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+  "robot": "xarm6_robotiq",
+  "bases_per_scene": 10,
+  "cameras_per_scene": 32,
+  "frames_per_scene": 6,
+  "total_output_scenes": 1438,
+  "skipped": 0,
+  "worker_id": 0,
+  "num_workers": 1,
+  "deterministic_rotation": true,
+  "exhaust_pool": true,
+  "pool_size": 10,
+  "layout": "bg_{BG:06d}/scene_b{BASE:02d}_{CAM:03d}",
+  "design": "1  (fixed camera + fixed base + varying arm qpos)"
+}
\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_001/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..55f79aea194cc55465f46024fbaafbf41ec90e14
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_001/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "joint2",
+    "joint3",
+    "joint4",
+    "joint5",
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+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
+    "left_inner_finger_joint",
+    "right_inner_finger_joint"
+  ],
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+    "link_base",
+    "link1",
+    "link2",
+    "link3",
+    "link4",
+    "link5",
+    "link6",
+    "camera_link",
+    "robotiq_arg2f_base_link",
+    "eef",
+    "left_outer_knuckle",
+    "left_inner_knuckle",
+    "right_outer_knuckle",
+    "right_inner_knuckle",
+    "left_outer_finger",
+    "right_outer_finger",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_002/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..03275e6ae807e9234a8cb7e58e3f7e440f566025
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_002/scene_meta.json
@@ -0,0 +1,199 @@
+{
+  "robot_uid": "xarm6_robotiq",
+  "num_frames": 1,
+  "qpos_mode": "zero",
+  "rng_drain_count": 6,
+  "scene_idx": 9,
+  "base_idx": 0,
+  "cam_idx": 1,
+  "n_dof": 12,
+  "num_links": 21,
+  "joint_names": [
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+    "joint2",
+    "joint3",
+    "joint4",
+    "joint5",
+    "joint6",
+    "left_outer_knuckle_joint",
+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
+    "left_inner_finger_joint",
+    "right_inner_finger_joint"
+  ],
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+    "link_base",
+    "link1",
+    "link2",
+    "link3",
+    "link4",
+    "link5",
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+    "camera_link",
+    "robotiq_arg2f_base_link",
+    "eef",
+    "left_outer_knuckle",
+    "left_inner_knuckle",
+    "right_outer_knuckle",
+    "right_inner_knuckle",
+    "left_outer_finger",
+    "right_outer_finger",
+    "left_inner_finger",
+    "right_inner_finger",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_003/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a75cdd71ff17bf7fde501907c2d06d17ad521fd
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_003/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+  "qpos_mode": "zero",
+  "rng_drain_count": 6,
+  "scene_idx": 9,
+  "base_idx": 0,
+  "cam_idx": 2,
+  "n_dof": 12,
+  "num_links": 21,
+  "joint_names": [
+    "joint1",
+    "joint2",
+    "joint3",
+    "joint4",
+    "joint5",
+    "joint6",
+    "left_outer_knuckle_joint",
+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
+    "left_inner_finger_joint",
+    "right_inner_finger_joint"
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+    "camera_link",
+    "robotiq_arg2f_base_link",
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+    "left_inner_knuckle",
+    "right_outer_knuckle",
+    "right_inner_knuckle",
+    "left_outer_finger",
+    "right_outer_finger",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_004/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..346ac7cdd115091cebe80d1e687c5b612f4bc1b0
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_004/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_005/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca6f1ac017f3ca33dc6dc0c5f0ef420d5e0e6187
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_005/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_006/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa7359c22620b8c66c5173c53cb258b91b3758ed
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_006/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_007/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb96788c71be31909aef46869b4725ac6fe0b021
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_007/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_008/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a754fcc06f2bb2ec83e2b1dc0ba107b5af31c2b7
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_008/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_009/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ecbb7cefc1b33d35b95ac66c6b80e5215a45ff9
--- /dev/null
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@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_010/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..68e1d955e67fad9e46eafe90c617ba6ed42295c5
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_010/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_011/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..11171ef3080411eeb07ff7e0bd63f277156dcc30
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_011/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_012/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ca6d14caf443371141f56ccca425c7e7e63f870
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_012/scene_meta.json
@@ -0,0 +1,199 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..363a323eb6699a0698b2adf727a3e0810b3f8df1
--- /dev/null
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@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_014/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a26ea386119e97ba8e04d59cb3e14278bad8038
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_014/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_015/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..252b894b41fc751b4df77eed77fcc61e80ab44ba
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_015/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_016/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..938326b0c2a6ac927148014821f6b3930a9a08b8
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_016/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_017/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_017/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..88306020cb71a8ef6431e3913946c33431bc586a
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_017/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_018/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_018/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..403dbbf06da9243efb9a141bbf427be95ede2e4f
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_018/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_019/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_019/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b082522b10948428f5a6c938bef0f1a7d6b1dd2
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_019/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_020/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_020/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7faf432a2f6b403484623bba548cc4314bc04011
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_020/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_021/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_021/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..451e599296a04d41cbcb952058ddb585882cf213
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_021/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_022/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_022/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b4ed87a448c4fd3c371ce628cb10a4eba54227b
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_022/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "right_outer_knuckle_joint",
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_023/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_023/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e50e629f9095843e3cd31f64a1ad56ef08115f8
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_023/scene_meta.json
@@ -0,0 +1,199 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..d0c17ee8db0221be97634da353e2bdceb4912b3d
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_024/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_025/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_025/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c09febfcc502186f5140f55f9ca7d839e4ce1f05
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_025/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_026/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_026/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bc529c41b4a78575b6b0e810598e4c6a4f26561
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_026/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_027/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_027/scene_meta.json
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_028/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_028/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef7ac4ac13e54c679269e3678890dbfd3cc77bab
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_028/scene_meta.json
@@ -0,0 +1,199 @@
+{
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_029/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_029/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5eff7b8cafbc20aca33b1a80e1dc161dca52fe6b
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_029/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_030/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_030/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..27e9df1b3eb8c585dce4809698a09abdcc75bdaa
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_030/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_031/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_031/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7473b184d6b1459ce23f7e269bbc2fb9ec0a46bb
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_031/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "right_outer_knuckle_joint",
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_032/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_032/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d338f12d0cd63a5c8e889a22be18bc494870076
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b00_032/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "right_outer_knuckle_joint",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_001/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aaccb10b1950cb8101c915714700e0ed1f7d98f1
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_001/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+  "num_links": 21,
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+    "joint2",
+    "joint3",
+    "joint4",
+    "joint5",
+    "joint6",
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+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
+    "left_inner_finger_joint",
+    "right_inner_finger_joint"
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+    "camera_link",
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+    "left_inner_knuckle",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_002/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7b201dd07f375a1f183ee53698f3efbc26de6c7
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_002/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_003/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d63b058957e01d6569ce82880ae94e0f5aeb0efb
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_003/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_004/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..08fd7faa8c8bce2647b20c525ea8383ea00f819a
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_004/scene_meta.json
@@ -0,0 +1,199 @@
+{
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_005/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4b5aec08c985e5506149602728efc68ca3edee6
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_005/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "joint2",
+    "joint3",
+    "joint4",
+    "joint5",
+    "joint6",
+    "left_outer_knuckle_joint",
+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
+    "left_inner_finger_joint",
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+    "link3",
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+    "robotiq_arg2f_base_link",
+    "eef",
+    "left_outer_knuckle",
+    "left_inner_knuckle",
+    "right_outer_knuckle",
+    "right_inner_knuckle",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_006/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b5ea2f64ce63288503809545ad8bfc62b935602
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_006/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_007/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7de4f7d78a0f9e5cb5580380e8824313bf41931
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_007/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_008/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f8f3d182d862e6be3a7cfd30faa0baa37d9c54d
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_008/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_009/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d43d2568a7a8e7bbee89376731303416f328cd85
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_009/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_010/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..365165b2b0b346aabb8c8376ce134d9820757397
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_010/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_011/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a69e7195eb63a686b5ad69c63ddf5294335e1de
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_011/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "right_outer_knuckle_joint",
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_012/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa4fab56f05f5520fb2db9c8f0be15e7a5351ae1
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_012/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+  "num_links": 21,
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+    "joint2",
+    "joint3",
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+    "joint5",
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+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_013/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_013/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..23c3c93ecd75578f83ac418557d8ab3f6cbf5a1a
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_013/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_014/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..369628ee049a08df074914cf782e7a74ec2b7c65
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_014/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+  "qpos_mode": "zero",
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+    "joint2",
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+    "joint4",
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+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
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+    "right_inner_finger_joint"
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+    "robotiq_arg2f_base_link",
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+    "left_inner_knuckle",
+    "right_outer_knuckle",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_015/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fbd323034013fbf29a0bf2fdd276a158727e048
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_015/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+  "qpos_mode": "zero",
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+    "joint2",
+    "joint3",
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+    "joint5",
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+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
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+    "left_inner_knuckle",
+    "right_outer_knuckle",
+    "right_inner_knuckle",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_016/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b362470d7b7b5a89433097a70856d50689f99aa6
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_016/scene_meta.json
@@ -0,0 +1,199 @@
+{
+  "robot_uid": "xarm6_robotiq",
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+  "rng_drain_count": 6,
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+  "base_idx": 1,
+  "cam_idx": 15,
+  "n_dof": 12,
+  "num_links": 21,
+  "joint_names": [
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+    "joint2",
+    "joint3",
+    "joint4",
+    "joint5",
+    "joint6",
+    "left_outer_knuckle_joint",
+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
+    "left_inner_finger_joint",
+    "right_inner_finger_joint"
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+    "link1",
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+    "link3",
+    "link4",
+    "link5",
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+    "camera_link",
+    "robotiq_arg2f_base_link",
+    "eef",
+    "left_outer_knuckle",
+    "left_inner_knuckle",
+    "right_outer_knuckle",
+    "right_inner_knuckle",
+    "left_outer_finger",
+    "right_outer_finger",
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+    "right_inner_finger",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_017/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_017/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..578238efc66d448d02bb60d6f1b4dfa6bf2fcc30
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_017/scene_meta.json
@@ -0,0 +1,199 @@
+{
+  "robot_uid": "xarm6_robotiq",
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+  "rng_drain_count": 6,
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+    "joint2",
+    "joint3",
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+    "left_outer_knuckle_joint",
+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
+    "left_inner_finger_joint",
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+    "right_outer_knuckle",
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_018/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_018/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..26eaa398323881d2974d72316564c0fac9a27a3b
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_018/scene_meta.json
@@ -0,0 +1,199 @@
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_019/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_019/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcae7164b2e63cf0cfc448792ee6c370f5add6a8
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_019/scene_meta.json
@@ -0,0 +1,199 @@
+{
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_020/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_020/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..03c5f7401a81a02848aaf5af7dd5954a9fd0adc0
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_020/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_021/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_021/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..57a0cb45c4fb3f9047a78f84429c2416f799b5f1
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_021/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_022/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_022/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e27b5a4d144eae29972e856d3fb44046e53e6a67
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_022/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_023/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_023/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d89c295b780668c57e1aaea64bfc2a411c85bffd
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_023/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_024/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_024/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..66f060856b8f76fac566556b4c7da2f0dd09b96b
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_024/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_025/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_025/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a8707d83a5dcdacde0dbe67107e5564119e399f
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_025/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_026/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_026/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..54a31590d0760d84cb57c326b0ab23f110edf91d
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_026/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_027/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_027/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1eca82e3704443fed0adce7a7b05cfaf3d90c7c
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_027/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_028/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_028/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..914c616c90be3070b165d6d4e8d899a0462db57a
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_028/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_029/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_029/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6d318a3b943876971449d80c9c22d384c16aa7a
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_029/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_030/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_030/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..13dd017568054a26f224525ee3f8924cf2cd9b4b
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_030/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_031/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_031/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..58c69d719abbfb94b1d2530ec865e565d2cae8fa
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_031/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_032/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_032/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4edfad5f82f429a41db439515cb98d452baa50c8
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b01_032/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_001/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b12c80f412d0f86b070f0a94e5a8e7da86ec1b1
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_001/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_002/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..92491ca94a1d0c5dc14d52502bc765246b60b477
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_002/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_003/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..acfcfcc37cec41bbc01e388866e5c05c86599457
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_003/scene_meta.json
@@ -0,0 +1,199 @@
+{
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_004/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca59c1f7967ea4100e4f9c1256b3b36de483fbde
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_004/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+  "base_idx": 2,
+  "cam_idx": 3,
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+  "num_links": 21,
+  "joint_names": [
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+    "joint2",
+    "joint3",
+    "joint4",
+    "joint5",
+    "joint6",
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+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
+    "left_inner_finger_joint",
+    "right_inner_finger_joint"
+  ],
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+    "link1",
+    "link2",
+    "link3",
+    "link4",
+    "link5",
+    "link6",
+    "camera_link",
+    "robotiq_arg2f_base_link",
+    "eef",
+    "left_outer_knuckle",
+    "left_inner_knuckle",
+    "right_outer_knuckle",
+    "right_inner_knuckle",
+    "left_outer_finger",
+    "right_outer_finger",
+    "left_inner_finger",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_005/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..76cdcbb1afce5c458f943a5d84bebd30e1c2bf96
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_005/scene_meta.json
@@ -0,0 +1,199 @@
+{
+  "robot_uid": "xarm6_robotiq",
+  "num_frames": 1,
+  "qpos_mode": "zero",
+  "rng_drain_count": 6,
+  "scene_idx": 9,
+  "base_idx": 2,
+  "cam_idx": 4,
+  "n_dof": 12,
+  "num_links": 21,
+  "joint_names": [
+    "joint1",
+    "joint2",
+    "joint3",
+    "joint4",
+    "joint5",
+    "joint6",
+    "left_outer_knuckle_joint",
+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
+    "left_inner_finger_joint",
+    "right_inner_finger_joint"
+  ],
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+    "link_base",
+    "link1",
+    "link2",
+    "link3",
+    "link4",
+    "link5",
+    "link6",
+    "camera_link",
+    "robotiq_arg2f_base_link",
+    "eef",
+    "left_outer_knuckle",
+    "left_inner_knuckle",
+    "right_outer_knuckle",
+    "right_inner_knuckle",
+    "left_outer_finger",
+    "right_outer_finger",
+    "left_inner_finger",
+    "right_inner_finger",
+    "left_inner_finger_pad",
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+}
\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_006/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed383d5de2b93ab4b472cafc974970f756355cce
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_006/scene_meta.json
@@ -0,0 +1,199 @@
+{
+  "robot_uid": "xarm6_robotiq",
+  "num_frames": 1,
+  "qpos_mode": "zero",
+  "rng_drain_count": 6,
+  "scene_idx": 9,
+  "base_idx": 2,
+  "cam_idx": 5,
+  "n_dof": 12,
+  "num_links": 21,
+  "joint_names": [
+    "joint1",
+    "joint2",
+    "joint3",
+    "joint4",
+    "joint5",
+    "joint6",
+    "left_outer_knuckle_joint",
+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
+    "left_inner_finger_joint",
+    "right_inner_finger_joint"
+  ],
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+    "world",
+    "link_base",
+    "link1",
+    "link2",
+    "link3",
+    "link4",
+    "link5",
+    "link6",
+    "camera_link",
+    "robotiq_arg2f_base_link",
+    "eef",
+    "left_outer_knuckle",
+    "left_inner_knuckle",
+    "right_outer_knuckle",
+    "right_inner_knuckle",
+    "left_outer_finger",
+    "right_outer_finger",
+    "left_inner_finger",
+    "right_inner_finger",
+    "left_inner_finger_pad",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_007/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c31fd1406535ff49e3aa3f30e3c1b9ab36a79906
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_007/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "joint3",
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+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
+    "left_inner_finger_joint",
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+    "link1",
+    "link2",
+    "link3",
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+    "link5",
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+    "robotiq_arg2f_base_link",
+    "eef",
+    "left_outer_knuckle",
+    "left_inner_knuckle",
+    "right_outer_knuckle",
+    "right_inner_knuckle",
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_008/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..04546e7cde242c7453463fa6781a4cfd5dc868d7
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_008/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_009/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..444001b5d2a3ed7da5f415bc751cb5dc875d619e
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_009/scene_meta.json
@@ -0,0 +1,199 @@
+{
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_010/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..51f414496bafc159641ed9b01673fd3c537c08c7
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_010/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
+    "left_inner_finger_joint",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_011/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c8c27d54897637f0c681aa07ecc857eee35f817
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_011/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "right_inner_knuckle_joint",
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_012/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..275140eddc3a6835e5277438a4c750902aff19a9
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_012/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_013/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_013/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..628733b105298089a1c4e41ec93da11967030125
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_013/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_014/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..36750a76439f3f7861909a8dbf82efc09d4944fa
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_014/scene_meta.json
@@ -0,0 +1,199 @@
+{
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_015/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a63f1d66eca05057927797143ee2fdc2118b16f0
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_015/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_016/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..44046a275a1e4eb46f156ec37bedf69f71b33c3a
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_016/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_017/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_017/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..27706e7d823229011d343229abee4bba403795b9
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_017/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_018/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_018/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c175a99c00c1e02d3f8749fc3f8dc56b6ff1aaf
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_018/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_019/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_019/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef6c9527a5a0d4e2bb282f0996c9e8193eef9d55
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_019/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_020/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_020/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5c975e67acbdaa85c00c9e3e0e453d21df2cb81
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_020/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_021/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_021/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..951358828cfed496baa13629a44cc88ee609be92
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_021/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_022/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_022/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cb894566e43392a692c3ed3b73cb7b5812e58a1
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_022/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_023/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_023/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e47eb78381b7f43c49ea2b096a215c3875120ef
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_023/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
+    "left_inner_finger_joint",
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_024/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_024/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..67d8dd4e2433a6e8539ee81d2b4b1ffa5569c6c9
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_024/scene_meta.json
@@ -0,0 +1,199 @@
+{
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_025/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_025/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d952fd3b3f7607d1cd74ab08a745c0a3211b79b1
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_025/scene_meta.json
@@ -0,0 +1,199 @@
+{
+  "robot_uid": "xarm6_robotiq",
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+  "cam_idx": 24,
+  "n_dof": 12,
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+    "joint2",
+    "joint3",
+    "joint4",
+    "joint5",
+    "joint6",
+    "left_outer_knuckle_joint",
+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
+    "left_inner_finger_joint",
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+    "link2",
+    "link3",
+    "link4",
+    "link5",
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+    "camera_link",
+    "robotiq_arg2f_base_link",
+    "eef",
+    "left_outer_knuckle",
+    "left_inner_knuckle",
+    "right_outer_knuckle",
+    "right_inner_knuckle",
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+    "right_outer_finger",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_026/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_026/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..31bb3fc9e4042527d5f2ea61e57f3085968633e3
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_026/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_027/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_027/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5229f85fb0d22535944d5b17802a861ba24230f5
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_027/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_028/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_028/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..139352844137b16ac73030a895bf307c4225cbd6
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_028/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_029/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_029/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c78b7ee3ba20176d12b48b3b3991ce3a95c967cc
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_029/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "joint6",
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+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_030/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_030/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e6aff45a2fb8dfd5cd57b595f6a192f459e7700
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_030/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_031/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_031/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..14854dd435e5c45ee501f3d5bfe9791627dc112a
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_031/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_032/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_032/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..48a265227ac11db43ad914f459c0444d152f80d8
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b02_032/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_001/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8109c45ca18f96373727f7091727c77ae79da51
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_001/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_002/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9325f7d501d2042365a3040e7adb3127622f8661
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_002/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_003/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab09c50fa16a5511620c9a30ccf0822bc7627440
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_003/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "right_inner_knuckle_joint",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_004/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..afb01d8386a78ce3bfcea3bb6fcd1cd390a4d4de
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_004/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+  "num_links": 21,
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+    "joint2",
+    "joint3",
+    "joint4",
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+    "joint6",
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+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
+    "left_inner_finger_joint",
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+    "robotiq_arg2f_base_link",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_005/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6be635f887f4af5a7c53dfc7577f237aec053c5c
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_005/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_006/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6c820e564e5ded66168fba148d7c8e4e32dc83e
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_006/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+  "qpos_mode": "zero",
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+  "base_idx": 3,
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+    "joint2",
+    "joint3",
+    "joint4",
+    "joint5",
+    "joint6",
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+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
+    "left_inner_finger_joint",
+    "right_inner_finger_joint"
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+    "link3",
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+    "robotiq_arg2f_base_link",
+    "eef",
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+    "left_inner_knuckle",
+    "right_outer_knuckle",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_007/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3f040c9112cd67c0fe60c65a911850d0a605bff
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_007/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+  "qpos_mode": "zero",
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+  "n_dof": 12,
+  "num_links": 21,
+  "joint_names": [
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+    "joint2",
+    "joint3",
+    "joint4",
+    "joint5",
+    "joint6",
+    "left_outer_knuckle_joint",
+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
+    "left_inner_finger_joint",
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+    "robotiq_arg2f_base_link",
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+    "left_inner_knuckle",
+    "right_outer_knuckle",
+    "right_inner_knuckle",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_008/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2f2cce6dfca5cd15c071b285bc3b0ce6d5fcc8e
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_008/scene_meta.json
@@ -0,0 +1,199 @@
+{
+  "robot_uid": "xarm6_robotiq",
+  "num_frames": 1,
+  "qpos_mode": "zero",
+  "rng_drain_count": 6,
+  "scene_idx": 9,
+  "base_idx": 3,
+  "cam_idx": 7,
+  "n_dof": 12,
+  "num_links": 21,
+  "joint_names": [
+    "joint1",
+    "joint2",
+    "joint3",
+    "joint4",
+    "joint5",
+    "joint6",
+    "left_outer_knuckle_joint",
+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
+    "left_inner_finger_joint",
+    "right_inner_finger_joint"
+  ],
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+    "world",
+    "link_base",
+    "link1",
+    "link2",
+    "link3",
+    "link4",
+    "link5",
+    "link6",
+    "camera_link",
+    "robotiq_arg2f_base_link",
+    "eef",
+    "left_outer_knuckle",
+    "left_inner_knuckle",
+    "right_outer_knuckle",
+    "right_inner_knuckle",
+    "left_outer_finger",
+    "right_outer_finger",
+    "left_inner_finger",
+    "right_inner_finger",
+    "left_inner_finger_pad",
+    "right_inner_finger_pad"
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+}
\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_009/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e98b956a46d6d290fdbbff77f99bd93a98d7255
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_009/scene_meta.json
@@ -0,0 +1,199 @@
+{
+  "robot_uid": "xarm6_robotiq",
+  "num_frames": 1,
+  "qpos_mode": "zero",
+  "rng_drain_count": 6,
+  "scene_idx": 9,
+  "base_idx": 3,
+  "cam_idx": 8,
+  "n_dof": 12,
+  "num_links": 21,
+  "joint_names": [
+    "joint1",
+    "joint2",
+    "joint3",
+    "joint4",
+    "joint5",
+    "joint6",
+    "left_outer_knuckle_joint",
+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
+    "left_inner_finger_joint",
+    "right_inner_finger_joint"
+  ],
+  "link_names": [
+    "world",
+    "link_base",
+    "link1",
+    "link2",
+    "link3",
+    "link4",
+    "link5",
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+    "camera_link",
+    "robotiq_arg2f_base_link",
+    "eef",
+    "left_outer_knuckle",
+    "left_inner_knuckle",
+    "right_outer_knuckle",
+    "right_inner_knuckle",
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+    "right_outer_finger",
+    "left_inner_finger",
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_010/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b84a5bc6e10fceec48647de04e5a21c98c5c0f16
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_010/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_011/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c4fff215b500c10f0384856faf545b5844a471f
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_011/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_012/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..84feaad3671843d14d54e5d86dc41c280f37a318
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_012/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_013/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_013/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f71918866228963c707d95e2ae51db710c460acc
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_013/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "right_inner_knuckle_joint",
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_014/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f90600c1d6409bc18b3b3fadf1a6598e8827b68
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_014/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "right_outer_knuckle_joint",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_015/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c558fc2de506977097b3d97a299ecfd3f51518a
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_015/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+  "n_dof": 12,
+  "num_links": 21,
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+    "joint2",
+    "joint3",
+    "joint4",
+    "joint5",
+    "joint6",
+    "left_outer_knuckle_joint",
+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_016/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..758846d7828048fc063a70391512fc55f67bc725
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_016/scene_meta.json
@@ -0,0 +1,199 @@
+{
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_017/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_017/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..73935a68bd2ceab88703769ee06920a83a916db7
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_017/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
+    "left_inner_finger_joint",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_018/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_018/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..05ea14844b2ee36db2e6fc422bc1f63aff22ffdf
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_018/scene_meta.json
@@ -0,0 +1,199 @@
+{
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_019/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_019/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb3d60f326b7e175d41e2c221e71fa2b77d49a10
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_019/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+  "base_idx": 3,
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+  "n_dof": 12,
+  "num_links": 21,
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+    "joint2",
+    "joint3",
+    "joint4",
+    "joint5",
+    "joint6",
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+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
+    "left_inner_finger_joint",
+    "right_inner_finger_joint"
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+    "link4",
+    "link5",
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+    "camera_link",
+    "robotiq_arg2f_base_link",
+    "eef",
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+    "left_inner_knuckle",
+    "right_outer_knuckle",
+    "right_inner_knuckle",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_020/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_020/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..235ef1df161afd2f67a3a6eeff7f5fe480b2d4f4
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_020/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "joint3",
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+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_021/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_021/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8efd34b3980e9281819cea1761f7c66cfe87ae9b
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_021/scene_meta.json
@@ -0,0 +1,199 @@
+{
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_022/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_022/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..928fa99494274bbe57b0e858eccfcbd0d0b3732b
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_022/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "joint2",
+    "joint3",
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+    "right_outer_knuckle_joint",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_023/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_023/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b5e532d7b5598e394d3e4828b5400036b0784d7
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_023/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+  "num_links": 21,
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+    "joint2",
+    "joint3",
+    "joint4",
+    "joint5",
+    "joint6",
+    "left_outer_knuckle_joint",
+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
+    "left_inner_finger_joint",
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+    "robotiq_arg2f_base_link",
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+    "left_inner_knuckle",
+    "right_outer_knuckle",
+    "right_inner_knuckle",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_024/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_024/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9bc4cda7ce3f307e69cfadf2571af79a93810a20
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_024/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_025/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_025/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..381a41979e5ea09d8f78803915caeee60d0f41af
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_025/scene_meta.json
@@ -0,0 +1,199 @@
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_026/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_026/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..24eac7fdfdab8598d6ab874d64a15b9e88d77c0d
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_026/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_027/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_027/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..457954acb2f0938008834126c59b952d1e6d7bbf
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_027/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_028/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_028/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9e1879dce329254d9dfab717198b7a5dbb9d87f
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_028/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "right_inner_knuckle_joint",
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_029/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_029/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f7c75ebf8b675a2e1929c6a418e08633a39dbd6
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_029/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_030/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_030/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d08add3ad34979ca9fd270f0340498380e6533a
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_030/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "joint2",
+    "joint3",
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+    "joint6",
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+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_031/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_031/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a74c55538e14dab657a0b74d488946c468e2e65f
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_031/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_032/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_032/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..df009c4408178879dc4d5cd71caf65b5d39c74d4
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b03_032/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_001/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a951a72afaf560d165d8c2576ce8e7b5325edb1
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_001/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_002/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb1486001e10d09aafa48007e424956c7a325e6b
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_002/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+  "cam_idx": 1,
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+    "joint2",
+    "joint3",
+    "joint4",
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+    "joint6",
+    "left_outer_knuckle_joint",
+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
+    "left_inner_finger_joint",
+    "right_inner_finger_joint"
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+    "link5",
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+    "camera_link",
+    "robotiq_arg2f_base_link",
+    "eef",
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+    "left_inner_knuckle",
+    "right_outer_knuckle",
+    "right_inner_knuckle",
+    "left_outer_finger",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_003/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4cf62b66bb6a188a8d67110dc0949b6c6ac42b9
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_003/scene_meta.json
@@ -0,0 +1,199 @@
+{
+  "robot_uid": "xarm6_robotiq",
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+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
+    "left_inner_finger_joint",
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+    "right_outer_knuckle",
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_004/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..00bbd280b485d9308fac64da0f77319e8828907d
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_004/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_005/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae0bdbe2b9f945b58868d7e84b018c9491eab6c1
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_005/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_006/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e0f4b91807a64e8fc9b69622ee96c21e90b808c
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_006/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_007/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..33b02f56ab987883859d38fc26ce798a095ddb38
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_007/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_008/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c43d76178ff9e33eece873f83bfa5953c1464554
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_008/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+  "base_idx": 4,
+  "cam_idx": 7,
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+    "joint2",
+    "joint3",
+    "joint4",
+    "joint5",
+    "joint6",
+    "left_outer_knuckle_joint",
+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
+    "left_inner_finger_joint",
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+    "camera_link",
+    "robotiq_arg2f_base_link",
+    "eef",
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+    "left_inner_knuckle",
+    "right_outer_knuckle",
+    "right_inner_knuckle",
+    "left_outer_finger",
+    "right_outer_finger",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_009/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd0e848c80102b221df4003e4bcbea34ee7adec0
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_009/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "joint2",
+    "joint3",
+    "joint4",
+    "joint5",
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+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
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+    "robotiq_arg2f_base_link",
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+    "right_inner_knuckle",
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_010/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..569415a565f5d3211206b0340c2f8ca15f525aec
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_010/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "robotiq_arg2f_base_link",
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_011/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..04a5df85615503e7310979a17349f1251adb35b1
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_011/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "right_inner_knuckle_joint",
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_012/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5910d878a65b645c840bc27144f4c21934aed60
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_012/scene_meta.json
@@ -0,0 +1,199 @@
+{
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_013/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_013/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..75264ff1288abef8c86c4ac83c5b27b916a8749f
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_013/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+  "cam_idx": 12,
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+    "joint3",
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+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
+    "left_inner_finger_joint",
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+    "robotiq_arg2f_base_link",
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+    "left_inner_knuckle",
+    "right_outer_knuckle",
+    "right_inner_knuckle",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_014/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a4cb534a5b4fe5a1535c19383e5e184a6caa7a0
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_014/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_015/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..146f649d15f2ce93f3e07a2d6bd28f021cccfae4
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_015/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_016/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3d435aad5151e45911d126aa6ef4c18a407d62f
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_016/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_017/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_017/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..470865b4e2652132ea7df70cc55720aa95a47ea8
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_017/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "joint3",
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+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_018/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_018/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..80ea6588bd14f66bd3de58e4b787b30e62b89d1d
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_018/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_019/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_019/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..49eede94650c6e557f1dfcdb138d7880ce2415f3
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_019/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_020/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_020/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..64cd2ca09c671cb999ac8be6ca83b7d953d2dcc3
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_020/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_021/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_021/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6952a7be5020abf883c5b492616f7f15419c471a
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_021/scene_meta.json
@@ -0,0 +1,199 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..69b1ca83fd92f8d63102bd9c4fa375079a0d6219
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_022/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_023/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_023/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..159c396905fa882283833278fb0cbe8431277177
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_023/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_024/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_024/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..35d64936c5e58f5f61d61047252920c4ed4338e5
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_024/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_025/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_025/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..928d47666796680a1cac3ed8f9d2c7755df4ce6d
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_025/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_026/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_026/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..47c67754642afe36683076cd64feb661701ea39d
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_026/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "right_inner_knuckle_joint",
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_027/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_027/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e6e0e895a3ac60305039684d1b8c6fc06f84ba0
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_027/scene_meta.json
@@ -0,0 +1,199 @@
+{
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_028/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_028/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..82abf8702172ad162cb22abacd50b458aaccecb6
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_028/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "joint3",
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+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
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+    "robotiq_arg2f_base_link",
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+    "right_outer_knuckle",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_029/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_029/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..002ac60220413a3230cd90b99ca253a36df6b6b8
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_029/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_030/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_030/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..df4d5bbd099246e280f0de228c4f9e9fd219554d
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_030/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_031/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_031/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7e0ca508fe86c2ae3d26cffec6e3049ddcd0249
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_031/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_032/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_032/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec2d7924c73c491ac43ce145490889150aad2657
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b04_032/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_001/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..95144cb3c08ab37504fdc6dccd10a644a45f9c3d
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_001/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_002/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..94b9446dd0ec901e750081f08cd0c1660b2f95f9
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_002/scene_meta.json
@@ -0,0 +1,199 @@
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_003/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0222e9a093165218b72bbe729a1e88fca169621a
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_003/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_004/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..89dd33bd164a1917a8c7d048b8da7fdb41790296
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_004/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_005/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..74fa594a51267c76f744097c02e29210cc1b73dc
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_005/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_006/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ec0260286a9a5eb8a7b9a2a1475100d74d01ec0
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_006/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "right_outer_knuckle_joint",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_007/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..55a498f7995ef8b5d79224a69b069095fb30a34d
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_007/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+  "num_links": 21,
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+    "joint2",
+    "joint3",
+    "joint4",
+    "joint5",
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+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
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+    "robotiq_arg2f_base_link",
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+    "right_inner_knuckle",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_008/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb81cd8b51906d6ba7829ca70421dbea5c81fdd8
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_008/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_009/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9a74edee7478e54420f06f6062e28e064117d8a
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_009/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_010/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..82e30de26f7c6ae1020ff497276e98774bd4bd9f
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_010/scene_meta.json
@@ -0,0 +1,199 @@
+{
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_011/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..280f3e0ed3437870f32a8c37a68070124fab7c17
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_011/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "joint2",
+    "joint3",
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+    "joint6",
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+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
+    "left_inner_finger_joint",
+    "right_inner_finger_joint"
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+    "camera_link",
+    "robotiq_arg2f_base_link",
+    "eef",
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+    "left_inner_knuckle",
+    "right_outer_knuckle",
+    "right_inner_knuckle",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_012/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..16c8639d78a5fe9aba37a85c283610eee135bc19
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_012/scene_meta.json
@@ -0,0 +1,199 @@
+{
+  "robot_uid": "xarm6_robotiq",
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+    "joint4",
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+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
+    "left_inner_finger_joint",
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+    "right_inner_knuckle",
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new file mode 100644
index 0000000000000000000000000000000000000000..0a0fb097d289bf39eb1e741198dcac65413b8634
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_013/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_014/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad54f16be610963334868e4ec5640b48ea1cfa01
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_014/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_015/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..116de212aed5582cd6c39383d430ad27f9068bb6
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_015/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_016/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a8c5fb5a38471f8df5bd688b8bb5075b9fa1004
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_016/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_017/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_017/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae0b2ed7ab752b47ac3376bdb6fd7c71bed9258e
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_017/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_018/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_018/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5afe1c8a09e16d3196a6f41ef86591e869a2978a
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_018/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_019/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_019/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d20cee0b93248b3c51fc03dd69df12f66bd3fe3
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_019/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_020/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_020/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..188e462b91a451472a660359fa315fe72dac43d3
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_020/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_021/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_021/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6bce8b8684515535b3e0564703db37d4fa225bb0
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_021/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_022/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_022/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1a7533f2ba6838cac8eb4707935d3c22918a654
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_022/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_023/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_023/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb256886a4afdbceb827f720ea0a200e42a38801
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_023/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_024/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_024/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f031969546efa7a1cbd1c7f96a7316c56f02e9be
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_024/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_025/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_025/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea6e937da1465580fb26ca5bb7ab4b1b2ae31234
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_025/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_026/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_026/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..63ca30b7235ded34d26dc8b195c64595d3aca1c6
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_026/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_027/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_027/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..050c60479c251caa532744078187d542127ae28d
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_027/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_028/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_028/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..00b8782bfed31d5887e6e7ee3201a99fcd13baf2
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_028/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_029/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_029/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..73bbf84ed614c6b498fee1d509f47b7e1deca14d
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_029/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_030/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_030/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e0ed2515bd4959867f8214d225e023eebe1b9fa
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_030/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "right_outer_knuckle_joint",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_031/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_031/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5cba10cc56155ddc10903adcc5b8a47f3a5ea9b
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_031/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
+    "left_inner_finger_joint",
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+    "robotiq_arg2f_base_link",
+    "eef",
+    "left_outer_knuckle",
+    "left_inner_knuckle",
+    "right_outer_knuckle",
+    "right_inner_knuckle",
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_032/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_032/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..814e1025b27382e16c2ff10ef473e1ae75aef658
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b05_032/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+  "qpos_mode": "zero",
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+    "joint3",
+    "joint4",
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+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
+    "left_inner_finger_joint",
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+    "left_inner_knuckle",
+    "right_outer_knuckle",
+    "right_inner_knuckle",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_001/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bf5c18c506139e67af5ed97527f7fa49673edad
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_001/scene_meta.json
@@ -0,0 +1,199 @@
+{
+  "robot_uid": "xarm6_robotiq",
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+  "qpos_mode": "zero",
+  "rng_drain_count": 6,
+  "scene_idx": 9,
+  "base_idx": 8,
+  "cam_idx": 0,
+  "n_dof": 12,
+  "num_links": 21,
+  "joint_names": [
+    "joint1",
+    "joint2",
+    "joint3",
+    "joint4",
+    "joint5",
+    "joint6",
+    "left_outer_knuckle_joint",
+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
+    "left_inner_finger_joint",
+    "right_inner_finger_joint"
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+    "link5",
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+    "camera_link",
+    "robotiq_arg2f_base_link",
+    "eef",
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+    "left_inner_knuckle",
+    "right_outer_knuckle",
+    "right_inner_knuckle",
+    "left_outer_finger",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_002/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ea1670b28939b245c68d3e922b9c4ecf296d55b
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_002/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_003/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..94b59dbecfaf27e6bb021c6a6f56f51e40d5ba78
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_003/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "right_outer_knuckle_joint",
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_004/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..95c988c0a72d5f061ac2ccecf218682354d83834
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_004/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_005/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a949530e2d31f73cd4659102abbd6e903c667aea
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_005/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
+    "left_inner_finger_joint",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_006/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..84803dbc400f269f20172f2feb83addb12e20b60
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_006/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_007/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d05018bddd5ab36a8a1ffbcdaebb761072b704b4
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_007/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_008/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e108b1487730c27082d0f5478dd24bd7a3ff97fe
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_008/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_009/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd93c75deeb511d9f82a0450ee1db3a67f303504
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_009/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_010/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d4ebb194f4b1307579f1e7c57d1b8d236cea4b5
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_010/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_011/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b71fa57c0f4f360b7fabb38f6e70d6d2a7f6fec
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_011/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_012/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa5b9a7db94eb4bd6edecf40e98a352a2794634c
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_012/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_013/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_013/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d28c7ece4956a81226914485de285a56753c8e4b
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_013/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_014/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2707185152ddc37bcd78f7037f1413a5acbd03ec
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_014/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_015/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..16d7ffc50dcd7e8db4b6709acc904ebccac09e3a
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_015/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_016/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..14f4c39b24d208cd0563b0964529b2b418152aa1
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_016/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "right_outer_knuckle_joint",
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_017/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_017/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d2b726f52ba78cd3d3ba8c6bd60e1a8ecadba2f
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_017/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_018/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_018/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..92e299554dd15ab1c3a9c57b24c169c81f1bb210
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_018/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_019/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_019/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc9d1b22d5c9a17fe3980c5d2e5767991b72f8c6
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_019/scene_meta.json
@@ -0,0 +1,199 @@
+{
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_020/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_020/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a550910070018b62c479251f9bd609f760609a4
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_020/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "joint2",
+    "joint3",
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+    "joint5",
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+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
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+    "right_inner_finger_joint"
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+    "camera_link",
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+    "right_outer_knuckle",
+    "right_inner_knuckle",
+    "left_outer_finger",
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\ No newline at end of file
diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_021/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_021/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d982d1da75577573112d25c02d32b9f43adc2e8a
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_021/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "right_inner_knuckle_joint",
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_022/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_022/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ee05d12d7c9ee6201960ba661868fd62efe099a
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_022/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_023/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_023/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..650e68a7f18740291dfdf3e8b68c42735374f60b
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_023/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_024/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_024/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b007a3a6b4ebd5b4e097be6be87414091b7d0897
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_024/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_025/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_025/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..da749d1cb8ca9e034f7d2a2fb1bc5860fe57fb31
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_025/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_026/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_026/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b683999e90a85c6c9b671b890d0b6ff1cd8eb0d
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_026/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_027/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_027/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..85e24d30497d84a5ee9092596a84754928605bc6
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_027/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_028/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_028/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e82a1e918674a3d4f156440264d925bee7555e31
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_028/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_029/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_029/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbcbd147f9c6d2331bea2070245311cf61cc222c
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_029/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_030/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_030/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ab1334997d244b9af98efdacef65b5c184b0b1e
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_030/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_031/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_031/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d87a68ce0586ef53de13a6c5b339f98a68eae65
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_031/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_032/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_032/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c4552caa4202f690c42760909932059903a57ce
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/test/bg_000009/scene_b08_032/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_001/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b436cecc7d79509d7e474b60f9f2944ed44d9d1c
--- /dev/null
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_002/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9886447cfe22efc0b6e0232f1138d1cf143ec40b
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_002/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_003/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb569f33c6965e321427a6dc253383899ab778e2
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_003/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_004/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..65f12b795e93ffc248329e156cbf73d6addf5137
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_004/scene_meta.json
@@ -0,0 +1,199 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..7c1cdd362c43158b3b05eeef64a53de6b332d553
--- /dev/null
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_006/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..406a30ca5f5bae0bcbab4499ccbdeaf521a81966
--- /dev/null
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_007/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3e4b4373fec748ee88a72e82bf14c06fd30f8b3
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_007/scene_meta.json
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_008/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2a6f2911931cca25ad0ce17f47e648b3e51c749
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_008/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_009/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f83892f329e302580054d3d3857f3bcd7efe5988
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_009/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_010/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..54f7fc0f5452a84a9abb9d580554cadacc265eb3
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_010/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_011/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e60b9c9239ad2955795cc8bb45cea8c1fbc7c8c
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_011/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_012/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..33a5291c6c7e6336786bb9ca797defb21d6520a5
--- /dev/null
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_013/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_013/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..41a43370601c70d16ff5e0b8b316c6d218aefcad
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_013/scene_meta.json
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_014/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..67f574015adef3a7887582f940830a1c2a393d7c
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_014/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_015/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..934804e4b17e774462d9f4784a9614ab63e59ba0
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_015/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_016/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..493fc2cac8510b10c393fe1dff5705f19db138b8
--- /dev/null
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_017/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_017/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e325a4ea5386ed76ff69080e1a2817cbed8e357
--- /dev/null
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_018/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_018/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..790bcb5bfd742b274eb67ade62a682e395eff1f1
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_018/scene_meta.json
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_019/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_019/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a2ee47c5f6c0195e6876b3bcd2996dcd87e5099
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_019/scene_meta.json
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new file mode 100644
index 0000000000000000000000000000000000000000..009b50f4428df0fc46a4aa01d5043ced17b92f2c
--- /dev/null
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_021/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_021/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3f5ebe43c59aee604d9917652bf7426e2abd925
--- /dev/null
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_022/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_022/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..41967354bd97d10823a8237cbc16a88543556bc2
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_022/scene_meta.json
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_023/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_023/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ed1ccbecd170a802759529da15783b8500b17b3
--- /dev/null
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_024/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_024/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..49a70190ecd644111b39e4a35816867214eec9c2
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_024/scene_meta.json
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_025/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_025/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..920b4b20f79d1bca5cb49a7e7b0f46314bc1b8cb
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_025/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_026/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_026/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..66925ef2842737fb3476c9e8fc918e1a2e13c55a
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_026/scene_meta.json
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_027/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_027/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b498dab1a24b1373892cdd415477c35c32d2e59
--- /dev/null
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_028/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_028/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a5e121769e840a68e428f071eb19c8670e6574e
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_028/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_029/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_029/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a6336532f8cc011e374844507a7d6085a3fa8d5
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_029/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_030/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_030/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9459898bdde5ed95bbb726c52b02c284e0eca7b6
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b00_030/scene_meta.json
@@ -0,0 +1,199 @@
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new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..05fcb021d81a5c5ed96f4237e98e92b414ce28b8
--- /dev/null
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_001/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0db30cbbe2e62290c537b3d87b2132bdf8403c12
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_001/scene_meta.json
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_002/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_002/scene_meta.json
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_003/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e7f54ba2e399a1d92a28be490edb7a565de6e0f
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_003/scene_meta.json
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_004/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a1046f04d7769d4e8a58ae46469e7c69252a2a4
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_004/scene_meta.json
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_005/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..476b18d2d3ff76f86ea3b8cc023a8d727cefff73
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_005/scene_meta.json
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_006/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7fd6e57262181382787eae523dbddf9ec1952a1
--- /dev/null
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_007/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c22ce2dcdd09bce710d7a38418f33995dfda2b3
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_007/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_008/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7276c8e94f264ae4d089b502357c181ca216c53
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_008/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_009/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ccefcc728aa3d917ab9226a4a3e803cad93b1401
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_009/scene_meta.json
@@ -0,0 +1,199 @@
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new file mode 100644
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--- /dev/null
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_011/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe7f50059c070be5914512572fdfa5bccee7a65a
--- /dev/null
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_012/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e26e19f823ebc12615d9aa04d39ed8c01646166
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_012/scene_meta.json
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_013/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_013/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9d62d95cccd836e8ff0bb3fcb1ec52288aa3967
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_013/scene_meta.json
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new file mode 100644
index 0000000000000000000000000000000000000000..6ce871051479ea065b79f603a10ba4e67a8c4039
--- /dev/null
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_015/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..049f4dd74c20c87ab88d3f1ca4b10d46b61f4a79
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_016/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7e5645bb185e90d6e341f2b2f827f643eabfbd6
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_016/scene_meta.json
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new file mode 100644
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_018/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_018/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..56b1e6a2d7f28da318355a4cdb09edc5dd3ab743
--- /dev/null
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_019/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_019/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd44241e96853eac64f076e496fdfcd2c712f10f
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_019/scene_meta.json
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_020/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_020/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..89d4875b1e71c655549e1dd0e6354bd5d8817d33
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_020/scene_meta.json
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_021/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_021/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..070fbcbe6c4a0d498871e2e0436f9e4e5a2f470c
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_021/scene_meta.json
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_022/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_022/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..56d3be0716d8e30f33909e5185006e4d8d386fbb
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_022/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_023/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_023/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..52c268f8bd4f18e75a46b2db74a3d6e6ef7adf69
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_023/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_024/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_024/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..49baff6ead15aff2ce737a80f78942f60278da8c
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_024/scene_meta.json
@@ -0,0 +1,199 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..5b658981515f0c86bc96c6ee1f134720afcbf8c4
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_026/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_026/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..617dc3ca522027d02442caca4a56ca6e56cdbaa7
--- /dev/null
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_027/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_027/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..916aaaeb957b91aa040ee999ce92775b857d7a77
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_027/scene_meta.json
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_028/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_028/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..80c557eb334bdaa131d6ae83cac81750fa1d00be
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_028/scene_meta.json
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new file mode 100644
index 0000000000000000000000000000000000000000..4603d0701a689d8bebb968ec1de95592ae867b7d
--- /dev/null
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_030/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_030/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4aa8941dbe4cd4500d5120ec2369b97c6c967c1
--- /dev/null
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_031/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_031/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcc5dfc407b8f6d5da6bd93dcea81f3d1d1871ce
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_031/scene_meta.json
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_032/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b01_032/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4f9c7c98af129e6d5cf19ade045493b3ad08bca
--- /dev/null
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_001/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7aecc651171af9307f8e89176f3e75fcb6efb3e
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_001/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_002/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..458f126255f0fd87864d9565f69538debd77072b
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_002/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_003/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aeeddb79cc50ce7937c00eca2077d5b20fded5ca
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_003/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_004/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ccfc44dd7e0b03a1c02ebf22720a4c09f28a4f83
--- /dev/null
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_005/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbcaf018ee1bd19c0daf7d5cac4dead9a7d45433
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_005/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_006/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbd999f580ca9957bffb49a75ae5214bc1999d37
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_006/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_007/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..11fe81c5243b9ac9d1961a176da2f3fc3b49aef5
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_007/scene_meta.json
@@ -0,0 +1,199 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..e4f43110646c6dbb6e5e4a141eeb25b967fc35ee
--- /dev/null
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_009/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..de0484b535c86a42d53fe2df045f1251f72edf33
--- /dev/null
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_010/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..857d8b23d924897f1e23360f22f7ccf4a14a98b4
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_010/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_011/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..893870425ede5bc41f9243cf2fe10b0d9945e257
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_011/scene_meta.json
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_012/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fa6d470ede7a8dca47eaa32c05c5ecafebdacba
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_012/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_013/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_013/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9177c4bc060c83356b2b8046fc28159bd20506b
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_013/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_014/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0019e0eb968fb7edf51632f638cfa2cfab15a096
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_014/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_015/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8737c1095ae231238ed352db0feb3f7e805ca79e
--- /dev/null
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_016/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..88e6da066c2878decf9932cc7d17619012bb8b98
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_016/scene_meta.json
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_017/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_017/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9f7278676d2002661a0b7f39c983a038388d620
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_017/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_018/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_018/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7e2e53f6bb8e91ff4a5b9894d9332f482b4e79d
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_018/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_019/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_019/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..623cd60c0d9d92abfd967b5f4d0fd6564caf7a7e
--- /dev/null
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diff --git a/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_020/scene_meta.json b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_020/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..38a9f6a5068abc9e280c71c40edb50ab1a495418
--- /dev/null
+++ b/xarm6_robotiq/ArchitecTHOR/train/bg_000000/scene_b02_020/scene_meta.json
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diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000166/scene_b00_001/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000166/scene_b00_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1dd6d0503458ca1664746ff7e9ab4ea92cad84f6
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/train/bg_000166/scene_b00_001/scene_meta.json
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diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000166/scene_b00_002/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000166/scene_b00_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..55583eb59e6a2afdfd483ddf31cd4f1c1a3ce6b0
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/train/bg_000166/scene_b00_002/scene_meta.json
@@ -0,0 +1,199 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..1b56ff16a5aa05fa6b932ad3c5a234193028f784
--- /dev/null
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diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000166/scene_b00_014/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000166/scene_b00_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f9608b64232cf9005aa979e09c3ab44c72e6f7c
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diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000166/scene_b00_016/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000166/scene_b00_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d969050810ad4828b964347125ce8f0ca803cd3f
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/train/bg_000166/scene_b00_016/scene_meta.json
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diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000166/scene_b01_006/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000166/scene_b01_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6eb9fe2419da8bd13ed3103e4813a1e3af001bdc
--- /dev/null
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diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000166/scene_b01_007/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000166/scene_b01_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..26bc3a399ca8d0ef8f888380078635dac391056f
--- /dev/null
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diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000166/scene_b01_008/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000166/scene_b01_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad3c249638b7211f1772b31dab1381ca20517174
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/train/bg_000166/scene_b01_008/scene_meta.json
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diff --git a/xarm6_robotiq/ProcTHOR/train/bg_000166/scene_b01_009/scene_meta.json b/xarm6_robotiq/ProcTHOR/train/bg_000166/scene_b01_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7de2324267e53f1d09d2922258ce8ac6092404aa
--- /dev/null
+++ b/xarm6_robotiq/ProcTHOR/train/bg_000166/scene_b01_009/scene_meta.json
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\ No newline at end of file
diff --git a/xarm6_robotiq/Table/generation_config.json b/xarm6_robotiq/Table/generation_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4e55d474c370e3aaf4ec4ecc86854f17fa31c1e
--- /dev/null
+++ b/xarm6_robotiq/Table/generation_config.json
@@ -0,0 +1,31 @@
+{
+  "robot": "xarm6_robotiq",
+  "scene_type": "Table",
+  "output_dir": "/mnt/data/hangxingzhang/code/HEC3R/data/ms_output_fixed_view_zeropose",
+  "num_scenes": 1,
+  "frames_per_scene": 6,
+  "bases_per_scene": 6,
+  "cameras_per_scene": 20,
+  "val_fraction": 0.0,
+  "test_fraction": 0.0,
+  "width": 640,
+  "height": 480,
+  "fovy_min": null,
+  "fovy_max": null,
+  "r_min": null,
+  "r_max": null,
+  "cam_z_min": null,
+  "cam_z_max": null,
+  "cam_roll_max": 3.0,
+  "cam_aspect_jitter": 0.05,
+  "cam_principal_jitter": 0.05,
+  "min_base_separation": 0.25,
+  "disable_light_aug": false,
+  "seed": 42,
+  "build_config_idxs": null,
+  "overwrite": false,
+  "gpu_id": 0,
+  "num_workers": 1,
+  "worker_id": 0,
+  "exhaust_pool": false
+}
\ No newline at end of file
diff --git a/xarm6_robotiq/Table/split_info.json b/xarm6_robotiq/Table/split_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4641da45f6f12f507e88ec70ee6e06de78ad3f1
--- /dev/null
+++ b/xarm6_robotiq/Table/split_info.json
@@ -0,0 +1,22 @@
+{
+  "n_total_bg": 1,
+  "n_train": 1,
+  "n_val": 0,
+  "n_test": 0,
+  "val_fraction": 0.0,
+  "test_fraction": 0.0,
+  "scene_type": "Table",
+  "robot": "xarm6_robotiq",
+  "bases_per_scene": 6,
+  "cameras_per_scene": 20,
+  "frames_per_scene": 6,
+  "total_output_scenes": 120,
+  "skipped": 0,
+  "worker_id": 0,
+  "num_workers": 1,
+  "deterministic_rotation": false,
+  "exhaust_pool": false,
+  "pool_size": null,
+  "layout": "bg_{BG:06d}/scene_b{BASE:02d}_{CAM:03d}",
+  "design": "1  (fixed camera + fixed base + varying arm qpos)"
+}
\ No newline at end of file
diff --git a/xarm6_robotiq/Table/train/bg_000000/scene_b00_001/scene_meta.json b/xarm6_robotiq/Table/train/bg_000000/scene_b00_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dca21939d8bf7937948a43d26f98eb358ae649c3
--- /dev/null
+++ b/xarm6_robotiq/Table/train/bg_000000/scene_b00_001/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+  "rng_drain_count": 6,
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+    "joint2",
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+    "joint5",
+    "joint6",
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+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
+    "left_inner_finger_joint",
+    "right_inner_finger_joint"
+  ],
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+    "world",
+    "link_base",
+    "link1",
+    "link2",
+    "link3",
+    "link4",
+    "link5",
+    "link6",
+    "camera_link",
+    "robotiq_arg2f_base_link",
+    "eef",
+    "left_outer_knuckle",
+    "left_inner_knuckle",
+    "right_outer_knuckle",
+    "right_inner_knuckle",
+    "left_outer_finger",
+    "right_outer_finger",
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+    "right_inner_finger",
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\ No newline at end of file
diff --git a/xarm6_robotiq/Table/train/bg_000000/scene_b00_002/scene_meta.json b/xarm6_robotiq/Table/train/bg_000000/scene_b00_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4bb39eb5529f61f2cca6ba42e90a34c30ee73b8
--- /dev/null
+++ b/xarm6_robotiq/Table/train/bg_000000/scene_b00_002/scene_meta.json
@@ -0,0 +1,199 @@
+{
+  "robot_uid": "xarm6_robotiq",
+  "num_frames": 1,
+  "qpos_mode": "zero",
+  "rng_drain_count": 6,
+  "scene_idx": 0,
+  "base_idx": 0,
+  "cam_idx": 1,
+  "n_dof": 12,
+  "num_links": 21,
+  "joint_names": [
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+    "joint2",
+    "joint3",
+    "joint4",
+    "joint5",
+    "joint6",
+    "left_outer_knuckle_joint",
+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
+    "left_inner_finger_joint",
+    "right_inner_finger_joint"
+  ],
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+    "link_base",
+    "link1",
+    "link2",
+    "link3",
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+    "camera_link",
+    "robotiq_arg2f_base_link",
+    "eef",
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+    "left_inner_knuckle",
+    "right_outer_knuckle",
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\ No newline at end of file
diff --git a/xarm6_robotiq/Table/train/bg_000000/scene_b00_003/scene_meta.json b/xarm6_robotiq/Table/train/bg_000000/scene_b00_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0d278f76f279af7f3ff05a6dc0d1c9c749cc098
--- /dev/null
+++ b/xarm6_robotiq/Table/train/bg_000000/scene_b00_003/scene_meta.json
@@ -0,0 +1,199 @@
+{
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+    "joint4",
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+    "joint6",
+    "left_outer_knuckle_joint",
+    "left_inner_knuckle_joint",
+    "right_outer_knuckle_joint",
+    "right_inner_knuckle_joint",
+    "left_inner_finger_joint",
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\ No newline at end of file
diff --git a/xarm6_robotiq/Table/train/bg_000000/scene_b00_004/scene_meta.json b/xarm6_robotiq/Table/train/bg_000000/scene_b00_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bc558258d2ae8a5963f45532b1ee02b6c67c98f
--- /dev/null
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diff --git a/xarm6_robotiq/Table/train/bg_000000/scene_b00_005/scene_meta.json b/xarm6_robotiq/Table/train/bg_000000/scene_b00_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a90694db86388903ed892f15b4cb4ac2a68a911
--- /dev/null
+++ b/xarm6_robotiq/Table/train/bg_000000/scene_b00_005/scene_meta.json
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diff --git a/xarm6_robotiq/Table/train/bg_000000/scene_b00_006/scene_meta.json b/xarm6_robotiq/Table/train/bg_000000/scene_b00_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a57ff37cb7c65a5dd4ec548df9c97cce695c8367
--- /dev/null
+++ b/xarm6_robotiq/Table/train/bg_000000/scene_b00_006/scene_meta.json
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diff --git a/xarm6_robotiq/Table/train/bg_000000/scene_b00_007/scene_meta.json b/xarm6_robotiq/Table/train/bg_000000/scene_b00_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eff428404a2ab0a8e9ce21f55acff0f79f72d488
--- /dev/null
+++ b/xarm6_robotiq/Table/train/bg_000000/scene_b00_007/scene_meta.json
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diff --git a/xarm6_robotiq/Table/train/bg_000000/scene_b00_008/scene_meta.json b/xarm6_robotiq/Table/train/bg_000000/scene_b00_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..638fdbb20b531bc1c3f14be9ec6f6a4ec3c5843b
--- /dev/null
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diff --git a/xarm6_robotiq/Table/train/bg_000000/scene_b00_009/scene_meta.json b/xarm6_robotiq/Table/train/bg_000000/scene_b00_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b4e79cd7d9f4e5f6069b04da96955107c2dc1c8
--- /dev/null
+++ b/xarm6_robotiq/Table/train/bg_000000/scene_b00_009/scene_meta.json
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diff --git a/xarm6_robotiq/Table/train/bg_000000/scene_b00_010/scene_meta.json b/xarm6_robotiq/Table/train/bg_000000/scene_b00_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a42737bd0e979b362151e073a1ae7c072eba2268
--- /dev/null
+++ b/xarm6_robotiq/Table/train/bg_000000/scene_b00_010/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/Table/train/bg_000000/scene_b00_011/scene_meta.json b/xarm6_robotiq/Table/train/bg_000000/scene_b00_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8b6d2b9384808be75fe375325c84d90507fa700
--- /dev/null
+++ b/xarm6_robotiq/Table/train/bg_000000/scene_b00_011/scene_meta.json
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diff --git a/xarm6_robotiq/Table/train/bg_000000/scene_b00_012/scene_meta.json b/xarm6_robotiq/Table/train/bg_000000/scene_b00_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..29c72c4033600945b324c77a930a976633fa1cfd
--- /dev/null
+++ b/xarm6_robotiq/Table/train/bg_000000/scene_b00_012/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/Table/train/bg_000000/scene_b00_013/scene_meta.json b/xarm6_robotiq/Table/train/bg_000000/scene_b00_013/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7fcdfb15721786ac5a4aae5ef04169e4cd1b84c
--- /dev/null
+++ b/xarm6_robotiq/Table/train/bg_000000/scene_b00_013/scene_meta.json
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