e73c937fd3e6747facd41ef9
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acf46612a8768e7b9d8f429b42e0d425590e5141c5c3d31dfbda8898dff8735e
+size 145977
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_004/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ed4cf411bf0cfed9ce4c18df7141a15f3d5bb61c
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98dfe1897e1832b08879c43dfef4aac3f02787f1f122421f90328681debe1e8e
+size 427806
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_004/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8d6060dfc945b19c67ac37c317619d2bd408eb37
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e941eda65289f94c3cc887736197b83bc32161e5ff1b703cfa0f0e4d608346a3
+size 242835
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_005/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5e3bb8b4de6d96b9ba806123376e8f5a16a38377
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9039f365d00ae1f6e83c5fa2d6f59c3f675354324f77986291ad4a558a4d361
+size 201648
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_005/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b9b806ee56e0b7ef622d45549fb58b89b9222c81
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd7eb49744bb55b807b4ff6a5e2b445e7d6276e7bb3719b68bf3a3b91635e376
+size 117820
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_008/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e615fb34b9c7655f82ba7c7f807232fec57e6296
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de2b258113654c5290e182a5426aac1d32b757a5e3127b85b9bb1e0a1e533f25
+size 181418
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_008/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..746f1b31588f9edf69ba58a418bf3a3efe5e72fa
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a2ee82df49f7441a5225163f36ebb2b509fa6674b879744c2ddf938cd4932e0
+size 111238
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_010/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5c4952da3ba5570298573bfcfef35863173dc37a
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33a3004e888d61dd003e82f9b1f032e8d7d9951a7c83cc5949dc16f0ead1a96f
+size 239872
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_010/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..312d6371829c280cbb35c9b5fedfb279a812e645
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81d69d00832a0b89f1dfc6d28317c7a8e916355a1d0fd5accdc2fda934eb64ba
+size 151169
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_011/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..93604beb68b185c2041cebf40dfa5ea2396ee852
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7630501e0408f98398bdca8229d859981aea14aa988f6937797707d0610dc1e0
+size 152805
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_011/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..fcb0a818487309fc14b615c1963bb2c4e10536bf
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5f259ced81f3e1b3e89b6b5799dd8a33ab3ab9ab39d1c3172c5c381c75d1557
+size 103766
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_012/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..33dddf21c86fd06c5019b780d2d184835297fe61
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85d688a30eca886084e5fb7201a079a689f1fc8b0d7c2488df1d64e4aa3ce947
+size 277559
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_012/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5dbb8748dee0d4a6c636e36851615acefb48b3b7
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26f072406e5718639fb80c671268a3e42bfca11adc48f451cbac9011db0cd0a0
+size 180260
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_014/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..46f8cac3aa8114fcba09089f234df126273b84e8
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29b4509e841849b99595e45760cd3aeab545dbd05410bfabe7378d0bb5c98d5a
+size 291861
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_014/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4430790e8d0d3f44cdb0e8a873be4037d4d7829d
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d345640220de5c8506b1c90766b7c5287104e9a3000f401b470f433bd17c4686
+size 118890
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_015/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a3464c204a1b85dd5465e9f9bf2f102dbb239b3e
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4afba05283e279953fb2a43fbd4a8b2477f42dfc4e2792ed9651db6e22dc4c49
+size 388728
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_015/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d99bd3db65ab7b365186c873baabaf029433b0ef
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71aa30f7bcb43aea030a1b1383a180b94ce77314e91f8756669ac9c4fa375a61
+size 114505
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_016/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1b7900e789ffb40c73fdd1c1a5dc2861e940ae4b
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40985db4be0e521d73a6bf2278b9ec90286e40da72e31441ed7c79cea298f0b5
+size 254871
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_016/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c411681da7fe7df5afbdebef8b4ba42e82389229
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b01_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:473f2d52c36eceb10a21db87b935f497b193b4366d8d2604ee3f984bf930a1b4
+size 117421
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_001/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bb37f383a7105726fdf953fc4b028d496f1fa7dd
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8322f9570a0620c16ffae1b4c50ca96810685749ddf7ff93b2ff82272abb7bcc
+size 619540
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_001/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..566af6830514c816c042da6850195f99a2a55bdf
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb5c1bd7fe0fa92a1dc002cefeb426a9d47afd279e3b348d35ee450680fe17ad
+size 349228
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_003/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8109087a646e59842b54603a379dab298f757e2c
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:600399c97e15e50b83157d3b1391b74ac1b0c8c42a13938bc666ca7b656f8ade
+size 446873
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_003/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1728eef486bf72bd6b48222e6498cc393062edd4
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc688485e643df43949db5e2f7835afeb999ce03c031f003a7f474b5410be4b9
+size 266556
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_004/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..089de52242475e50c2a69819772f9c7903e3f165
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7162c30b67b17af8fa49b6ea17b58e74cc637e63a07b9c4e8cb90c74b6dd140e
+size 326668
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_004/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a3e1c092d3674435be6de249fdccc509c6ded6c
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95b5019f48327f1b9e09117cb801479e49da1ee1a7a1db552bedbaf7d4c1e1ea
+size 199581
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_005/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c22a195dd0343fa17ac09e49ee4dfdc4e7ac994e
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d20cfca22fc1827a06a14fef84e556ac72bf3274d2520cc9071b9de6d382eb62
+size 255057
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_005/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7068b4072470f7ca7f3d56956025143e541750a
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2acb1081d1cc3fcab4dbf7eb82f1fb5cba846cc31fa1034f036158fcf7c874f1
+size 101202
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_006/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a14c7a135bc88887675311c57eedd4668c7b0833
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de61a9a213741277644b35a76a6af0f70fb433dd7b73af39c0865948b5b9cecc
+size 481126
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_006/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..02360a0d0480f2768a65c4e6a8b68ee4cd5f3990
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f53a28ad1589abc4dda05389094a532d3db48f3a2381ca3dc049ce1203ac4164
+size 265355
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_008/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cfcbe4f2c4525c414132b865021331f65eddea36
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a38b01d20515d55698a2783d276b052ff5d549762dcd38fc3763614a68c000dd
+size 428775
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_008/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a9253ed46c2d40910880d81574c307ad1851806
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c35543f0816834fb285ed6513feb485fb49e5a6a1bf99921173910e78e09533a
+size 268721
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_009/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..773d2a58ba5a4703ee170dca020c558f7a9b894f
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:642769691489e90a1cc2f80f5741e080ba745ba28fb4098ece8847c733eb9465
+size 563796
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_009/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..54eaba90e70abd912b6ad3ea91e2780925b7bcaa
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8508cbd183bc46562829473c45a2b4e3ac412d2154878780721811da5e6d57cc
+size 302851
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_010/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7ddcfc9aa3e885e883031a81237f9746e8749b30
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1454706acb7117782cc27e260a6ed04897d47a2c09a9f5d82144709340cea00f
+size 479254
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_010/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..97c8a42ca17f6e3f66ba9e47d5c71cda112cf201
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2431b3768d1bd71a50c37635dfd005aa12476d753b7d950b742af71afd719d36
+size 204528
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_011/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6b9999bdb7b6d710d4c72f4cb557c5ba9c63e375
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a8c7ee153a8cdea12eb06935846dd45c8f818bf758eebfc41fc97d907e5b754
+size 333761
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_011/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..03a1c79c6af1e60f3bee4b130ba742c0d7144677
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21168230d40e7f6879695dd772700c8c6fef6bbe34d98f484359513afb3be11b
+size 181525
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_012/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ab4c377f8cc20adc3c7d502822e05437cf3b1546
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8636bcf5ecda77c5a0a211c11634b2b6208d07e9876b3225df17d326baa582f
+size 550195
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_012/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0fc44a4c97b765e87d83b24ecc838252324d46ab
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:078280e72138864c27c0ccb8fa0bc3a8b89cfb6bb7537b686035ff953934e872
+size 265850
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_013/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..81a99adcc0dbe416303b0723795c3de2631556b9
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a276db5429fe069bc202033aca74c95a0e0b49c49f2d490a7dafcf7fd4fbc14
+size 357987
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_013/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0ad4add0a697df081230cd80ad180ab0c70a2885
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:534d6f0d84233a009dabac601916920f67fe6cb2a4d7f7f922f0345f948522ec
+size 230792
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_014/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4a508f266fa0c3e4e17559f426d451d053a519ba
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e472629cedab4613c1cec2d7fdc41d3727ae9d01bc03a0595fbdf867e9da7f5a
+size 576395
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_014/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6bd98abae0b779e7e211811af5d9e23790be64ae
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75ce687789df10d0907d3ec4b3f63df4f3761d87619f2c941a4091baa840f34b
+size 322130
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_015/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4d060947bf04fc05323661095a2c6ec96f04a6b9
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4efa598d382dd474cb7789b95beadabc612d9c7f4e51ecde15a7e6bbd5089560
+size 288935
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_015/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a88b856cb9d09c95b81b880d72dd585fd428d847
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b02_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e2c1d9aa8bc2b6707ae43c3c5e63d7eec872d2c31ac9ec8d21024a8716c9574
+size 82716
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_001/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e89a4ac559d141d0e286545846031fbf16a38cba
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a38083c6f01904d7a7c94f391e470fe71ac88712b73673c85658263b757f972
+size 251501
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_001/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e3f84705759e8fce258656a25d4d31834653c561
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:963b9b713de5887305fec12f2246cf8e080600e9b395536bf7ce72d4842ca99d
+size 150965
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_002/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7e5ceb94b74f372193b9b46350c5881d3c0840d7
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2ed2d785ea5d4d33dc5445e4475eb8e91de8aaf5fdac52219f68274d83fb33c
+size 152795
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_002/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..61d8e7e9795d45a0aa46f9ccd3ae07df634778d9
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f30bca77d380ccbcf100d17fabb0c97e0daed0384caf654a43c15bfd94cc499
+size 73536
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_003/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0a4e64f43818544239a52bf654a2151adcb0319f
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0993b1b63080f274158e854a3853b067b3613c3c64a5251e4828da06fbda41cd
+size 233665
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_003/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a3e0aa76466c3469450f6f58c0a5a33ab4716a57
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bf7975a47e39d06a827e0431815f885a2d3f53d4fa746242f06e227cca0ed03
+size 106877
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_004/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f1ddfd6a9d56e40884e7752d472652792cb4060d
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b21209a0b80c007ab13067caeb6ed6eb4229e88df9e6175290b4c83493c9ef66
+size 232846
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_004/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9320a0d8c7e25a5097f18f1ef8aeb0fcd10c6e35
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be971d7dd933600c3fe95bbcd969ebbbd8125a83d1362cb57792003a6620f5b0
+size 125402
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_005/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..73a0d1d3daf6d737b0abf4b720427847c9cda559
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:818c26f6dd437528179f07ec00e6820363ceca0969cad4517063117b0b85b952
+size 403283
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_005/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d32a0822858c9c8bf795b70091230b5449bae122
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a03d1975e0a8e3f1f0e46530456565f8bee39d5769c2873cceab97fdfb0cda0f
+size 192787
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_007/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..69fb136aa204f2308d2e9b1b9cafe36ee486d4c5
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22f93b43e20579011be3fb3cacbda83c10d68ddf5a2431934e079c302158524a
+size 220250
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_007/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f361d1a0ce857d6b0364dccb1f4e74108fc612d
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4c66e5c4be7a19664c31b19e5c079a0bb1c82a9af1a3f8e1b5091d7f5dcf954
+size 114694
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_008/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1e4882d9c11b02eb4e0b8799b5cbc08fefc5aa93
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:404ad95796a526c130864b07669ed91684862714248f0c2ba7ff1fc76d16288a
+size 397151
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_008/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0bd02823b834017da4fc6fae5a24b824309244f3
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62a6c4367a951e09b36090f6d5fab0f80562d78223d4678c4e346446a9566045
+size 179716
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_009/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..139e4434ad863d055e3d0e71efc3cd8b3b5d5148
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc09450ae919d0415043bff6a9abf51f167a9a38b42d1649f2c634bd18ebac1c
+size 523274
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_009/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1290a260bec1bbf9865257c1bc2c83880a0b2cd6
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10034f4caee155db434768da8567062700c497cdd51d29c0b8fabe7170773b4e
+size 199694
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_010/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..49d2a546ac7d9ffcee4f5c47e7d45ac6fb621eb7
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76ff64f6002bc97c25295ce8af94dfb54ad044cdbf83759bfb2383e47e9ed451
+size 253248
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_010/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d3c84e2746d61c6f015345a54ace7c58fd30b61
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e59ee139a19cd50f5165dd2a0fec865b7753cbbec78fbd706e7f5067a76f4050
+size 155123
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_011/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e23395c6320fdb35d234fd805090ff30db1ddeca
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7b6ead4931f280bc312dd602aa8782f0b451cd36f0b245153f370b0aaf6a1b6
+size 443321
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_011/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..97644b5185aaf29654e80c8f206174f2bafeefb8
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38880f061bb1451de4760f5f30c3544f7c93e9b6444bd90efd33f8bb4a4298e9
+size 179823
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_012/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9c48b5410038149a8f88c2cccc424e3adbcd857d
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5709f4d5de8145a6a1208b874d7edb9173e6dbfb2961a9b6fbb566547a79373d
+size 304100
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_012/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ed38ef51ae044ae971a988a211a523f401b0d71b
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d7be98d9f4fde7f62ddff0889c072b2e3d5b5f304de66396ff8db7ab868556b
+size 119954
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_013/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8f3cd8c6ad873fb1673a308990d915f6628d3f5a
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d6f47d5d17343acebbfd2cafdbbcec09a6c58137706e885770c124617de7686
+size 215652
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_013/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a428eafcd31c9821e4a932dc07ef02f265bcd88c
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cf62030942bec0fa33e4889dd4b050b1a74fe238db84ff40396019b8da7b1e8
+size 119475
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_015/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cd2a96a310d684274773eeff7992e2b16f662de8
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:937718643eedc2568b45b01572b2a3253a824cc82d2abf1a8cd6a59ae70f931a
+size 344527
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_015/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..693002731b98da83eb861b1da5f827e910829e3a
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b03_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f089d6ae977a9cf7960a82e1182acc7860ffd7b10873548d92e5654f3cd7b15
+size 190982
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_001/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ce8e5cc617ac7e4bcf97cc7bd6e571c342563a43
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a162e356fbfe79afb2a854fac523f4e0b9672ec9db77992f9f0d64e5c84802e
+size 398547
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_001/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1cf097bf6e45d49fe151529029ccad1c62fe5439
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:468a2727a7685564f6a003b66929764232a6b81f2fc54d9776b5624c2bda162d
+size 216936
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_002/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7acb780512238fcf6355e51bb083d40e1ca43e85
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9d4811c8e4adb085c8ce3e1ca90b825d17f9f40b0bf9c5960967d1593144b41
+size 460342
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_002/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..17ce9cce00a1267bace61d9947ef695fef5276a6
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0c75c181f7329cd2d47bef4e34744a5f30c4147656660a8814506ae670b6a71
+size 275995
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_004/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..763ccd32ab8090989c3a52c119bf30e5cbe57796
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b7933996dc665249baf7c6fc216eb304131492facb5ffcf97e5d14260008f4f
+size 412004
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_004/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a33359d0169098f1503d2efb8c5a661be811c16f
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cad77494e4046cbea0be42384ebc28d48c0ee58558fd430f4d8764d44997ce8
+size 226175
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_005/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e33bbbd9f432e580e605d7077a50a12349120251
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bef815b9a3166477588e7d547b1f8276d41fce7d2dc488be15bc656cfd921e9b
+size 296813
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_005/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..39ef023e2b3d945d7f7b4045fafa693b397f5268
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49d66e725fba579d0349e3a844baa22f499e54355f09d5eee42984d77dfbc526
+size 194624
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_008/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ac59aa6cb78f9c4919b4ee925137aef2acd05943
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2a198da71350f0fcf8d1be903522c9e61a234b30fffa36c50bc098bf8ef733d
+size 278834
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_008/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..653dad7d7fd3dee11e27e39b851ed278366f647a
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1570e587c05e6f054ffb6a14b64dd6b941fe0ee291763fe6abd90ca38011579d
+size 73400
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_009/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6c1ec03263e9ebd963f5d3eac28f90b8a75ff191
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1b935b22bffa4ea86796826a82df5c177d90c199e8bd8373a964b039e4f8623
+size 400761
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_009/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..89d1d3342a48bdb89279c724ab87702c9ecc496a
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:171b1fb498491797f3d1d31294534f16f87557dc2de34234057ce7350b312a00
+size 174735
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_010/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..69e241372faf531aafac691bdeb4b15ea1fe8543
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08690303858e6413fefcd0ad1595531459afad75c464642e069aad88c108bc1a
+size 214079
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_010/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a1bed8498a3574d762758b571355bafd827db130
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7a60ae699d3aa1ff8e523ac03eb198d24d82f2fb2a7052075efb633e005d96e
+size 136051
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_012/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7b4b43edb5959b3ac828931af07ae15a1ce70a42
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37942f7edd1ed5ce6172373eda3d475e752e007ddeb50e7bfac5080faff567a2
+size 434006
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_012/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..45dc046e7070354e741c1cdfd6753c581c7b47b8
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f16264c6daa6e139148c76c8f1c1c74e697428c3a455dbffbdaab1ec79920d61
+size 233296
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_013/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9875821214bc76edc54f9fc02f1fac61fe87116c
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdbe9533e5e435f16d540ee78816884f532f1566a80a652723773c1cd61b8fc7
+size 543286
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_013/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6a7f4304880340e6fa48c67b214179a48c7923e6
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0708fbce1fcde42c271eff98d8b8c98489ede924462fd25c550f1fae87e6c5ca
+size 196158
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_014/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..aba681d979b06fdedda2226603cbe492e67bced8
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef539ffb29d35af6d7617675875cc76e9d225c7cb30808894ec288c02ee62eeb
+size 564028
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_014/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..298f870ad04e449840b1784bbadc5fadea19004b
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2598efdfad81ba76a7a01ee8f8f5922a0a89aaee8f3eb4affc73bf3f3fb3939d
+size 278458
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_015/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..56976334e9528a03ed4d558672147c9314236dac
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:779604092a73d7dee421845cad2e8beabeff921fdca31bba1b19c27a5194e857
+size 324764
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_015/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c39dc39d62d45dd651364931e5516da32b0635ef
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:340a4ed077002b564642d598241e241a609189403040ddcb74c3cf1ecaa0453e
+size 182356
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_016/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0fc82e345ae1a0a636c03981f2f2d2caddf1ff8b
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d7fb5b76c6c5b06db86c130f168b140218fe55ddca4bff2074268aed48f1156
+size 539053
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_016/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..037df1d65e4c0815efd593ebd40b3e996e47b5ad
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000805/scene_b04_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:571cce5d453d0bf206f8fdda69102c659ec818ee2ad2731a56cecb30f26469a2
+size 310852
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_001/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fd5b5ac11d1d41a93c5a03f63bef6a58c33333b2
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e58e0f4d0e19a6ddf88e861edc7a4b06290f8c2c56e419d63f660915485859fc
+size 315840
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_001/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc3f130ddf3c18acfa632e8cabcd80705121445d
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84fdf2183b918354012e2e3354cf409588b0c5efbcedafb3398fafd38cf7f747
+size 232399
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_002/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..63ae2c66afce34db1908f10a79b3206c3ca49261
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46d176a3f2a233119be49bb0ae3f8f81b295e630539b833aa051536648d0d7a8
+size 274579
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_002/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..352bf603f18b250ccc468377c04278125585f319
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe657d60bc7e15afc69ef469e8336040dfa98123a3dabf26a764218fb49753a7
+size 192704
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_003/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..55790c2d1cbe4464f957dcaab9f5ffea988afd75
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:437e689e5568326dad480b869b11087dd9f1404ea655cba6c775beaeec0d2526
+size 350104
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_003/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b4d86560783a9a38fd56b6db48f1ce2603c913f1
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:592ba2eaaff3d4c0459404b8003868638c6a8c341f2cc5ebd7b18aab9afe6697
+size 238473
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_004/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..db7967889f2620e86bcaf85bbe19e44ec60ac8b2
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0fc1570cff56cc814e94435afd62ff768e3885e34233419dff0581afe0e21dd
+size 282032
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_004/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..19549cbdd355c24719d01e4ad67533a240ddcbbb
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de41be543701f7372bc5f1b8c4af1ca61f24deada8bd433887c234941c8a06cc
+size 89584
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_005/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f38295148680637c25a1c2752fb990438bbe231b
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82b7a5adc41026bb2d7d0eb46448783b6bf5baaf0201b4b24f6326c4b1f74c4f
+size 332125
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_005/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..47afc265b579c2faa934cde528baa7ca4e542c57
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4c24dda7a9c9f92cfea834f38b45b708c6762330d73c11e1fed68d636a08ecc
+size 139610
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_006/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a11a36507fddee3a867cf98c786c12613085b7e7
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60e021250c3c79620294bb9733a6ec39aab6a22b42722d61b8b27fabd0f4f6f4
+size 288636
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_006/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7249e4ab9014f5b8a93b3fbce35153808920b83a
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:413fb41f70657db7de170cd5fa17ad239819556620f50cc5fe0c5126f4f3132d
+size 228682
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_007/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4647428387bf997bcb2362f1992becfe79c40ca8
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:545ea9f2bdb860b87b2d90c43e1e5053a92dcf1054eb1b73473696ccd853317b
+size 477567
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_007/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea19df9495282b59a2e2213884e221a056ea5d34
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:714d80949936468264c731a8237abed387096d5c193f36e9b5a67844c84c420c
+size 252766
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_008/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ac82565f4362ddc8405c4f90f853b6bf6f5ec101
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:646c4791d1f3b8b2a965d511e912d73d21c68da2455c2ae58fb9113c064b224a
+size 342547
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_008/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ee4996226dd9941fa74aadaba7fa16e6790a117
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a78018007b256379735d7ea07dd271f3462fd5a45e9104853d605c55ea72a3be
+size 228394
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_009/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..58785c9eff13b0fb0573bfddb1beea4abff5276f
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aad1377456126f914ecd7349713636f63f2944c20d309263fe214883647db49f
+size 398007
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_009/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d06371118aea317e9403a8deabfc40d862c43c6
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fb87fcf77ce8d02e222356f45e0301163e4a2554ced741aea662e1cf8ae6e12
+size 178682
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_010/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f8191c1175d9b85baafdc248eac7335f4db009a9
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ad011df594162b5e420893c447cd713534cf5e4dcb80f42d7481068733433d8
+size 264159
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_010/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0e5b0d15f2501fff6021ba4e1829b8dd6f8c95c5
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6e7fd9645fa6708831ad7fe21c952ef75285fd977c55d998bd73531bee7d144
+size 142317
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_011/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1502a6ccc54e49aec2b7ac395c336a16ffc86283
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84268801fec0a62d932abf5754bc50c20c8f3c2babadbeb4381a66791e79de67
+size 398620
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_011/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8d03b92baf3c7f6486a61c0c39c24890e946955e
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fe35a9ce0b1fb75eb35189bd383c0792b6644f2387747b7ee7ee06731ac2ddc
+size 189650
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_012/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..91d9d7fc710cdcc0928e795447cc2d64585b419e
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ff0d39039456e4993a64b9fec50a2e1a71ee1345a99020db5ee3762b6dbc4cc
+size 289118
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_012/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..78f5a1fa1f45e48c8e2d6f8547b0c653ccd5547d
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:500c3c1e2623b927d169d5d6ad519a0ac741699e8003785089cedab043f0bfef
+size 215318
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_013/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8b80c1c465b4b51cc6e688c42812832d72149c98
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27ba096476427ae3fab6bc80d868c8852ef127c171656e9bf8fdf40099aa6f99
+size 445433
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_013/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3054dc6478f8b27ea9f4aeaf8bda5d1d38403fe4
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8f87b849752d1d94c185e9717a65bebd0af96e49b69522be4eabb648f1b6afc
+size 215400
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_014/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6c3f72ef3ac97f5ae2c11bf73dfe409e2537584e
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3217c6dd45437c672a50838f5bfbd8e6a336903218a609884101c1bcc21a7736
+size 351287
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_014/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e2dcb77957cf108e062759bd9439d437ec93c7a
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98086908102d646f2af1a294cf114d53611dfed6e119b5cb4248be7a2d4039c1
+size 223866
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_015/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9df0a15fdca952b81e79297cb91eb1c5c7457d12
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3784b8987c8183eae1f9750dd3dd8eccc4f24bb31f403a2f3856e056f29c3b9d
+size 339435
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_015/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a93502a69a775931a22c41a6cd4fe04a15481d67
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac2c7eb25774e7f4519787f6b550e247db57306dd42ed432e75a689c134ba951
+size 172339
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_016/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ccd3f2bcf8eb0cae60fa223945b89ba778007f76
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6809a770028e45236629f6b0dd6356b9c5b4054e7a0c891d9823ddb52edd4f8
+size 432872
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_016/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..effbc3eca33d9f0c86c0b440cb69ec35d4acf204
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b00_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e2f9b3deb7c508a93e7fe6f318cfa9f8fed08ee95849b3ed7234b04885b983a
+size 178529
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_001/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1c7a8a4b7db1fa1bc513511cab5ea1e6d9c41b5b
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:098c0c0dd7f636afe83ec068da68e323a4f41d373289c2ce288132201151237f
+size 455625
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_001/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e9d2ec3c3df063af2113ea085053c3500b5b661a
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c4515e4125f1cc3d7296b4d62e1b63ee807d1be85e199bba047b424d67d158f
+size 223626
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_002/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9a01580c27d51b3fa5ee428b5ddfd024dac8c51c
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b94f59d58ad448869e901fe22f118eb3d88118ead57a838fcc5cd3c10fbccadd
+size 188612
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_002/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..187359fe5686cf2be25c503312ccafa313779e53
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb7fe5134a4973bfa697147da1e9734cd579244f294afe3a6cac6c54febde3d6
+size 60184
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_003/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..282ece7fce8f21d4eb2f8046b98b7ddd919be8f9
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c42e8f102d1786ca034968036baa783439c1482e4a97d40875328d95f4bc7ef
+size 246493
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_003/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..29d18e8adedab4488d3582baa46ae87c9b837029
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:607c15ee5ab1cf2aa32a09e6a183901f56cc1a18b3ca6bc55b46065f35b43814
+size 145718
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_004/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fff0ce826347859555cbdd5fcbd58d13a1bf4518
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:906e639af985650a5d14fc8fa86078663a63a69ec18a52e5139722656594c9ee
+size 191731
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_004/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c7ee0aaa493bd09eeda4d12e09e20b55420ba32e
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4918746c5e1c298f7387fadb4d30caed5d019f6e3b478f7fbffae8c449d1141b
+size 85054
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_005/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..928d61a162a82e3ba2c92294824c026d753844c7
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a909320c7fd828a19ed571c648acdeb6b21b3dfdadf5b6c18b0e4772528911e
+size 372869
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_005/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..57f0aaff663069460ed7787a8a5c778e82b874ec
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1012033ea5222c4696d74829d96ba6372f8ec09ab5a8c92d34d64a33402d86f
+size 212140
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_006/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..569bd5c4283bdde52a0d5488e613bccb501cf37c
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c587ccd593b0dc10f95c4fd695fbb1ac7445febeeb1a18927fd7fa83af4b252f
+size 294631
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_006/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..fa0c5fba219945cd8f20ad84eaf8f88207a3c0c0
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70aa2c704b700e7fac8e67f8bcbee948d9f7bc1d18370aa113bf19b5e093cdcc
+size 158699
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_007/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..96ebfa4f0d140ae1558484f4fab0f755dbed2f62
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5a743e6aa96b6cf5db2eb191c1cc1353af9dd13503db7653772fb94dc6c74c5
+size 272604
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_007/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b9ce9cd78f51b0a4c592624c6f661342b3a72fc8
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb8b8ba9240afd53c36c468616f188b3d42bb143964e1ef487f8b6f85144f023
+size 158783
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_008/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3eee08847ea2453f42e9b1575dc07f6573790cb0
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89fce3a6d0efa7c980cbc4a81c7a7f03485ae24b44a484cf08354be536fc713a
+size 237298
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_008/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a253e8cf0aea0b6b3f397a929aea627c8f61dfd2
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e5c35273233a1fd71d7e1ecbd1aefac1ae7bf6070cd5386bdc7926cbe0d4692
+size 103233
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_009/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e9ed914ef191104047862fb82c98f0e6a95d6af6
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1d244a09083786b5a110c58a091ee6847338a5348326a472ac88c7efa3819c9
+size 312261
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_009/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6009480eca52ae52fdc6e0d9099ec6310854fb06
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7ce687dfcf367f2609a5b0cb287b348ff70660ad2e7b7bf71443c9f10a406be
+size 145895
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_010/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..342cb7294f140a85c73561989c30d45bf1292f79
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c12349c0ecaf87515729ccab44aa5c6b95b743a6d2ceada218035b7bb0b9bcd
+size 394597
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_010/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..08cb6b73a197b6bdcb0de515a64e83ecbdecb263
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3154ba47b0facb2b2f30fea389bc2c71e0c919c72bb6b85ee8ea2dbba301afd5
+size 173366
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_011/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..823c7aa29328f083fb7f95c29c14ac8e2a577f87
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7460bfdd87f5772c9dbfece2300b910f846afeac5d2a576bbfae9cad0bca447
+size 317838
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_011/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..264abfd9397988c9cd39b00ba014872d12fe2b33
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd07ee3b42f7dd223430925d82d4624cc05f4d5ade783e9708a9bb60f0c72514
+size 117761
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_012/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a9e796bcefb66657c73425e5ad9f2542d6914efd
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5c496a8c2a78866f0788a27145f7202a5ee2b7032b33d2d9dff8bd8e01b3e0d
+size 296595
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_012/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7c183b4618a33babd3d13444f365d539e35c0b2b
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5010302ea4110bc60be2e01033cbcc8690506c2204267f3f95db9b3a23f8f0a6
+size 155226
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_013/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7686251392a22e39154f2b3ae7b7d23a9349852b
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73c912829332422ece2c25dc9b2b60004b9472b1335575ff33c5595939bebf95
+size 481817
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_013/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6676c22d00f3a566406da5dffea2e3e19f0712ae
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aebbc90f11ace5a266e14f07cccb5fce6bfff0a034043fd6dbcdc7eefd289a15
+size 257719
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_014/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bddef657b5497f8771efedef124e927703cb1bd6
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:764af9d0afc4a91af54c1a3d6867ea390b0d7dd677ca70b355248b5db285a7a1
+size 397288
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_014/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..38f3705d8b9c9b67026c38181717ad797449a761
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7344bfd20de562544c5d39b8b336ec713f4e455d1e9281ee2341ac32fbac096
+size 193884
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_015/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4b6796e3af8f26d244b1aa36c053e7c83c963deb
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a03baa1a528601ccda3da7ca69afb552724d79aca29b7de2db894c9ca690534c
+size 263729
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_015/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..fa4c2f1f44361953b7a4a799e7e6c9b370127f3f
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83d1769f482c7afd2082a65acd00034c0b8fcb54f80b9423b0a4241108b92678
+size 155100
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_016/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b559e34e9c5886ebc70850b638c4df0b250a00ca
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c95c21d67525d2b9da91e07ec8e69a26fdd4f848085fd8e73ca5009cbab14b99
+size 304671
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_016/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..acc5efd7473c1ffabb3ef5f9c90c64fd65d6df2b
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b01_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:790c0e776d5298f8bbd2e327555fcee37dc4d646472a02c88cec3ebcef918091
+size 176758
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_001/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..18fbf86b0c10f796d8f9dba1744be382a689db41
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c32799b17b64a145bd63a164ae25302b7d2aa36b2ead0182ca1ba33fada7c81
+size 185179
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_001/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..77273db7043819a68a8d391461488edd7807e6a0
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd95ca8be94842c0eceb141c34ac6f1f8992465b5c754f6dda0dbeda1ec9bb0f
+size 103129
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_002/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8585812ff876bbaffbc3e9b78085f2e67142201b
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93d8e7f910c59a78582b8e0cfbd77703f6adb3ffe1c9f5f653ae17d05891e34f
+size 277097
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_002/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..baa022c5854226ae19c57563df389324f3997572
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a4737f6f8ff7fbee14f20c269b9d26d1d9fe419b78779711e14f8c7ffb08611
+size 105527
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_003/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..345ab50d0a102ed0708e42f7dfa5ca1aa7172734
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88abf58c8aa631e77e3b05f18c3f700a89960812c619e0859ef79972558b39c4
+size 216274
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_003/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..969a487f1174d87ecd59f78b81841d1b7264c00d
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:106dd6688f55523ad164f8f623b5bfe56a30763a2ad004728d012d6debb70d47
+size 155294
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_004/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9728c80c69ed5967f1a284ad4f3e211658876ca1
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:170ccb1a4ca4d38615a2bc24ec63d0fb095b230fd16341591f913e5bd33cbf66
+size 153833
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_004/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..720d7f68a028eb88d933b01e713a85b92ab891fc
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afa765f2899096b04830d84af36fb01877daa6a8eefd3e36542c82ef6e242755
+size 69552
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_005/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b45dcd2ef1da8b10b1d74508040f088b70967222
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:696fd9f5a446b342ae62e5e642591a7e9f0400366fc5793087d20aff405d1db2
+size 186060
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_005/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4807101843ce6b38e76896a97abefd31f94f6857
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3517388a057ec2481561672c78f3d337825041f1d1882d610f2aee6cc5d23ceb
+size 114651
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_006/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2a5f814af17b93197589efa0bccf828ca7bae409
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:199e5c252c9e105e2edc1709af6bef9c08491d37c466c53c9c588bae880c7474
+size 193593
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_006/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e03af651d58b63bbd1b76e6f58c4a2a3e41e5607
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a0c82d309dd55bf6b82fc0d0093aadf74c13d52d8fa2a77c2cb84f6f3bcef33
+size 93284
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_007/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2b163f4d85ae7373de37052a0075f7ca919eb385
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c11c6e95d72118993a6384e996b841909c34123299591b40d789dbefd24b00de
+size 134075
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_007/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c4d8b687c34b33c6ca8f89a156767821e6b653b
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ee5b11c1a5e07337dae8236b5f115ffc2565274fb89e303771eb6fa2c406882
+size 57941
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_008/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2819a4fb0d106e4b6d0610e1c3bdec5ce0b5dd01
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8be20c9e25ae3f4e3e17010c9b741b91489c857c5e8da6bc02e68cda1afd910
+size 141447
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_008/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f6b986f54d9b4e30711265d16c442a6f89d833c8
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40ff1d4136170fba557fd3880c6a58ba4822a9d87c3800f2bf33e602fd18591f
+size 55424
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_009/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f8e62e589b31b97744802bbd9057ec7225a8c8e0
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ff71c1bcde2692d1749e767639580e20c8c1b644fe5aecd02c7b81e4007012b
+size 279839
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_009/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..89e2f87502fc97b903b292280a4357456781bb4e
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c0ead8f71cb1f75f514fbc54f7999e040ee170e445f1486863f77c31a17acbc
+size 120289
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_010/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0f7811ec3255036379227f6b41088dd55b024643
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed3ba6d2e8a519a0d4eb4117ef64c65c65da9e473ac97f198178f7b54f307964
+size 330469
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_010/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..777ec8fdcbbdea48a8e1a13beaf483d0c6a03760
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e31ce445bd917341ba7380b8a606ba4284119b43b2485f1dd6cb273bf6e33a0
+size 137278
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_011/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bca2d6bfb164017aef66c4c967c3b6b5bb4bb609
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb650d15cec29b19ca603382476ce73bbaccc61212be9de68db4b50474d29097
+size 395064
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_011/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e4fcda25c6e7888c31e6fe02b3991962a3aed142
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab9f419e2c267272758dcfbed76f049a61e224267f90055dd4f579332f8c1c2d
+size 206585
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_012/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8ba01519aacb40eb909d6f61ad238233e55ef17f
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e23ed29844b5c5474f10539a8af4c95b75a23a2b49678a70a0a852487420fa51
+size 380280
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_012/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..de88fffd17b0308cf61ea7923273949e329a7150
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45feb0585aaff244938c2901445914262e3870f7ed288baebeadd375169394ba
+size 178976
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_013/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..09fc07a13fe06610c38e2363bcf8ead1ece74b9a
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ccc43fe6d1f4a54038dc4eed856e1ad6fbc57fef65ab00bdfbf07e4dd512362
+size 248669
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_013/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7fa057ee0b5968578fd50e527f1d106290e4b6ef
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57eb96a9a48aee4171334f447130b6e39f9a52ef790028bfb061b390fce79099
+size 183356
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_014/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bed96c9de33302d66702f3fa5a70590d2640b194
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a778926db2a5f77747147ffe5a6e1588a75fcf226c78184eec08e2ae84a9aee
+size 347740
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_014/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2bdd9638c09ea28c53cda5a03eb583110d7aa85c
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50f6cc43217341e2d6e21781102e9a9f28254ac92e6728eac3055f54d69589cc
+size 222910
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_015/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0f471f559591e83f00908b768903e6a622f47372
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9ecb8640072c6c7c0c3e95810122e99053139e77e809e7c673b66db42652fd0
+size 277098
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_015/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..37ab4834c7b5ed12eb8c75ba6787b97365df2795
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a25bcb7a644a8fabdec08e15c824fa64bdfa7b341534e0d4c02ddea85f033e82
+size 72650
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_016/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..53071c0d9be207df136fb0799111c8244b849efc
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90b09f6ea14d07155190750ecc4d211d14361b70cd241293702261d19f3125dc
+size 206236
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_016/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..dbc3e2ff9d1e78e4130b64afdb4c69b66627a6a0
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b02_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f59a8ecad75d4a2808b455ef9e131f2f385cf5ee1321ae39225450744a44e9aa
+size 103612
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_001/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7069c956ffe74e3aae6e812f5c79b24934848625
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79d5c3860efd4c93d889bbf3badc1423052efb6893e5e3932393fa226d5e9dd0
+size 380724
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_001/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c31fb0fb4edd62523c50f869e2aa6e0bbef270d5
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9285b57fafe3edf82f34132e883f61987dff9ae1ea1af392ec17c4e662127b9
+size 102054
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_002/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..be3d5574a129b0fa4201c8332b2c1f27836c21f5
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a08b02536b19240d564d4f543a6cdb040e507585b2f09b9a851478f61a39993c
+size 221267
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_002/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d9dce60f04e4b64c938bd59205e01f38e12ef180
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:620ca92fd3df14dbc5240335e6d9ce327faf44ba2ea639b610360b458109dc53
+size 105533
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_003/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..43c0b6fac82ea2f5ea01ce8f065a063b2a6d1d8c
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c06886250a4fb3892284978678c007455b8f4f31e21fb7657855ed214e8c65b
+size 251349
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_003/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d03f403bfbf65001f9409ac8495952da26d2802b
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5f37fb1f409a2bd6d36f622052fffa91181b27f697e6af532eebd55c65061dd
+size 101278
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_004/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..735df87f6b22a793b15109c3ff238170fc014972
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e7d68ad7f32e38a9cc3b3c678c55a53f9ad07edc85ffeb32a24f894de59ff55
+size 327294
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_004/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..89a6bfdee3e319cd2fdec4e6723e30562879e537
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e871326609e5266c0b7518a17afd16c748990746ef6005fe7116f9201b2585e
+size 162798
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_005/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7593239f648d36c00087899bff1edb3da0a72dfa
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f894add3c714bcabaca5bd23cc9c4dae3a10e75ee28eba79e9ce759cc66cc00b
+size 243583
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_005/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b0b864edb857243ec76429be3b504b2c0b370cf
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:010166df492f03877e1425d13341f76360006a43c93d2bd9a13e1cebc27aeb18
+size 93778
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_006/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c606413506d6aec244e4c6bcfddca8a024983644
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f41c712d0f11ea2c403f3234b49235bda68aa1abfb75777978d3a7c78b2ba6b
+size 203223
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_006/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea0b824d4be0126ff30e2e45ee6bb8068de3acd5
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:826e7ff2a3e6b8b9c350f1f56a5ccf4fe9dea8737c6dc90b9319de36a3da1170
+size 92013
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_007/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1265d713bc5bbf58ef269069d5f89afbee436d76
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6d98efcaf80e70257135c7b085f75d5535a7c59b6909b5e5e54775dbeeb8bbb
+size 465904
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_007/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b444605a3e8d42f9582d7f20ce098512b634d73e
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2b46474b152afc073a2ff933bb04be0cda79e4336cb28db2c73da3922a291df
+size 174078
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_008/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..267b6af31c9abbea4b9fb5dcf5dd5b6bfde377bc
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00edc5446dc489220cd79de7c9e93541f848536b000465102eb6d0cbd9896ad4
+size 395340
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_008/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3f58c823d863892fe3dc024c3d97d572e0f935d
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6464d6b9d1242958c0c64a6556e67d8b7c74750b7046dba19e64d0d08ddab519
+size 182750
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_009/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..094c7782c2c03cdce5aa5821a7268a43fe9c2bc7
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a582144725aae3ff90a17e787c1d76709a7c2c53516cf516c29521b6a5640108
+size 316250
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_009/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..78df2fc8dd61333a1ed4f0a5674be91842e0f043
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f63c5bdbbc477168f4278c7e2e2a146e3e4c13d65c33027d922b7e23dc1da5f
+size 121969
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_010/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..34058ba60ee5202a5a80c90ce7ad559e2ec5363f
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65e71ac8b978f76a6652354cb14e6df7ef47ff9215b48f05404741d7ba48f7d9
+size 453580
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_010/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f369a81f8c3c639080723132bfd0171347a0a01
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:880b6a0d7665e8c523f6ac0695dab911cb0e665e8cafce19b3c9e7bed6874438
+size 196935
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_011/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..101f6599bc78585c09589657d4efab2a573c590f
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a989709d6256139d122fdbc12ac4e286c2e1cf03f49ee655caba108d4555fa2
+size 271253
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_011/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..879399fc42b22412b9a60b65133e2d07eee998cd
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:634b4090ff5f1009baf1f30dfb513b89e3f03110c130b52ff4971f8c226566e5
+size 122928
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_012/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7de0fc138e35b5e27739a0deed678c3697338e23
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c35e785c9dc420d1b8cda44406a6dc0900a70bc50bff89aef46585602196f58
+size 428892
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_012/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1a6546eb7eb32ba6b4215f515325c92545a41348
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1b31989c9dce2d4e5c0eca87bb9b592a5d47d3dbb88c414d88633a5bbd6687e
+size 220370
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_013/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f2ca74d99b649c5aa30d1f7b55fae91d0e4429f4
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:529f4aa214c413b69e124afcee4a963afdca23361df98da6a29695fd0699d4d9
+size 313735
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_013/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8067571f75396d5017346ae8a4bf4058aebfb3af
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fd4e17051c57d273261d8e4f954b0277cf1ef15f36e12b137d4a06e1081e133
+size 194217
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_014/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..993c31c90b3d80f0cf7b911dbb9fd6dac346a458
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:824daadbd9e4f2793c710c0126ee8f5b3d2cf3c091241e0e7e1619af721897c3
+size 540040
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_014/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e44d5ce7b2c82aadc6d159cd251b66bc88fe981
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:837223935d8fff3d85934cdf6adcf4882e725804b9623a60701044fcbb019074
+size 271377
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_015/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..565e4bef29f112f0ed6b04cd70de4efb69903604
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af36caa00d6abd420a204573375ee401fbd24c91068c524af7c1a4dc49039418
+size 350527
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_015/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f971a05d8a31081e619b489a25427efe3bcecb25
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1ae50ca7dd61b7162b6401a71841953efd933812f400b835029d09b88aa1796
+size 192830
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_016/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..81c34b40fa8df7a05cefe18f8076d24b2b242179
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6ac0b219743bc7d000cdb36ef15335c2ea2c7e66328180d188e7eb9e7ab2325
+size 250499
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_016/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1c13324979daf3de216da3c8f9077027f2dc70ef
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b03_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:987a57d6bb2fc9283b1c3eada7fd493d90baf02b644c68d2a30f66844c0811b2
+size 119281
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_001/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7c5f48170536b11b5e0f871b8afff57277167adb
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8684d9967c6a730f46a10cee97dcdf1979344d1b41e8bfd565f3639f2ef07997
+size 153146
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_001/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..929b358550ece1cd681c777bd254ebffc4989939
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fa67e5e4523900dc0200a292481f5e9df428a54869a5997d4118cfa2b6ad76c
+size 53401
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_002/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..85cfd94bd2c53454c4d452ba25e807bcc7d5c912
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb83f1c9c9ff50c5f0612a6ddbd2bf1cb3705cfc40aeece604eee992ab1ffb9a
+size 392353
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_002/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f5dfc4bac665499a5202f0382fb20ff254ee94d
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86cd33e4d4fa98ec3f4653a3763ba25fee170620cd9bf318a4526c2d2768b5fb
+size 183582
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_003/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b88e387f88b8ffed327be4712ba91a7770948b05
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d7dcf5447b4d2722359f84f8f21cf3de81bca8044b1d89cd90a44c88f280cd9
+size 414791
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_003/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..28a41154b23a17834503ce0744f2af60aa34ced8
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38851aec61f11c3030f284a25b24af9eb03f56ae40bc8ff40183e15133b41a44
+size 218473
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_004/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..690e9f1a926a08741504d254057e58b1889b4516
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc3e18ffcca531a38de778d4b870cec9eafa2999c0d7341b3e90f2d91a213aee
+size 383824
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_004/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2055ed850d87bff084bd23ecadbaf421d6ca7ac3
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2ee6f70ed71782f19fad9aad37213f60978b6ba3ed5aa06fdbfc3e949404b72
+size 163606
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_005/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ae67f64dfa5e4b0c3b384e99d8b10a32921da056
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60e4a424d6cf5b605ded7e00166f67e0d93a8b4d88ad25b96d0f96bb5891d26a
+size 292155
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_005/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6ef4255751fb35c718cf36ab094a0b95c5bf5e86
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e52ebc4a236ac090074be687076ef02064c0a2cfc7eacc9629fadca3cd4b93e
+size 136484
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_006/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8556ff169c8de9e7e679f79f54b8c12472018536
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ca2591a1fdb51abd3304fd94255ff440f1621a21b10f5b912b78ecb09d53a87
+size 343299
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_006/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b0931b77eee14f79a55e9978f4e741af0b4ea2b9
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a894ca2eb6a438cdd30ae1941c98e271c7b8e0c0360f97cfc111693d43fce4b
+size 204943
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_007/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..56bb36dbec2a67dfca81cc0fb6235ddc6c0d1b04
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65b6a04a2325d15d7cb05c8e05ae7e78a334d8acd60684bdf2a82f12ab6a81c8
+size 403824
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_007/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e51397f4b1cc8c50e8eb63743008e7f3de173e49
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e6fe794c062533009ca59e14bb55192d5502a418e2130469260e64c7eef2852
+size 197278
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_008/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..10829151c1f3386d2d8ac0a12cad1d9983701d77
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41bd990cf1a07bad90df6ec9785398ce8225b92f7bb24050830cc8be6681161b
+size 463746
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_008/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..035bf39704592de20ba49f987e959e8a5bb2ecef
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f241f18f7bee9fc4ead86a441443bc6130b002a7d08a9a4ad3201f0a9c5ec08
+size 174456
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_009/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1be47d3a4c30cf8230c0574379aa89c3e75173e3
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:462b393f85cf1849114eecde60370e24f569c446fd69214a3b854de68541387c
+size 408267
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_009/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5c964cb6def10779c90fe567be5244f47b78d03e
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8deee252fde4c42228564c16b051a6c9e1e9022aa9d25c399f6665560cb387c2
+size 175816
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_010/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..436e4aedfcac3515b1421c478556befc2a055998
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e70c5b97ab9b740345862f3477944a2d3f2b83a47500dab1682aab2cb843a3a2
+size 219189
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_010/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9f458bd80993485f04bf68f1265dc137ebc7ae2c
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96543ec64c627366b0a5e2bee00dee6cdad685134af17199ac678d034e542a7f
+size 133455
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_011/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d6fd17364cb34cab68874e5e5e192578062d28d8
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b280c0b3a5de7f382018534972dee138969ee53101ce1690cacb500924c6376c
+size 321132
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_011/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..38ada2431fa620fa1ddecbbacd4900c2c80a03cf
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd3d3ed05a61954ed9340e7d7c77dd4d44f38f32204c9158943c6bc39a434d65
+size 140991
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_012/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cde24cef946574decc9bd9828d86165f4d931102
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1aed4860ca32bf018937dd4c9ceb87b391af7e2437a92519a91a564df482f00c
+size 299430
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_012/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6a7129b362d0a7111837e4c87ca99f15026df684
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:459f36086dc8d01efd60dabe9479b4337567cd2094f5ab43cb3538a852f4c498
+size 159795
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_013/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b62505b8d7bba7cbef80efd5757e849d0714a6c0
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e909a3f0db6d5750b09cf82227c5da193287e69d19a9c363f5b9e68f97407c8
+size 405339
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_013/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7494867458ef9acd684e64c095ccba90635d4aa3
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:859f3478e851a887c7be22a1472325e7e655302a2c49af49d9a3b621135c1a6f
+size 245016
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_014/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..82db5007eb4dc4cd4d2ad4cd098ae098177e2dbc
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26a0faf0c2488b90096efa02ab15bca58d6f33b823b5257c0829a66ed9cd8ab0
+size 404687
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_014/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..907068e87255367db4547fadb97241bcdd106e44
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:763621af545ebc8ff9660dd7c297a332c015594588bf679bffb817e1064f96d2
+size 242259
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_015/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f25db0261bfbdef31878a79ea5fdeaa6104ad108
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99df8904eee46e02a76acc68806b22695a1599a3b614b8497f00b7bef220681d
+size 411603
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_015/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..46b38fc60edffbbc0fae31dfc3579598a90fb337
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d27019afb45928c77da13ef46b50eebd2516a8acc8a9445a197077aa800a603
+size 177879
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_016/data/000000.npz b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3056f2ec0f24d66f9787194474848dac50e0455f
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:183e8bbf913d8a6ad8abe00385577fe5fc4d3d35dd7ab0df5b321523453b1595
+size 341105
diff --git a/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_016/rgb/000000.png b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..025cf0d16bca99e3246125b396c8bc18099056d7
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/test/bg_000908/scene_b04_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc21349b78d47af6f00bc2f8f58f18502278389ec3b8829265733b9d223f6a0f
+size 155974
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_001/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..af0efb4a8b9753e0477e18ac55d1f0803f8c00b3
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b63c1855990297665faec3b75fc5cbd0a50b7b70e5564536754194a0ab188ff
+size 280314
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_001/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..87ad8daae782e99407e1285009d5a4694e476a83
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46703f231162dfe9616857181d2615325c61cfcb5b9214b544eb073931c54c60
+size 125762
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_002/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..697b993d0ade966085927c618efe5ddab266e303
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68f64e51c2778cc1488fd622a0a36dd45c4d20f8f41e97af31238a15e6835ad1
+size 285769
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_002/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6628af036d301f3d20133d069df735f2f65ea39d
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f923645913692d3b680edf9c502af710ff862cd463fc4182da3845d57d57bc4
+size 101625
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_003/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2f8e2f4c88214d05f08c6fd85b7839b5a13c9dda
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdc45c6cdc0d52aa39851b86ffde0b73630ad8db68b7b0313a06746c4668d9de
+size 236720
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_003/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2cde279716331ac6e1f8c15423c88420a698f97a
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f874b5a157afd4b0b2bac6f0788278656476a24721b0c3805eaafc8076634ee
+size 64426
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_004/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1af046eada1ddb1575c0857a63e6c958edf974df
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2608569d0846acb0ccfa9a4aef397bece3668a7be75da6b6ae1cd1a6181e2519
+size 378305
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_004/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab28e0df1dd9bb254d0d8129de1fca4ecad60f40
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ad0564c967746a9e4306c7b4c64e60e699b47a92b9edd5ec2dc23d8aaef0464
+size 200790
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_005/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d58b1c12745a4ab148e614336d39b44ce717ac59
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:662012772b839ea78b82be7b80bebcdc805e2d8630f5e5c41f4957df2952a976
+size 377430
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_005/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..759b18446ce5f6d17351d38d0bd7f64972b3e338
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72e2bbb40d0a87d9fbec90eae8e698a54ed6aae5084cce2e6f558a747bcf633d
+size 197495
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_006/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..71d8384ebaa4a30f34b4073e313f3124c9453c15
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2819643d623a9fe7aa513f311629729ac4266e06ba1a335e52a807e962e5903f
+size 225084
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_006/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a2f0f5e0170a4d0508cffb500bf8a32fc72b582b
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f99c7c1ef3d88353eee44fd187f2824fee620747bd3f04b4b0852655ac9b47ba
+size 73077
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_007/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1bc7222e479cc3a49dd69674b8e10fe167879939
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:362b9baca460a73b42edd6abf688c8a98ad2f79d4aace9d65a3c4bf49e4d7e98
+size 306810
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_007/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c6dd5878fc079550988bda0264ae010a8ab75e97
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de071aa8d759b4668bdc11f878fcf40cd812f21ab057ee432d16eb0981ce85db
+size 154575
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_008/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..aa1470d8ac570b7140bf173010eeb647414b47ba
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ff37d46e1dba7ab002a201818b2a0584ad1486d24fa25d046a24176fca15c71
+size 178457
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_008/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..55c8933e3248a2e5d7fee8cc42c79f7b801b61d8
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d34de671ea88ec4bd8a476c8ff3ab57ace954c17ba87f21b6cb098a4268bf81
+size 70872
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_009/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3e907a734cc332577c0331ac8f7c0f681e56ef5e
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:499bf535ddba245b1483606577d2ceb276b39ffd11772b48ec24ef6403665ba1
+size 201884
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_009/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2d75dd4ef7d2a37d634e27b4c988e5af79f16efe
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53e1c0886a57a105798dc9ad0fd747b3deee5e69d0d259021f412054a9b679e6
+size 76078
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_010/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..273c9033095dcc2e8e3504e614a89a62b417b0c1
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3233de0eef420b3af5903184117afc850d618cbb1c0bf863e8e1a8c95c41e6c0
+size 310490
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_010/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1375489ed39dffdaac1e7ef41e72423ef9c08a1f
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26b0c8efd6e6f0095b406ab6cd868a3e7b373af0d7a34046496a4bd37d43f01b
+size 135844
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_011/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6ad7f7a2fe9d51d91d09c3ab2cb25dacd05a40f6
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a93942138e8fa6d4c3ca0f3dab84ff3190bc3c600375b216e57725d5c5585876
+size 335092
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_011/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a24a2370541f3b562168f4a016ae51975f97cb39
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f71a61e54c585fdd9cec0e8a0cc20b4f8796977eecd1371fc1e6996096b1b67
+size 170077
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_012/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6a3124daeca84acf714b8eeaa8bcfc4d15a61bdc
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91ac195e72f936a78d2dedd7412062f63f13e511dc3ae061346f062f5c404ef7
+size 174964
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_012/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8c7d5e4b17028cda3405f4d7b34c5f719060fc45
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a7c6b0d139a00c91c8b129b341b531a44adea9f72a7d62873648c623f0e1376
+size 73966
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_013/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..70c9e2f7f4b099612e2f4e075f1dee687da6e95d
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a05c7bb4c743a6a04376fa44d562df1a579bdfb2a0f50334431af79d83ddc78a
+size 312088
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_013/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..45dae7ab1815a8dc6e57f697b88aa7e5f951d0d6
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4f0f741d495e51fdabe4e9827b49e9b6a9510c6ae859fe45e211c33ef75c7ad
+size 164621
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_014/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4ca47e1da70a41c8350e60757d146c13f675177d
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba42944a6a3268aa314a25e9525a34fd8342ffe2f64bd95d47a7808511fb57f5
+size 448245
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_014/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..af6617f740774a50743770b544734ba672e4bb19
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a578e526a41cdcc97eed7ef32ad2423e5480bd92d74b34b9b79ffd87caa75611
+size 243392
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_015/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b9db5a6c19200910de8981c463cfa0fe2be3a2cd
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:131ede0e2837b233cc520ccc17b86c78f7687b97a61aaa6c2ad14c823a124e30
+size 404798
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_015/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a85726efc95198040906c95f10d219b9216a88f
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a1bbbc04e23e411346ca36483fb9f1c9e666b57517fdef0f736b30319860c85
+size 226453
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_016/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c02af4d85f8106d76ebf08b3547fbb9e16281dad
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e077faa88ca1af583eb8b9b1457f7f72569ade9b6895ad2c81e89e564ee352e
+size 352170
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_016/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd949d854731badc862f4bb3a6915ad9df5e4451
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa7f780199dcbac7bfefd8a94fc531559b2fc210f35d78f59820de6aaab50349
+size 140957
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_017/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_017/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1261cb3d158f49e8b6d6728cfc7baf21692e5e7c
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_017/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfa7d9352fecaaf7df39adebc409c3ae2e3f8527fd795502f628837a4b27d25d
+size 295660
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_017/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_017/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e5a5db99a8f84af4232c262118cf2cce6f7550ae
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_017/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbf792c1a5d3ac0d0f5be5ff08e015a41c343510ebeffcf4bdd7165ddc36a47f
+size 191962
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_018/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_018/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2d68b55dad7b6dba83876d98552b0be84e42d9c0
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_018/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5bd7ee53fd83bc87e2694f1043cdf1147c607cbf14d2fc252f0d2c977a34fd3
+size 370415
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_018/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_018/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ff5413e07a539f379d2b5036b9a5488041990d63
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_018/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c40fcf163c7922fd440d1a892689cd123d315dfb43694acdc505e998d802a43
+size 148797
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_019/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_019/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..45a65fe440ea2aca7c13af5a1d73dbc964a93779
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_019/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d280d6688c36de7eb041021ffdf6598dcc89104f93ea1340f221266ed9ab099
+size 364079
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_019/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_019/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a381f30f81d7328658ff013a08fe57e123bbbacd
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_019/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:561bf62289ca53702e27eda4976e1d6426c11cd99d139980bdd755c548ffeb4f
+size 226070
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_020/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_020/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2c67989ed74da8d4680d2576a790f1d24ffe24c9
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_020/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7b78b6d8b5c45cd0d4889ff1818881bda223f4dbaaf3ad2a68358f7db707aa3
+size 289622
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_020/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_020/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..827fda735d41c5dc89c9c5f29a34de64bb847687
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_020/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:134332338836d6e4519c51529b2afa0658ea49d3a00dc41d0855edf143a5199b
+size 89394
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_021/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_021/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8966ca75a4de615c1560e35c6325e3a2400a7041
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_021/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d40ef30d8816cca1f2bb24db35627aed82663ee09c661b3883a800ecf621a6c4
+size 281006
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_021/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_021/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5246926e40b4f0c08a74c75ffa31fa1e1d531646
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_021/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fbda59ea434854f19b8ed70ed85f1fca38d9a02f0c02d1392e58a1bf1adcf03
+size 142961
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_022/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_022/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..62d36b75771df7ff5330d99834c9da562e92aa39
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_022/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbe64fafec5428ae57bf5c4c9aafa94570d0a86d7f13c9cf3429ee49aa52007f
+size 290398
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_022/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_022/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..410126937c36b0043fbae433c224a6886c7801a8
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_022/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:920060836d16b24e8c47e531c4cfaeb5d8ab0b961f0e3bc6eaa9452875769564
+size 96150
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_023/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_023/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6e3fa7105e4eed922b1c2d025fcca5d5453ad0a4
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_023/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b678ae137a63c64e506dddb16f53f2134640f2e742a24519b7fbc445afc8d059
+size 346913
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_023/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_023/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..eeccb0e90e2feb35a6af22288555ed4436380f30
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_023/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b1c05eaddc79adabcfde810df4262cff8427314069c95f11f697d19c8e52c2b
+size 115544
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_024/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_024/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7f88d27ba6a2c05d223e8d28381a24d2871feabd
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_024/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0737916a620094e4a234ae61f73d268d853163a5b151f4001e46e761b292c14
+size 234045
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_024/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_024/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..60127f65772631d68938125346445bdc16bc634c
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b00_024/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24a3348df67a68ae94e2842474d62f7a9428c52e5e791aa1be226fab31687546
+size 105573
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_001/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..32d23f85f052cac976339d4df9f05ca6dcd27687
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6549b32d8e9ee646fa0976bd67600e2e9bc225b5b19c3edea511f648a40f966
+size 284651
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_001/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e24c1dd9eb8149b8a54b3dbc049ed7afe0f5347
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f5bbd8a03cbaba52fa2e2f86fdc154bec64200536de4efe0113ea391664608f
+size 133768
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_002/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1d5554a4a5a21d300275d348e518e32d1cbf4dfe
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95ce546c8cf0ccb02c24d65ce50f114da16082613a33d0d7bc95804e4275d027
+size 348802
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_002/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8db14a0349eda99483042dcff5ef0ca9d43af549
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d321ccde71d6a9726904f03f816e4ad915879fda1aa2e537eb2d63bca571654b
+size 189810
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_003/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..18184cac7994f9bec627ea830fc9343e2f34c14e
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:689a1a26ff05c55212bdd6b52dbd84d677d15fd849ca3b38c236c93494d71fff
+size 274217
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_003/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..416e0e46ab0d459b702fbfb4b9e770d8993b25f6
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f54b94cdcae282705c14b05d70f92fc6e8781145e46d82605d995ed27ba030a
+size 116938
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_004/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9e538f3d5816be732099d793e18afdea2a0c0873
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55bde8408a8f0b5104c4aab38ba4acd18a3339c347588071e951d013b868743d
+size 189518
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_004/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c963ef4e7f3cd48013c075ccdf48ea329d27c4ce
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9734ed8137b7bd460924810c97f7de433289419d24657064b601c666300528d6
+size 85718
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_005/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0d401ac00d3b6230e5a505a71cc5a8a3d641a6eb
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85579c89ead12cbcde974e16ae199d4e104e5f209c3b59f4cb90366f5ee09a5a
+size 321189
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_005/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..19962edbebd9ed694a634ef36f533c4cc9baab41
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09c7e1f4cb3d09740200e32deab855fbeb81e9826ac1977df433a034aba39f16
+size 139266
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_006/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..69a23314e3c80677c4ffa31c957da944232891d0
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:798d920680c4d58a432dfd9a9d753a8c67c5fe321623f275a4f6f806d5487ea9
+size 294870
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_006/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d9616d8b56e75b238a0b86c5eeabc93027818cb7
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:089d543c64c664e45b64be56f2d5143944c47d075e54121e3a2b29140190f5b6
+size 177788
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_007/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..554870cbc567178727959f54f57c25fff7085203
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0408196c376a1a0e147adf72693a58c47471cd39f1fb371db386c296dce55f0f
+size 312480
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_007/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..789350d22f1b8289a18c24573c827419f4a654be
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59da720390fd3db1033bda64f499f81779cf2b99b908e842a02aae453443cc33
+size 136361
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_008/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7cf80254116368606393d373eb5535af9d0a649f
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bf054c0e3720b3dad92b46be1a83d560e3536681f1b22f577a4008e7c02b4bf
+size 159329
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_008/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..856a7f34c30b1698dd77e757d7a23a2980b95c6a
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1ee06f65fb7c6a7698964a92eedde651687e72395340fe45ec80dc204213ae9
+size 41611
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_009/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a326088932d1a231f2a9f7b20bf2a1cae0a64806
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be5e07481c926409c0ee332b18d616c543a291a843ebffc9b8c1c8e0cc62fc0d
+size 341947
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_009/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2ba0973851a142f3d426c87585046705a38d9d8a
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a16730f39fd60d6e60a8fecfd089539875a53ac0e3c2efcfc55eca38e038eb8d
+size 155764
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_010/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..78256edf3412fe896ac6a4809b86b4d1285f9e20
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1b7e5b6919f78d9f0e1ee6fec35bdef8251c973813aa8e207f0d49944282665
+size 165857
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_010/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c8233628cbb6f186af5f7615d2f3fc8434c128b8
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ca7b1ff9504939c2b8519d4175e562ce0598e3ef656d0a9254a3f4d5bf9806f
+size 57393
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_011/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f596431714746fdd3c048706b6ba391af68b88e1
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf50b41c98155bb1a3b74a18c88af6d426c0301272df5766c727cddb4bc35e53
+size 253133
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_011/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f47df6cf6c28ec76dbcbb5cea3b9c0cf3f28593
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cebad86a9eaaf807081f921f2b9764c064bbabd3d2f111c5784882a76636436
+size 99142
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_012/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2dc89efff7fa6bb72af440e7ccd5ec95c60c2fce
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b94a2279208d0e7a60c3a04fe09b3c63f98cb5e8d0cde9245ffe728b2221293
+size 232037
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_012/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1efd0ababffac9b3e244b714e1971b6c1549267d
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44ea07026c2dd927d8152db63afa02caaa4eb063620c713c5b24b302c900d31e
+size 108061
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_013/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ae9da4991b28e1032acdd04043fae13b24628290
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0df88b48d642c3b9825a6aa8e259e144fa341932456817bf36adfc7dac996a2c
+size 375002
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_013/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee93791b02b9c62c79d8a8e2f507bc14c45b5df5
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba4ac7e44930679e1655f30aef474d6d0f134b65e1a854ad8c5039ff792e1d09
+size 175970
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_014/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fa23a17cd28ba15a6870e6d426f70d68d5465b1c
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a38efdcc6833e418cf5ab6fc793bcc2c45cb606ec1c24babccccad224b156a43
+size 323036
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_014/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..963b5f42f6444698c064ef253a55dc726659bbd9
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b231c31defc098991a688a48e8497b8070a8c26aa0230e36e22aa899dd36217c
+size 186230
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_015/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..208744dd4fc46258889806019b19a35fa5eddc9a
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce768c535dc69cada4568665059b8951d4b8c90f5958a2e9853839c709fe3edc
+size 274141
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_015/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..bab0ccc1c77d8d6b0bed09aba2f644839e786c68
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:015c42ec695d4e5f4c1b652d70ba6c3a37086c27a367500e34eba7e6f0273f4d
+size 121763
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_016/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b97c1e480e891ba5f93965e0263886a4a12bebff
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37ab48bede85b0207dae675bf814236f4b050d0670f5784a69143a147fe695ac
+size 530937
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_016/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a4872af08eae85283796b8d2a2e860fd0c6c5e57
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9231eacbaec86355108a87dff3fac8fdc678e1aed0b274781261f3644784b1b7
+size 230467
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_017/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_017/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d55539702eb258dbf16e9f4350b77ac8e783394d
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_017/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7acd8d3f41e852f2451daeb25b4b2ead13dd88a38d010baef9a0b33b4513d1df
+size 353386
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_017/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_017/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0b0205b2b0cd234fabe18debf77b54f98dbddac9
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_017/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e114f9de25d363d19d57e8cb5209335fac24c963b4efce88a08b486f9a58a3df
+size 279154
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_018/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_018/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c64854515fd82511cf1416b9325744899f0b4f06
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_018/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4111fcad8861466d7fcba63318b73f2f4f498dc6af669fcfa83292e3e466b6c
+size 322405
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_018/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_018/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6783167ed6d6e358c0b8dbe90977461bef83eb85
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_018/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a513b812d0b9ad7d8e4c844400bc3de9bf575e7509182dcec4755cf43ceee78f
+size 184936
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_019/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_019/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..59e0ba01da0bf5f0d2850f6b947bace06672a34e
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_019/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d08e032840098b5bb0753f238dca27992126cc9e46ad70448a6207af7d0da21
+size 319096
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_019/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_019/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b6f344992f076fd7960475b4da7812eb24f63f0
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_019/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5da246ff38c242f7a4344346db3216a0d8db6b0ace744b27d1cfb258c0f8152d
+size 199876
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_020/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_020/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..35af318517a092614581b9c219bbad580dc44ca4
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_020/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9815ffebcd144c9e0c752002779127cd8f20f4ded7333a0e0de30eaa7a8a7de1
+size 290729
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_020/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_020/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a61ccadc8f41658a01ef2086b1f4ed5cafb749d1
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_020/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dccf964783c8eb511a19b06f8a164fbab8f8a75c93147e57628340aec41183c
+size 125563
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_021/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_021/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..80f7d75297864896709caa16fb9b07ff15da3987
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_021/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e371910302dd0088f8a5bb190e85ce7a0d3dc244e7a2934771510f0c816204f4
+size 303120
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_021/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_021/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d82eb11428f78daaedb3fb860547e15685169e7e
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_021/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82bdbb4672fddb64f883080e0d2b6804a5a91038af5a626e29e72903ae50e22d
+size 141878
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_022/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_022/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..02b61bfcff55e6679441621eedde678480566027
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_022/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffe59e97602190a67f20f15e7cfaeb0d87e2aa5c920ed847fbcc62f06b75557e
+size 406566
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_022/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_022/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f9660047972b0ff0eb17444abb37cfaca1cbc8f
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_022/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:628f00a2927fa0256d24b57cd9bdf190bc6e8426598556d894fb5bbdf71eae88
+size 204732
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_023/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_023/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..898577f41e9c6890a96f3fe3de3740043191c528
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_023/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aff2fce863a677a544b00bd7633f12a72db35e25150074f6880a114ed1852018
+size 312628
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_023/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_023/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2d0e9c1ae3550e4053349282c9ef214bde1b7256
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_023/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:010ae7000ce3e10d2b87a9579c2e1a991b555e56d5840ab7e4622af535d16b25
+size 156524
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_024/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_024/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7efec5bb7afb2ad88882bb0fcc446f41280c6330
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_024/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aafa78ea18f5e87098c1bed72d68f7830bdbb53c356439694646f165bb0b0b1f
+size 259247
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_024/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_024/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c0ad39c3acd809f3fc363176f055f9b6ce93259e
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000003/scene_b01_024/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f26e4430fe12ccbbcf880ca47cec7af006648aa3b6752c7da7460132cdc111f
+size 107560
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b00_001/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b00_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9717dea811631df99303a4befe1b7fa76c0c45e8
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b00_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31d3591f8ccd6568f71f83028cfe3c607a2503abd8bd2504faa4db162165d7e2
+size 445457
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b00_001/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b00_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0013996e5aa478def67f8ea772f14d02ad8314b5
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b00_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:235506012c1599f76d523bdfdb1543d70c91648df910b2181ef0e41591fb93ab
+size 272008
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b00_014/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b00_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..881cbcbdfd051ea0f64ed2d1d7ff035f81aef57d
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b00_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3a4d574c8c3074e440714d01f6ab8321bae2211e4a30903aac41bc9e8921568
+size 334857
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b00_014/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b00_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..11549d7a4f4b8a6f7ea67682f3d7643136b01b40
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b00_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04426169200ba8e623f678d69c60d2830b85d48bfa864383484891a0bdd20831
+size 256675
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b00_021/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b00_021/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ee8938f10349ccb56c9248a4f16c6a9ef9c724f4
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b00_021/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d7cae44bbd7fe732fde3133d93d629a36b16fad10e684d35d6b67723dc69bbe
+size 388492
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b00_021/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b00_021/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..56d03e50148b9a16bfcd1143e592ba22216e2dfc
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b00_021/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba83b0e6baef17c7390d2b8529e274f442eacaec28b5d03531ace0bb9ff78928
+size 246221
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b01_006/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b01_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5df22e13f7476261b2e3e4257f3fa0a6cc08fec2
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b01_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3346520483678475c6cd94c560a22d457ea5a84fb54f89e21e1def42e0c5c10a
+size 426757
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b01_006/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b01_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ba229d257fa2eaa79c1a6028bf8da6f54a99ec1f
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b01_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdcd2f54f4fec6c27332a0a1b5ab4cd3e4862b7322c9fb00d4651ada13a3f023
+size 259800
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b01_007/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b01_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..46bcece4fd805f7c5b983cf5cef34510d6f1103f
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b01_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:295e2e702aceba189dacdcbd97b4ce3d9eb24dad16c1759f7d81ca4fd024985e
+size 415000
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b01_007/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b01_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d09de555b35abbb01a4048e67efe25bfe6e57a6
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b01_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:091f345310ea4c4b6b391ae653b10ac1e99505a1efeb8da4e94d1b3442673f8f
+size 135195
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b01_008/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b01_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ba0d55a535fe8914d639d4771b49540d88a28200
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b01_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f07c48a59bd9f3b45fc9d2c332629051fbd7d813b423b1da683f3a6c7387cc03
+size 183054
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b01_008/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b01_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..eb08d95a59ccd93c5547fa11692ba8496949b90f
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b01_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a22ebf581e4e417a8dcdcb6a030df1ecfe1028d8e10d2aff0e0ada67ba0e066
+size 90824
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b01_009/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b01_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..68984b2136e097a494f8e481e58ad84aace92ef2
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b01_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b537df491c526952f566edac3200851eba05ba760594a5970824a14aa7ea87ec
+size 346526
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b01_009/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b01_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a551203a28fcb34188d59abd61c7cf437dc30c82
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b01_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40b10b0b7c629be8a1e754645c8416eb560c42b297bc404c57fa55fa443fbe2f
+size 219735
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b01_013/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b01_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b44020d3f055536b933f76fddbd6b8ceabb025d1
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b01_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:329548475d7a5bbea2fa6ad0d033b550cbf72a9e01f88e0bc87b03c76c2854d3
+size 269498
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b01_013/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b01_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b9141221effcb79e96604792776a7b966893899d
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b01_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99745724b5f558d2dee8132a3bba390319146f271a446067eb68c2da32d85eb2
+size 199706
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b01_020/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b01_020/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6f50bedabcee752db15aee7d0b303121a8714355
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b01_020/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed58526ececd1c69c0f9ede1ce86dd58e4cd2eef1628ef045f716aee783ea7bc
+size 278078
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b01_020/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b01_020/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..634c141f99a682f8a8f717d475ea3f95a2c2f765
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b01_020/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:054ac268f8fd60230614851fd513991f693b279356ddf2724b1bd910ece92a60
+size 177346
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b02_002/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b02_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..908fdaa9e736d0b4968049fda5bc0ac224a60d80
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b02_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78bf008cebca0466fbf1ae9ee98c0eb53ffe4e5a1f556e699fef6e26f4ab13e8
+size 413587
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b02_002/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b02_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8d50c9176ad864156a967f0600e5353727a03dda
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b02_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc344323c2ee9274d908a32d985b2d39412bceccf9b0f8b3aedea70813882e41
+size 239759
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b02_007/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b02_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2cc6533a591c11c35c0e576e79981be97a529236
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b02_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:829815c623c8ade0aa07dff39c9f4e060a59d0bb4af75aee63d8abaa01406155
+size 378954
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b02_007/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b02_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8c6f69de3452e26f8663555e97184b439784a463
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b02_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b60503485700b1eae99e9c776a5a7ffc79b5e762fd14738c760832a6547978f
+size 250916
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b02_016/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b02_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..eb5f8e71d524139427aee1797274da91c523d905
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b02_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4db2097eb750b95f1dbe75469678926f92757f4209628796df8b145243323372
+size 443594
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b02_016/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b02_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e90a91b0b91cdce6412da262ec98397811d11a51
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b02_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6597eba8e97ab16d5f65cd2be41acb0998106395bcbb9c2cf7dc245f5c7c4a99
+size 208963
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b02_019/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b02_019/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f054b38e3565defd6c2c2e32ce84640d273dc5ca
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b02_019/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa5d4716407593a5c1084178946f0baec5d29bab2e063b29e33a520a3469e5d4
+size 358401
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b02_019/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b02_019/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..590fb5cd29c42ef988e42a5d0483dbad6470738f
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b02_019/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef049750e8416fe0eb0a63706c54e1c6fc4e9ea0cc1f017650df7a042db986cf
+size 196775
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b02_021/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b02_021/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1886fab5b42fe95e05044e47d7453240a8ebe473
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b02_021/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68cf1f08a0392d5e73fb05cba73cc891fbeaab159e1b0422e9ee204be34271f3
+size 371632
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b02_021/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b02_021/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c29c41cd2a6f06dd25b2834e62336c5708bc2068
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000008/scene_b02_021/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4790864f195da761e0a1209affbf37bc21cc5a33d9cae5b111383b8129f1184
+size 241725
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_001/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8a8cc7236fc424fa20e598aab1d3b185d3f8bebe
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d57b54a65c757d11b995b14b7164ce7c6e92bd32ebff6cad59d055726031c62
+size 326753
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_001/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a185403a6481bfb210c5529fdbcb5e6fdab71743
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57d57c267f6218ced82484f99986ef9f59305c6d9a2debb8e3b46858eaa4e762
+size 200139
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_002/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f1150e14b1775eb7ab8b7f48bf55eb7d331dc2e8
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d73cc80f4abe710d4595c00e79fa61d559fc77c6d9e23d3c70be6a438227a61f
+size 263182
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_002/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..938b69950ec12149f7f676f82bc3b853485f7421
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30405638e5af62422e6d9f82a2cc1441b5fb103b7e3d4afae2eac7682a8627d9
+size 107112
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_003/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..309e9f7a439cbe9bfc990fa1e37ea8e8e37f3776
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8dada874deda0441206be56f12e3a15256e997deb491800adacdcdf05042a4e7
+size 333463
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_003/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..12b1072eec0522b52dc2ab3d5c7f90a041195648
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f384cc125925a6019c4b7f7c22acc8f3af7cd4c1b873f305d28c8c3a55ea4b0d
+size 211726
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_004/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3e3f96c4b71c24f20182dc51fa775cf7b854b249
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f56eed7d0cf27a79e1842d0a3a815f38190af092279f2bad7e4365f78f291c1e
+size 273589
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_004/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..55795151a4a44e712c9ac2c2e52627b0b6e77cbb
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be182e846f64544df09f1b22e5f8ed5b89748413797e326c8c75275bb8492687
+size 132266
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_005/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7438b3264d7c0c54fe76b267157e97df05a5ae17
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:531ceea3e27274cfd777a4723a71f053509ec6e3cdf3a737ee990c5620d2ecfa
+size 221454
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_005/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..bff6385cb0d03bdd614b170e4b620e4ac4d1f1d1
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbb264e7180ad977104d26f06e66f9a019100248f1e858a2c0f8c178b890ced0
+size 157541
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_006/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..dc5ac1bf8f2c11089631aca380b3dff23dc91b4f
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1607905ff9a67fa2547cb7c7ed6574b9fac150c2d099e53a628733a47a258f9c
+size 327644
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_006/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d54f07ec51a99ad3cf072d246d6fcc11e6de5c3
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7338971e05313e04f739e1ff04f2ed04e48b62788f2f995906e7ef64fc5caa0e
+size 215697
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_007/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..900456a5d121b4ebbe0121139e2e8cc294cdebfc
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81d8633863221d312f7de998dca14d041b5dc53ecf8c939d916653ca93d54a55
+size 303470
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_007/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..085872c09b0779e9d068458de722ea6caf91cbea
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fde88484fd00c3878e6e8610527eb527c64505725cafeba6e0cce92bc09af8e
+size 155820
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_008/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..30f2bb5e92ace6c367db2244e6902dcea5a9a8c2
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8566820550b72f007fe79cdcb886ea696fedc9c859ac45900a3552ed54c63dd
+size 219001
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_008/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..46399527805b522330f7750f84e14fd1301bd136
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdb667cfe420859f3f60e4ec1975f948d2b0b1f74456d6cb0d9627c9431d611c
+size 130904
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_009/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2378c890c87001364667f2ac51f580ca9c577f85
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b21031c98ab0d5d8b40cef078ebcd087bab28fa854ead61d7996b3f68b2d95e6
+size 165782
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_009/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ee226af331353c885f55a9e68630025dd1b0884
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8dd575dd855687381ee6e2099cf45f731290dcf145cbb00f4364e940d8a9f5f9
+size 95331
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_010/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..409ba48a8d7d81e3138d224ea0c210ba77212a0b
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75511131e45153c5c8f88c767863a45e53de2b40f0afbf4626e2888bedafc87b
+size 284554
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_010/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b364913f4e976baf3ca5624ba7ebcf8f0e4453a0
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ffe8bacb9b4381584cb040c54a46df4e60e499c1162f4f58157edf5c3bc028e
+size 167999
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_011/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..55509e113396e32d85828b0a8c505246880c823f
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:044377df98d9edda08ed38e6ca0c09f48f6cb6e183fd634e6e23e00e053d64da
+size 207291
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_011/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9937fca0c60baa004464299db2cecc015bb87ebe
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d504b048017fb0a763fcb739e1571303dc6d80bdd7c52fb5e20b9a1f2417dd3c
+size 116121
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_012/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f86efd1f0184e97d968aa5068339174b15c5c29a
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1d3ab68e8541abbb26ab95c9c5786eb248461a8dbd3adb7a28cb47ddd76346c
+size 297454
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_012/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..df5b4c64f8824474e6e80d4be8d0fca7e0167cad
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f26f6a78b601f4d02f3568533ea851ae51094e1164eb8377b60618d9395b645
+size 187028
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_013/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ad56aa8ff3903f3cb9ee0be4d428bcce2affe110
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfa2a26e7193b4f8b61b7a53f2abdaabd3d0b046d73f262848b2a00abd5d194d
+size 329107
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_013/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b4b8a27088ed1f5459919efaac7b8d4ad3ca7195
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81e522aabb1928f03731c6b5ba4bf6d3b9a9c5d351b6a59d07a8acf3074e6187
+size 145510
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_014/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d2ec7e1b45b9a983d570898993f27232f27cfa32
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e1bfe52ae41c10ee1ceee9a14795275a0a1c240f956834ffdc33338ae1cd287
+size 399974
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_014/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c8a48c14296c01157e4b473d48e62d9fb164f7b
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62e0ac176b2c61b8a98164ff1d46a17ed4ce9925a72a2d680b5c8516a0bc175b
+size 189150
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_015/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..aa016774a0457dd121e7813b2ec9fc2f06305a11
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:770e2ce5b2f781081d11cc26a9b2178ce9bd835b9f26ead3a2eab7718029e534
+size 229500
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_015/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7bd71e6d82127b164e580c26b13fded6b2083a67
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b08561785ac405d6ed07db68c37c09fb1dffc4af546217b0561b9c3b6e8fe95
+size 115806
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_016/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1686b1ccd1ee6edf6891b3b7e3b289712c282c72
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b083a067b93a01ea7e497d36d8f2b4b5f8bdb091264bbefdccada9816ccb17f
+size 324776
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_016/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..833a9347f18890b53d205d08b9fee4295924abaa
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a3f1de4e766a1e1434abf6765c3011ae2c04066b8263474fd49b81006d50a35
+size 200905
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_017/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_017/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..db115ecb0db8380d4ee7b4ab893e59b1ddbdc5d7
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_017/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18a9724b9ec3b88c448031b8a9f80c312b3ebf30b5dd61f14b1c2f49bc1f5243
+size 293017
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_017/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_017/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..982a6f92a128fb2cc139ad903b3cecff46ca3207
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_017/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e977481aa979d6cfeb982ba1f8ef7f60496681857cde8a6f03af1b0d56db3abf
+size 178219
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_018/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_018/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b3c7fddfcb6869ef25572db14e063606d8c9082a
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_018/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11700fc6b50ef8eda80b629dfce0c0e66fdab154fb00f85673255682ee00c99a
+size 235874
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_018/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_018/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..371c384567c697a92bbc33da416af40ee1bbd59a
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_018/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:357c42c0ff058ef7a1fcbf19ecbcefe31450412d07e1e3bf14262a118678c0b6
+size 143743
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_019/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_019/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2a8766508fedbb9eb97efa141e624f3f9840c594
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_019/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:935827c72bcf885cc0deade1fd95308499fa7233ef623e73eaba2947d54df4bf
+size 253768
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_019/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_019/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..aad3c7c6ca4b57b17f8867bb89422d2dc2a19531
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_019/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:981ed59cdc28827dd8214bbb53bfc70954a48339f698fff785b25da289a44264
+size 153453
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_020/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_020/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..74bb70c1b45b9e54a7f447aba2e7c609fd5af30d
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_020/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd27d0d2092d2870f04d2834258c54e2e9cd0ee59ce9f8d238d29c47317c88d7
+size 238035
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_020/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_020/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f1024478b51071a1c788140c44a8b10faac80e41
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_020/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc1a6cc5f76fc7d4bbde943e46491beb2a3372bcd256e8a477aec1fc9339a967
+size 165419
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_021/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_021/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..28e8d4595b6507699d2b1992f5ff8c5cdc246f11
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_021/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f08705891f398b81a2714bb6f1bf3bd88b10af603fd47105197c94ec245009c8
+size 283105
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_021/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_021/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..645a7153e9fd40e3cdf96a08cf437770fedd291b
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_021/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e20c0968e292ec5f5e08ecf0aa5d7d9d7563a38e316fb74ca00d9347dc1a9a77
+size 96277
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_022/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_022/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..82cf236c8df7f77263c698891efba13c664aaf23
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_022/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f4d3aa4774d01826c75e7b63d6825f84f4fa302ee372f594965ec93a97521d1
+size 236651
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_022/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_022/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..be16b0951d16b2fb2778936cec36f5d9bcd41e92
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_022/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46e43f912c42f63e36cc123bce4f7957b4aa2644f7889e15e8fa752f4d35c98b
+size 144804
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_023/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_023/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5420c8da7047e06a93a6c1cee9816b5013961dc5
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_023/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:471406bd105ea5f93214616142868ea484d63c50790aa414af3135d9d79b6524
+size 241463
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_023/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_023/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd84b4d6682e6ad3eb37c5e9c6ade11393753870
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_023/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d42db9c1ae8daaf5f7ba16532b6ec3bf434918a8f5220e1e98ae1cb6599ebfa6
+size 161334
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_024/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_024/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..13c05697cb8f793ee6dada99b097aecc11d6f92d
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_024/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c751629bb70034298204f74ffb00074a8bf492ec88a4458d1b16e7083bfe845
+size 278756
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_024/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_024/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..df9ab4669a60f5eefba3b1904d98365ccf3a1bfe
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b00_024/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c86765a8fc69cd5c60fea975af8f60d1329e9a15ba413f42bd803aee1e40a43
+size 106611
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_001/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ecfa0705f99b76436337480776985ace439c4954
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1acb955b38b539cc44b65ae51be2252e2d1c020e14593c581acfad99415ea4e5
+size 334736
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_001/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f599e66a1309352ab3683088200bd47d961a821e
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ef10c30404c06917fe062347a67105959733f917f49a413c1f059987c1eb19c
+size 204492
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_002/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..05547d4c9c67d8a1f06c8f70a8af58d829cf8eba
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0b13ff3cd4e8fe20e9421d3e2154853878d8c59c77c64645cbbeac10a27d61f
+size 297438
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_002/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..394998f9e87e7e8759a982c431f3886206a2f5f4
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:953d731176c725da53ae0885427b792d6020bab5d7133d2210f8c5057316164f
+size 177299
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_003/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fc622a7308cb67de5feae25681bc576c601fe21d
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:445a20152063ce50630722199bfd19994414dfb6846ec5675236d04371829e80
+size 221769
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_003/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc01c21ccf54bb6ecd44daf4898ce9fa9dbacfa8
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d95e472f7ccf2228637a1a048372218b5c97010a620239e724df12a94b94458f
+size 88653
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_004/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9e218320683f500841239a08b44db33afd6b899f
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab5dcd5b4e21614bfcb20128a826ea7ad4ca483fa2a31abb676469dff25f6e23
+size 255838
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_004/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3ca62b3e5b95d3c206a691f22dbd196e7c8c9eeb
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c84b25ca8de575818df0d9308d22f16c7939869d0b2b5e26b11d65ca803af8bf
+size 94708
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_005/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9a68684f7e42757e7ed0e6a5466393144737d2d3
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cd75498ab92f77cfd997d9089814dd314b3796981d0d457c7a29e88df5dd4db
+size 250769
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_005/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d79707ecaa9aa137ae4ad3dd46e4cc8fda52bb22
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:099cbadd9e371bb207e95566b47b53ef60e00da12c97948a14686afe6fd65a7e
+size 127919
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_006/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3b002407cb30ee43144ef83c3593bd9f65d1f2e1
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:152286aad0f11fba5d297eb58a34046164aa1ea8e3008096a88293b3fc9ec6ee
+size 351461
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_006/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b70a704d1d6c1f74f0bf6999aa527c2329e1cf3
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:702817deb19cce3e837129e857594d73df1585cf92f2205269102a430ebfe03e
+size 194796
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_007/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1c459e4dc1c728e9ebdc21a6e7a614e7be4034be
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30bc636c5d3fb589b315de9c78b57f0cdf1fe5c646c041a2799bb57cabf1859a
+size 348960
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_007/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c7f843e1cf227f18456371354c12ff4817072718
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d5e3326570ffd8aea3d3f774293a2a260ccf1e2094974f7bed067e34c728879
+size 224046
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_008/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b90677be5f372d8926bbd2d818a356f8ae843921
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4bbf449a06590ea17123ef1df39d68f3f01e7d2ef39773df89dc88274645ca0
+size 197853
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_008/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..eb6741336d209d5a03823d0c4864a0348e6e1f6f
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25cbd401e0b2aeaf36e448f5d58c0a73bb14c163a467446c2e2defd0b86185e8
+size 77971
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_009/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e482b9407b0a25e7182cc6ae07cb0177e6ecb9f5
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbd9c012a01a267ca7a15713b8e4106cb8963e6484c29295eed96719267731cd
+size 344308
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_009/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a587a6141d337c40d79e8b6887371854fc289f2
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:773d2ed095931304f06f76f297d395f93d9d6a2e9b431f06948d6490a30b025a
+size 235256
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_010/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bec4daea6152e2c1b24bb31caa3ff23f7dcd523c
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10f133f76d6eaa492950d2d446d111e6771b01e27102310ecbbc444086309f5b
+size 329696
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_010/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..37fdae7d0a3610d9ae7d549671108ed942399034
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdd97c6bce0b457fb09d43a8971ff90e13550cafd2cd6d84230bbec4cbb4f132
+size 185356
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_011/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a87419f02203e9aa33130ba030ce08562a78f135
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8586318abda8f83075c1b1866445b108f44d5749865c57463e23abfc1edc554d
+size 368430
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_011/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..713b29c8d7551e2b9acc6073ec35c8b3f3686375
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1df6325e41967c40a3684a990b5b38a907d341bba9f397e0daeb18c9cb5c38b9
+size 243125
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_012/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2a6f68345f9f0433cf2252956622979131a28548
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c16ba5db1340af4da02036aab7525aa1fc400e97d8ead28a81831a3a81450af
+size 294192
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_012/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9dabc2126b88d2cc02b459b04aaa91e28287ff05
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1745dd588e53aed006dc0585b8e98db1259b756d55b01807ecbf3dfef7d5df1f
+size 166771
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_013/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..49db62c8307f2130f6cf068d104b92bbc4fbdeb8
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:888775cdacf5782e03e229da38f6ab382813e07e0763c9bff15bf850cdb89a43
+size 345981
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_013/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..05e4069c39765088bfa6343de9388b67ba472364
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7f0aee212a8e4edb2a263d924af8db5c73f1ac34710e4ee816643e76c831ec2
+size 150960
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_014/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6d086783e69bb90c1a25fb3b248257b3454c3c2b
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:322bc8ccda285e605a3cbd982ad462d3282b569ca109ce6fe7a39b52aa660c15
+size 289951
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_014/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c581edfb81f6077b259de56bd3ae4c64aeb3fc37
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2132b5eb99f3aeeb3d83d8cbdfcd8c41666737217b2819cdf12b0ab794a0ca11
+size 133999
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_015/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bfd33e513884b260a4ef897992106cdf4cdbaff3
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3dc4ab525553ea7a213508574c5587bd3390ce9b414172581df4965c4bbf86ac
+size 338186
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_015/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f1d4bd6be3acfa6a5439cb9b035a0294d1793194
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b541a4e4476f0548a23e0133b23601ad27c42ef0af972f36d58d3ade1bd1feaf
+size 168114
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_016/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5a6219da11e814960a12b22b6b20f3c5e2e408bb
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd4eb53d6eac73221d48aa4f674eb6f536fba983deff289ed4baa9acc4839335
+size 247792
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_016/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5984ae55009fdb44453811200ece5e78e6477ea5
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ece3bab2e592448f5507aa1fb188fc198df7a065ce54611c284fd41a4b0fabe4
+size 143003
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_017/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_017/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2456316d90df098f037a1d2175fd2af1641e730c
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_017/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:caa9fd22c34dbdbfbc44e7d4b0b3d877e7c36694cfe8afb52ae40575a8db12e0
+size 275867
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_017/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_017/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..00ab42f820744e1dd7e530b67cc6fedf94fa8ee7
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_017/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7e297666d7562716b071e4e7a4145dded4ba456d91379e6e61c2e980ceff31f
+size 179180
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_018/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_018/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d7ce165972dcdbfe2ec69454185efc51de421e37
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_018/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:deebc10a277d85e2f78351f1e520d2cdf2774b5b6eda37538c4f3758bd906151
+size 329133
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_018/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_018/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4498943c3f5087e591f25c947b5702340ab5cc89
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_018/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f33a2e417774dd89346b261d0726c72a9009c322a90aa8a23c0a32d7655fe5b
+size 211091
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_019/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_019/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c49089d71e39ddba52426a19aad59ccafca0eb19
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_019/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34d8782c37957fb9630307d6dcc6447e67f96f187ff3b99a6c95a9368c4f46fc
+size 333455
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_019/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_019/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..84833df5056da28abf13f063a36a4669f3f5caa9
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_019/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89115c0f44a200105228bb4f3f25c2da75a2b9e999a08a17de1aaac735511bf2
+size 191134
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_020/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_020/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5f879a00ce1bfb7c2e186438637d4369aa12c204
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_020/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f7b5332153611c0b46cf024f39ba1ca9359c78781c213c68189226e354c4572
+size 306031
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_020/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_020/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b4bfda73063c248219bc0ca8f9ecd120f3af0a5
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_020/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dadfa9e4dd7772f2b2d53f13af233ed81b4798d0c237144694319dcc9c17d112
+size 164779
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_021/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_021/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c18000b70638bb82d5da32b6eca079f8799245de
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_021/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59ef3d6fe8063632c865a405f34e5026cad7e726e081aa864b7e9b899217447a
+size 406127
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_021/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_021/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e4f671d1f2fda469e117f3e2b9516ad927258b2
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_021/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09b687c98e994797dc43eff98ec3ce8d3ee07b9a20c695f2bf470b8d01700592
+size 251206
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_022/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_022/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..852e7ffac8fd2d3e94bc4fa862d2e3eb51497bf6
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_022/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c665c1dea2b89a568919d11e3bbaeb1595ce36d232b463a17336248fab43b962
+size 168029
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_022/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_022/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..437813885c7ca8d5fc84e64fea4830975ad1e788
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_022/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4b6f0012370001ce0a8cca1d9eb4155e245f0d7b6435cf14c837f2273a573f1
+size 101178
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_023/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_023/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e7ade3d270a9efe671310aa85c129230bb48e9d9
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_023/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b2a8c5dcf429288cff62b293e9320a9c3c4828eb13d0e914606eda20cc03d7c
+size 345543
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_023/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_023/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..123d14ff0c127dff92b3948275890b6bd9b764d7
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_023/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9aceb3118cb9649814ab66c4d7d8aab14c526ee9e9e1d547673dd6ecc5ed31e
+size 196899
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_024/data/000000.npz b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_024/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7b2fcedb7ba810d783f279187dd1a17d60706182
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_024/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50833ca13dc360d1af4a10a21232f113a3ee53dd1166e5e738beadcac0676b63
+size 298384
diff --git a/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_024/rgb/000000.png b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_024/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0e8fe71b9bd038c6ba92642805e77862338846f6
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/test/bg_000071/scene_b01_024/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a1ab2c4a123bc4a44163fa0be01ecb44ea55b14bfbf48ee37c022e19e3ef635
+size 109609
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_001/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..55b0216a3daab94435c65de5196b0f811987a658
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad3c3527554cf72e6b2567ad1f13a4e8be64d8a1e1637a95377ee5d3e55faf19
+size 385379
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_001/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..78e5db876b5859119742ef2f36fea9bdb4fd2f48
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:824e837101e09dc4a486f59134f9abf94f45d52b722d4776f74db537ac295e6f
+size 247139
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_002/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..60d1ebafcbbebd0c8ae585977a543faaccd922a7
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff8a71b7843fffad430344331e3dcceb07971e5f457c43deaf0b3cc6620ac340
+size 343087
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_002/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0b84a6db5a0f45a11692646190b4a7bb6a2ff017
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9b6efa703be0c58e4940e7d2b8cbf68664a777d5397c46286906a2b8f48eafb
+size 214629
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_005/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5a8fc343b213bc11fbe410cb29a58fe81ef281ae
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a877d2b609aa942cd48b8cf7c0001cc3ec78bfff7c7f96762e928d6dd02bfe5
+size 352360
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_005/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9fce429e9a9504486daa196c46675a696553c6f9
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1676070910f1861aec1cb46ae7d61f04d6f8782f9f13386511848616ce51734c
+size 167716
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_006/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..19ae96404552e796c48dbef5ca412a5b7e17d291
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:513ca4977d98eefddfc4e1426e3bd97baf16065489db2cb40e1997180ecbfb61
+size 161174
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_006/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..19461aca4d2e6237e07959cc4736cb2f006c4eb6
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8152164d30b0dea7fdd01782d578b4cbd0254d5519732ea7d64f6c0a3eb32b9
+size 120052
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_007/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..25c7c7da6cdee25e008ccb4f9ccc9ebb396043d1
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c61493b122716568fcbc2e9670663b98d772cd6cb64c127792b787333dd10e69
+size 227727
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_007/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d8298465d559e008b1adf0457c0fd33fc6df946
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b702ea62b1b08aab70e931bb3baf5a09073ef6cdee0dc5cccc9c1b360e72b633
+size 162183
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_014/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9be41815f15d83bffad3ee07625e2ea83ec2b4d5
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d496fb8fb919e902c96d5e91f3a0bea7993ba3cd4d082cb6a1c7b1d7b6cdcbc
+size 204948
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_014/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a23c75faeadb9144078ec6bf777e0a0de74e1b14
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a323e52130d9b3e0e2168c7599912d00c996c93d459b681dd9f94bfdde91fc6
+size 118666
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_016/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..620e8eda5c3238f3fc62f2c607ed3a2014335702
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d014d3920c4a123acf4cf682be4f57df95225af7e2cfc0e18598e6b774df8a81
+size 451504
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_016/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..af3cc17646b144e30fa6e933112c2ac0dd516735
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffb95077c7f29bcc7753a99387b62cf88200303b1d249fee9bda0a245f271081
+size 258667
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_017/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_017/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e86bdf678888771d6ecb636b35dcde71991dbf11
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_017/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5e8d065b46dfad5bfdc09a0585069b8cfe96a395fca3c4fd5f038aee3cb4306
+size 281131
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_017/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_017/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5bbaab54de9b6d3b5a24a3e27a3be8e4f2e685d2
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_017/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c78b8e3f686269ca3a6bb3073c7308dca94d3022db71e49fbf3121f95969ea9
+size 156597
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_018/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_018/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8e0bf5e142f59f3807edfdbd39da0aa90b16805f
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_018/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca50ff86732d2519cb90a8102645c2363e52c707dc9ae46f79366590e7cdfdc9
+size 313710
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_018/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_018/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..411645e8a3c65f01d4139c513ca01d8f73611487
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_018/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d5e6aae3e55f727ecccc05ac29803e8a828666d51cee5ac503bf5e835f3285d
+size 153233
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_019/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_019/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..737cb84376732a738ba04cddd63d8aa850c5b2fd
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_019/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e7e5c15e30a0128bbcb72a49b6c62a65a374b7a78410e9496d0cd1407d300e2
+size 191126
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_019/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_019/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f5e9b1c699aecaaec6a2c14f18bfe8d3e5a18164
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_019/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:067d6e2075605ef317227e6a96268563455b2c670aceab24819b3d40aa43cc8f
+size 148504
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_020/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_020/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0f680f010516b4363813cbf79bb44dbdc674c645
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_020/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1b17415cefb836902d22a6475b15ab5e002c0bae2950f5381a5454c7d97e7a4
+size 401220
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_020/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_020/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3ce3a983d0c9cffb6903d710da7c7a17850aabfa
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_020/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:954aac41f4274655083584195ee0d3a82f826757ee4d27a2757962ae36d69fbd
+size 312773
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_021/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_021/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fb0e6223b4053e37d354986360f386416c48e7bb
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_021/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d6cda9d8bc7580ddec4584cfd6404a9821924c752824caf4822a3433108361f
+size 178959
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_021/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_021/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..108bbccbf0ed520aeb97daf24660b0303aad55aa
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_021/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:581290b3d64c9f559b0477e8d3bb4ad12d9da50e3d0f81e6336fd2f95fd11ecb
+size 97405
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_022/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_022/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..439e8e5ceb8525172e9f79957f2799808c1f6af0
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_022/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94bdf5c7ac55d665d9b08fc1062398abcb2fe1dcf7c095de4d9df78b21a32628
+size 300993
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_022/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_022/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec025a444f5ab5a7e28e7daae8c4a068823be88a
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_022/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fffdfa771a5effcee1617919acec62ae758d58fb9cfc78de39a12dacecfef01e
+size 210042
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_023/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_023/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..88c5d41fd687ae0a317de1ed30277fe92d1aea3b
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_023/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfb09f43a8b97ee2bbaa313d31d032416a8337a8d364a722900a42a2e2714198
+size 378101
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_023/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_023/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9914f9917848e706decff18ee71cf93ae0dcc72e
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b00_023/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afdcd74cad933c5f45c1a5ddb3b829c515fc9c6c622932f2d47f0779151af3f1
+size 293847
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_002/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fbe99a4ef82470428e83893a8d3d590858d56ebc
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b80bdda48afb418f97f73617db11319d98d6ab7d93c6ce88be5d21269edb3cfc
+size 267772
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_002/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f8d24e0691cef50eb3bc6439feef8ccde79a3dd
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef9168f9b65c271c501ab2ab18ab7a240ba319d4a0d6403ac132a983196ad46f
+size 152186
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_006/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..99c6915639d2e1f7d1c6d214a02e41afaf2ed4c9
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa47baa99ad9004e92aaec6ae76593209eca1d6fc0f0ffd3c362b7e48870cd6a
+size 373398
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_006/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..94ce5c48cd4ad2b095c4aaf18d7aac51f035c28c
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a1ed7c5f04c6d9ca4fb9c20d893c45e14ffaf62387c6eb49b160dbc900f4485
+size 218080
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_007/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4ada0381fb278bbeb1593f2aed86fd0c50579e10
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2394d880eee7d775ec7a6de82c9e970822f83666c50557d4bedbb92cc30d9eb
+size 301797
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_007/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..22ef38939c9f0ab49052649204564c584790b571
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b7d53c00669cd085f5dda72c126cbbc42c21b38047b6e7018704e6d9bac41f1
+size 207331
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_008/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9fcc1dee94c27330b4db7360269ed539f39f592d
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1537173c7f82c31a519163e3b4112159d2e2572109af369bc00fe38be73df147
+size 262390
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_008/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cdd3963604bedba9dc18c0751a49c891dfbeb796
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:025b5735b256d0fb603620112d53bd9dd985f1d5697c85b0ab7a31beae049cf0
+size 103824
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_009/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bd2e41fa2203c4bcadb32ff68a7b040b07dcfb9b
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:545b22c09464c145e40b45f8a37a433d1164f0b20e04ced4db7604d63be7afa5
+size 327525
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_009/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7d1006a786dd0cfded77274f064aa63639db0e0
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f876e1e7307f8910b55760764c34e1212a385c9df4dc951daef4b0ccb596382a
+size 189473
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_010/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7a1eae47f01742dbcc6c8c5eeb8121cdf79d7202
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdaa99d979a81a18a10e68ebbcd6eb4b8991535e012bf6ee1ebd3b4733d1916e
+size 277270
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_010/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5cbe7ab7eac3fc72310b583d4aa93dde666dd405
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e2be983485b6a38c1258b1817a66bbd81070d396e7d455fe946193f982f815e
+size 156262
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_011/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d9039d24b13b6c076c72de3ae08491f3afbb0832
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4cf1a40be9a29f5d06c10b940a2c435410df4c7a6c9494b4a14dc329bb5e458
+size 260874
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_011/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..db91b4c1342dd562146dbca8169c7611b797f9d8
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e1a31542a09833fb83c6ca2f490ad4c65b8c2697317a7df03954b841d238b4f
+size 166467
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_013/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3f119e1b175898c3bcd4461545735c76667ee42c
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4782e5a434dacf7efd17a389911b4911afdb34ae6a3f27ddd823f4c8654e3bba
+size 292873
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_013/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b67b1993ff46ea3954735352771b3d74c424dcd4
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb9519bcc98a202b2a84320c9ccf236a9b1da053408db5f9917055a93a505fd7
+size 112571
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_014/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c143b947e7dec4a3f66bf1b15c4e5750f87bb211
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c48630cbfd71e75707d1218039c3e2b1d53fc1fdcca916a7838e708fa44b715
+size 367377
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_014/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ad0b9d4286ab399d02d084ecff302ce0cad8eb7
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62ee9aabeaaa7c85392d0ed671e12d5207b31836434831e7672088d5c2f7ee0e
+size 178247
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_020/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_020/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..687108cad04664866fcafe758c4e816e943fe02f
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_020/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bec5c63e52c6cb41955d9e9ca63fe8e0b06c822c9e417191651e5f44f9ecb6d
+size 343957
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_020/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_020/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7d0a7a033f09a5038bdfe08ca64740c3531fce11
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_020/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29c2f3416cf345c78d7f1fff135b5b0f929bc86f4a52e2bd1df372d3fedb9190
+size 155857
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_024/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_024/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..86c1bba94464422ce1ffd2cec22a92311264f03e
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_024/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9f4b3113ed33c9b43252a792b16cc3ba5525f1a2ec3b077067ff35af6bfe58f
+size 272923
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_024/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_024/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6915abf21cc6a8d844ac33734d1c4518d530e878
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b01_024/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b304baaea1fb22dec9c4f1d98f462a8236e266301ad0e7f3c49ad1fb8c0ed56
+size 198187
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_001/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6211f62ab93d5a3b4511ef26a4fc235a7483bef6
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:470be59a77ec3b1c57127cf20778507be9d26b247327e4e66063f807b064ebc8
+size 371553
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_001/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..df6d969e07138341ec1b2183f44a2d2993c4920d
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e6e80e630281cd76a55e5eb12adf287b5b5f69c66b2822eaf36d3d6e6350ea8
+size 181104
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_004/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1437f2044e7bcb4a63a7766ed5d3aaa0f1739477
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03fd65b6d01e08362d53dfa2a471c82b9d44329a541dd1351c756904cf556d35
+size 418523
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_004/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2be1605d9addcc93f4ad71c5130cee74511d3cca
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9041b5b94f5db5273ab1d2455a63f1bb87e9153ae9b2c4678d6b38ff8fbe12bc
+size 268379
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_006/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cf588416cecd99d117b83567deb25c14d0abd2de
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6692ab735659b6a3c4c64745bdd1ffe7b0e7c988e61db7eed0fb86edb8fd470b
+size 290101
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_006/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..24e380d6c091adf4ff751dc14cf96e638e105ec8
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a784192f0d57046a737d8c9f656a3d10ea1121685159b1c733f86cbd202788c
+size 146473
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_011/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1d73b36bd51e30a859abd95f5f0b4f6a9069e9f9
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fb61d1ea086373b3b02c57d2801e95f78f95c0558f73155a7d25f8e8157e077
+size 170611
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_011/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b28ef93c75783956bb7aee2d71c6daebed574bc5
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b1bbedc994e39557994931424da2236efd03652256ca490475e143a24a25af2
+size 85070
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_013/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bfa7823afe6928fb60a02aece1d742553658d8a9
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93fb559e450982feaecb4967a6237bd7a8f86ab26acaab5da11beeb31600a80c
+size 338522
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_013/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ceda79e08b95a7dacd99cb76edb93d09542c7b2e
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe5d9c36b04e96ba7222183c750986db2c9d507f30aa3cadfb9cf2c9b2fb8ba2
+size 275790
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_014/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..83c244bfb4d908330cbf36939079887050ebd5be
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce07b4b8decea34c6c770df855f3aa4eb27254dd1d3ea6e4fadbd560f4f44a2a
+size 334706
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_014/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c4b0c766112821e5dcacb45623bd6610487b867
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a71ad0f64d1a2cdcbc09a8c81c4914ee61c80f2f92abc27040e41edf32d1183
+size 218018
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_016/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cc692654a933a53531f073f9db7fbabf155d0079
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7857622fbbb1c3c5da2e3ec3ca1e27cc157675529064f08747bbd0cbd8f22af0
+size 178349
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_016/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e8b3b60191d4c55854f7fb2d730df4b38919b79d
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92dab2454a16b3c2908d96af7c80eed6f3246990969a9be507fcd8a9c79af5a3
+size 96275
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_017/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_017/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..97ccb9822d5875718a89862b17f4f178375a41ae
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_017/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0ec783bdcb92671c8a02b6a25f98be6af076239cfb368f383ba83e704fb0418
+size 375638
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_017/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_017/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..70a79bb8c9e8245689340154c5ce05d62e7f6db3
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_017/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09c2718e16045d7857bbdfa815c2635a3c545b8f0ce8add214d66aa653336160
+size 301501
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_019/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_019/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fb27d251b3dcecc99e99edbde41e564141d86347
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_019/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8aff331c052742dd333fb7855c538546c25e3c95ee91548b5b1128eb3edfa807
+size 327922
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_019/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_019/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..434820273ccf153e15894104f265615bdcf5b9ad
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_019/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c60271cc6354d331d693b9c49e7d21e1cb8020e37cafd8cd18f67681bf70569
+size 242804
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_021/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_021/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ef78347a019ad8d17d3eaa718427b00fbc84f6f5
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_021/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae7246a62d38ccbd0f3438a86761c7602cf2e4985215f6f8d56c73bb5b31bdbb
+size 435635
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_021/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_021/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c4cd2e510d1afa45225c022b164d987f0c84d47e
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_021/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30905fecec261b2f8d5fef564ad5e9ddf81c72a52a8735e8651dbbb389374d27
+size 328748
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_022/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_022/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3b5bd58c978f76af2b9f44495b95bd80c1058e68
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_022/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a15c25b4199befc6cd0bf8d130c5716cd53ed85a855bf90d6a1e71ed39d21ea
+size 254952
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_022/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_022/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a4c0830166b117f7facaf5ea4a65e2d45a050395
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b03_022/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20a641c6ca7665597915ad3793f7c9db631d94553f74ea275ed1f0126e44a6d5
+size 93321
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_003/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..60979b5c96da49999cd41388a368f6b4cd8b4334
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69c7fb0ef0ed42371a88b52ba3ed5aa731095d11fb0f2a963c511e2e8f0fb0dd
+size 498226
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_003/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2722f482b506c133181ba86559de64dfca30bfba
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:feb0dbc05045055fb114b65f30f5bf2aadfa907af4b381189257f4d7f255cdbd
+size 336388
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_007/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..454e39e570cfe78bbac707af9a8e7e441962060e
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40f1480f0dc58664021defa463a8b5e853b6e246f9378fe07e981effffa56d53
+size 503025
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_007/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3e955b9cdbc1e529ef0d0942bd3b5cb632833104
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f2f218613a6035b66669f33080cf39f6c9134a77501b9f7676d9840d35fe563
+size 244007
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_009/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e5e503f2066e7cb8375ba6516d94684acba5650a
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12084b4a4779364a3f74f741faea63da315176bfb8153a47161aa0567e1ea6b3
+size 417009
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_009/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..883f7cc5124529125fa6871471c1cfe6e933e081
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ae3fdd93830d8dc6dd691f050f0f9941564c3a9625b644724ea9b23edfbfc2a
+size 287998
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_010/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d70ef6b3d48204c26e7ff134d37c3328af149134
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ff2a00db337b4fc1e378d2ad2ad3b9ddb2ff1f6a878cc5982c6d6cc655b9ae7
+size 366201
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_010/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..522e476d4872f2f7d1f4d51c1d9b969ac2481881
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ef402afd6a6f4b9cc9ef092af86e178a2f546bcbba23292713969e6429f03b4
+size 263538
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_011/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..58db18ee1a261c587bc79bf311a7a4ad130b2c86
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82b78effb61f4f6d91ffd044dd7826f69e8a27e6e2edbf9ad53cbebc9de2a2c3
+size 440001
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_011/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c0cd7de928947740a8646f3f153b4bb712f0e733
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:487cbde86acdbfd41e8f2b0dba480972fba2af17ae54a3787a7c4d5136ebec6c
+size 291904
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_012/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..68355db464b95bd263f33885e53260ec6692f846
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b295a69f4777c6243847fca14cc398c87270113814267ec01cbe3e459ed8b18d
+size 412716
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_012/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..48f010e6dbce32623afcde6976f1f44164e61e52
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2de81743137a9d51f159a7ffc97a5b98caccc2f5b00e89196968a9ad1c265d23
+size 181377
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_014/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c4670dbdc8401514c13779dcb8b3d86c72289609
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0db787e24be54915b14169649b6a19950ca3d40b2f84dbe48d556fc2498bb478
+size 389322
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_014/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f102d9e9ad085398916f7cb3b3d38904d10e5a54
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a76a7ade7ab347a53abfd7a2f8b6ffcd13ab5b0a55c321374b8f499b49ab631
+size 316856
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_018/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_018/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..594a197ddc7dd26f7b631bb34951bd6a484fa1fb
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_018/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02611cdb6b6078af084e5a78995a2e504c6a5d24f21628177b1f5131e6d95320
+size 461159
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_018/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_018/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c43f647ab222e91f3dc0ad4c3e25bfeaca631826
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_018/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d163f224953043d4bd69f20d71c075ad1120ecebda4fe26e64fbd9e926848f0
+size 278712
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_021/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_021/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..35ee77bea466e624859c5ec0816f85616cedc2d9
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_021/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74873acddd1ae2f7a547584559d300691ef4f8af2f8eb7d6a9b24b7fc3e357a4
+size 534545
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_021/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_021/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..80fc6b9d941bda89e73649a8607ab70f0926e945
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_021/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:945dff52b1f9ba4e3f54f0cb8e3c1c8998d0fb2f2f3711436bea91d3b52a8653
+size 347339
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_022/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_022/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b7af1f7ab255fdf7c1fe6d512bbc68420972718e
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_022/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8167d044242fa933f0ff8e1b3b7fe8de7a2fc63f355a845b61e9c4d2078540b
+size 408938
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_022/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_022/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f132fb82ffffc1a73bd210754522cb32a82df4f6
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_022/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ad89975eaafb5e0692b834b63bd0b55b39ae862091ac23bad421f01e3377dd2
+size 332104
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_024/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_024/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8cd14143a1264790f53e2e158127a93f33d62917
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_024/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25c807b171f1e2238992cab97a2e1b66f1e05827b4ae689dbf130e3fff3c0d3c
+size 401201
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_024/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_024/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c3db51de4e66a5ae5d2113a0074cf0b3c28a0090
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000006/scene_b05_024/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4b5695eee0087a268b995f23722e49e2adf6de8b4339b5e1b0fdbf9a4832750
+size 320928
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b00_004/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b00_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..936d927ae0e53d7a88bf563efdb724d5e099e94c
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b00_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:833a3a8753436d3f95a836a272ec4550580cd4a8360e9a823d0b8b8f0deecbec
+size 464049
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b00_004/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b00_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a9904729f2775f7d81e70c72b5cb95edaa212f6
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b00_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:131e787dabfdbde9c28f3a53413a9a294fb06cc74dd82573a49e5eef9c85f3bf
+size 272800
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b00_008/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b00_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9d0e786699c5023f0c7f52044b5abc2fb3e1a150
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b00_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11c9cae407d5f02dfd5d27618cc9a5d6e947bb0cb96db22732bcfbf4a898d2b5
+size 273158
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b00_008/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b00_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6e1e4a7457c9953f58fdc7959b86c3657bbcd40a
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b00_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6f791278f4f80991ec1eee4a352701848c58d881791e7a816086e7189a9ab6d
+size 145314
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b00_010/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b00_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3ff96d964c6dae37e9d886fb0bea1fabe0497d29
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b00_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f92010118566f22cfe794d2ae3ad9031b2a8fc348fba112d931b4ccf21d639c1
+size 369570
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b00_010/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b00_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1064d34f8eefec8684f9c4c5416c03ff2993131b
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b00_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd3db54ed630383ef50b49538b319dc3b2b9466096a20f3296b57b6b53d84de4
+size 208486
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b00_013/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b00_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cad6d810a0a773e1bed0e20e6418a00a9fd7a78a
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b00_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1262074e844eebec1842049ceb5519acae0dc0ce2fbd3fd91988ac2dd0fb854f
+size 400157
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b00_013/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b00_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7a3b462c41e4f93defd9dec7c7dd14ae1a6d886
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b00_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a174173d75e894d16559ac72e1bba74db819bc486be24cfd54d457855153af32
+size 170216
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b00_015/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b00_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..63c809a16560b315c8a89766d562fb2ca898091f
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b00_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:687b5c694cad4e8519e0296dc94e6ea0ed42a7ad8d7a914b6f3ec2be787fe553
+size 327200
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b00_015/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b00_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef349d34801b0f5aedd39380ee6f0a3aaefc1232
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b00_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75a5e25f084b20144c9a5b13f5560dcb7cab194b9558de9a60d6306cc31c26f4
+size 158666
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b00_024/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b00_024/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..56b2051da828aeedbc9456a52e70d2a2737ab661
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b00_024/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ea80912c1e370b08479b311b61ec29f8ac8df5068be80524355de9cd5fc9c19
+size 283745
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b00_024/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b00_024/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c37d7726aa69a45a5412aab7b76a5a625a4d3dd
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b00_024/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c30098408b569e33a8952cb9440c86cbd936e97b9cf3cdef2b0fe1315455104
+size 186431
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_003/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..eb38f279d9ae92aaff0f6d26885412a9479b143b
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c8604c59b47ea10163c329c49633db2a55742e3dd71ffe5d8638ff5a380bfd6
+size 323545
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_003/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a104da949db79509b5566d1610bbd124579a9760
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e98af6665dff54c9ccf08b28305850eae8139d83eec10726f2cfbd3238d866b
+size 176117
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_005/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..eeb3fb9ec2e8e1642fb063e9e1d191dc02575437
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2d3393115b93818f1cd9697765bc0b851247fe96df2a6936c1c37467070a19c
+size 355858
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_005/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1572013e69df5d275e0f648111d3e099af90b03d
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d6e820ac7fc2a53748376033c01b9eb46355346ad34b0a88d7534df27c47b61
+size 180254
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_015/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c219c80a3aa7d90f187374339343d0a31d90c820
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e2afc517669329702087095c6ba0984519d8efb101770f0613484c8f910d641
+size 380343
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_015/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7620a35a332140ef1d54c2d3fa20081e98925da
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f6515dafcfe0de1b61b56c9e916d165069a41ffa5062e299d83fbc16da9098b
+size 258555
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_016/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a26eb59e984f75319c507d60c53f283ce9c0bdbd
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:448c3a1afbcf03eb352aa1f0e7516d805fe4852e74e1464b9e67d1c0e3fd7f36
+size 284929
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_016/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ade2bf4245baadfe71de60da1854a31ca3acf268
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ba8ba9c3767e893176febc3b8f53e46b6cba8a1d75dfeb7f6906b8e662cb2a6
+size 166883
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_017/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_017/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3ed287107c7166c5467f22fb3b57c4a11a53226f
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_017/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52bda91404bf46650d499b221eee2a1bd6165472da2450f76d08ee08b6df6fe1
+size 311445
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_017/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_017/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c84b6032657275b054b47b85c6b0b7ac4b124e51
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_017/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96160eaa2b7da63674ad10df5c8c9b9c45dee8dba61f8a56f184b5dd75ef859d
+size 185490
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_018/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_018/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ebec34729f5739f3c2b97c3055a5f0ab0727e945
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_018/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa6ad45f03ccdae889dec7017ec6229e5f5e92754d5ccb831fa3fcf8e4e1e965
+size 270175
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_018/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_018/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..82d3bf49be4de1a581b3136bbdfa63b103c6454b
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_018/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c6de9480b03dc6546ec9911426116086c125acd38edd76abff086c2ffd5d8e6
+size 152461
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_019/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_019/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bc9151397f84ebd1d7b0f2ba27ab16d277d94b2a
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_019/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6ae750cc61b40411f1416810bc90b744b9d2d5b619875ce4f3b4169de9f8d30
+size 337805
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_019/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_019/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7034e3c7f31f4f7babf25c955c09bbce0ce3f955
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_019/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d40445c02156993c0febfda5355eebc4f4a8842b275179e1d36399da558df7e
+size 190122
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_022/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_022/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..aa25f65ab15c9a37a137e90cd3343557abfe8179
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_022/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e0be5a6bb14f048b4d29cb5b575b9d6fd74e1f703ab3475dc3c3fcd95c4fbe7
+size 329841
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_022/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_022/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c2a034ff1b13f3db0cd86161e41402170c19f978
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_022/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12075242cac824a112d54a5b97cac215720aa590f51147c1c536f959bf2141d2
+size 131738
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_023/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_023/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0c0e478dd21280a1c40b2dcc699c960542ac7e8a
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_023/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c361d4659a49d214b5668948f4db2c9b9f981b8f566b1362562f30909d3f0ad2
+size 509563
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_023/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_023/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c4425862fad6cff5acafe4055f8e22281783c287
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b01_023/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4341c063f512d0b344bfe94074ced044d81f3b210d8c02daf18dc2c106da521f
+size 274035
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b02_001/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b02_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6eda9680020459163cd1a90bf96bf82114dd8414
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b02_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:356690315d7350df656bfc2e21b3103038114598d37beff7026d9ce80c9e9c19
+size 287433
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b02_001/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b02_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7967bcd1b77461898657c80c0cadf02d56d6da97
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b02_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef32082260b6cd62a689cd51fa81d8dc8c1c3d142b6f8f3fca39fd1dd3f7ca09
+size 153799
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b02_003/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b02_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3c2f4b19c767d509e2a643074923fc9b11eace64
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b02_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0154a6d95db6f8617ada71cb173714ebcb59bee067385de4a6530525221c16f
+size 432890
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b02_003/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b02_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..677d53cdc59a377a4530ab1e5bae55986e74ba91
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b02_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96c8cd7fd32072b1a27d0ed7e9ace02254b7978eb44c3630daf9e670cf888cf8
+size 203314
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b02_004/data/000000.npz b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b02_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f423f9a234114b37e8a9ee4a99a0123d122c3164
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b02_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8670962456a4d34e8664f186af6e9988cfab28bcd876daa8cbdaea077f2d3155
+size 262986
diff --git a/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b02_004/rgb/000000.png b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b02_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..43d414c43f89ab5483f9c07dcfabc67b0b6f6a3c
--- /dev/null
+++ b/xarm6_robotiq/RoboTHOR/train/bg_000011/scene_b02_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0537fdf0f3a0776f279675cbdcd0d5887eb159ff7504e41005acd4e0fc4de40e
+size 157681