diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..21746740b003faa76a7e26300b11e4ba66413e6f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea244733b9a2a3b88ac29983a89efd48006133928bb6e3b707ea195d13808b8e
+size 324905
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a011e14157a889b171fab5985c1ea81abebc627
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3071132a0509c3019b95d7a56b2886cf530cbf41753da1b7b48310063e06d752
+size 190543
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8fb1fdd35cf9531984659bc692eee03b3336e570
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff5499bb6366e0903b4a61f707a640b1f293330ad5c7d08a1713307ff431db29
+size 488164
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d54d5c45188ded0522b693714592979ffc4c4e46
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb32e2101d188883c0cdc114b22a16cfe3ebb971a2f43d4184e3eb866f7aa6eb
+size 265251
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f1566aea816cd90b10dfaefe8d2814a060aedd89
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62e1dcc7b3fa8c6f0f603d36ce75b7189f01feca6db78830e917bbdcd8d9068d
+size 565664
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..fce0df2f083ec18951798be4477eb4b1247563ae
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:837a20685bb645802d77c616154d2ae613aea22155a2301dbab0ae83ac005c08
+size 389354
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..31e29b9957f67947a050b070067c1be6516fd0b1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf1c00de787f9074bbcf209d7062a7f9adad7c15b41073ac2e39a08aa7c416f1
+size 336827
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..51f58fe0d17366e5086a28d6fa0e2d0e738c8f6e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2a8de374ab8f3d9942a7b17df5a086a07db0d7ffb476d03c3be39a533dde1ff
+size 233243
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a3c93e67a0dc3a8e2a0a0cf70e565aa60a349019
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:803bea9f834d15153eeb043b66c9324c775fd7bd320afee4506e61a4bef7f0cd
+size 259900
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a684b2f9ff5103efea5a6c9ca381e3776ff371ef
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a4e0f1143215d741df902fed113a5624d0dd7ce71dad190d848090b229262b3
+size 170748
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5468c5dd4d09e8ef0e6bedbb7bf7dafd88db68fd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9043ecda6a3dcb3c9304ce55573bdeff31186ca0b906a79e3793c85a0c8735d
+size 228912
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e06a3170d383cb3f207d3265608a889c259fa9e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8cfd162fc639f7e57eb0dfb61395357504fe2b2f4080148d8db8fe78d1d76eb
+size 154374
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7475a4b959eab2612acd5dfefa81d15988725de3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab77119068566dc0029faf1c5aaf8e3c737d0274565f3eb269c61c4ecc05423c
+size 449557
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..54cb84eb1f8911b93afda9ae5b08510c394700b3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a02ded620fb09f9b4565b3705e66c445b6b0c885c634203eea204f945f9921f
+size 177635
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..478da5a5fd6c614afef3d7c1f567d9b27defc291
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c48dce826068e5e7f92cc8699457499990fda9d586a21e610975b13e2121fb7
+size 434044
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec8fdc45ffd35aea25589f70df984488a6f30c19
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcb90cb46538de95d2b6f5dd311c1635d6e498bf6a13e107d8cce72421fb9252
+size 367307
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9fe41dd557db48f736442b4ea7a640460bc37ad0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40fcb39e42ef3c4970fd0e6b73334367178ff02a582f09dbccd00eb10b89609c
+size 297345
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8570f8972164b5c094b9e964df5ea2aac2eca15d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ab0c5cc5ded151c60d371eac4e1cfbe54bdc34e1411d3955130e543c43a730e
+size 242338
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bc032656c14d8bae418c44c8f65b1a3eac49d078
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd8f92104e88bc0a8f183b66862a7daa2e3647b068e405dcf103ffbac8922f18
+size 331052
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..689539ea330042d856120805b352cafaa4528a9a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77b03829617e5443cae3c2d3bc3e63c7717362270fd4d0254cf174c2343f9f97
+size 209625
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..18879089c5c838114870ad60c31503443ee9b35d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5809dbe74e15fa5481d8c19b5e150f72173668c1e735cbd4068cba59114ad2f6
+size 295784
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..628bf9c53bdb733f7efad8db2e230dab4f97cf06
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9349eb8f95cc99b0710300dfdc38dd1ea91398842043333742268ff8bc424868
+size 212056
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3288dd49c774912e4e819201dbd47fc4e825a739
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4d4785052b59424f00ff9fab319493613915088cd8c554244ce03d50994b80a
+size 348789
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e85c9a31625faef99c0f8e552a94a11fee1be63b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47421319b99042e376766656d13bfc9de456d54c9b1d42194e44ce5e3740d359
+size 135194
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..65da4bd8d95b50fb69fcd5f3084ed7e5e1c768bb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:161f8d8d775e0f2610a1f5b97bb5ac1641bdbd2a9001bce48497d7f33602e274
+size 100847
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1222afe2ff4faf29fbc658b1a2e62bd5a182e5c6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d66a53b696e60a6e558e540ce83f98403a3b7382c83fc50e2c3262e228312103
+size 60398
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e547e1b577c6652e67f73c61b7cea9cbe4cbb3be
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bb88a93bfec1941ac232cbf18e8eae22ccf8c4e44fa6d55e3ee939885d5cdf1
+size 548306
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a4fb5ad450df8581e498ff47e5c49bb19eea7731
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7875b2f81a3dc332549368edafa1fda67644f0cde2744c745d73003b4cc364d5
+size 289037
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7db8c71d83ea6bce9c5bec40928435a4c982196c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd3174e7baf55e7660203bedbdddde68653e86f69584575c0db1da01ce864ff9
+size 365007
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..39316d961585809f8b199c52b191d047b9f586bd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d80ba3e0296bac6c90d17531379eb910eae87937a9eb0a6870c6c858995a1b2
+size 221679
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8ac78fef8e44231caaebd75c87c142e458fee51d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:754b6b81ac1358cafad216a2199599da098c288981763d3b62217e5ad6a1c5f1
+size 317168
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..057aaed3e736f07f89cc356208ebb01e4c3fcb74
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b00_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff47f832638731cab3b3d2830e858565e97256f6b5f92e278ad28b19061f4d8d
+size 204693
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3ebcab262dfeefafa230bb02a95aaaa5b4800631
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:828ca0abfea490ebcfa75c22cb748d198c2fac8864fd94afba91057b701b6e4d
+size 428433
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f296f5db9209ef9fae80517b44a02513ae675d3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25d65f6b1c65480e5ac14aebd66b766b22ed35e0cf00bf305a91f426ed7682a4
+size 182398
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fbc085a3a7d4b7450b55d615cd41a117002ed6bc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f11a2b205381ff371611c9b2b8da95609f5768f4387e4c991d3515f0f884dc6f
+size 430003
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2035c2413298d9c09916112dc59a9b52b958e548
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:886f7fc42eba506fd769fc2a2838f5d4c1574eabb7b07cccf41974ba46034007
+size 363277
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e6f08b5bd0ea904e333fc14748d073080b5bb2a6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1e131dba4ae558d7683020a057ca904f802e4c1d12e1dfdb6fca21f1f145027
+size 535803
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..246d178cce3c5e18415f9f9e7c69c96e50fcad00
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93a1a239898c2f84d28cbf539ac1c5ad5c7e6efec4bb15a03113502b2edfda65
+size 363671
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b59261a753b189556411e7c545708bed7eb423e7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10b08455592d6fcf79d4a1484f60caba46ff253daf3d0dbef736d97d2cef299c
+size 556054
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..63927302fac093db24cf6499c958da7342f5f345
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4d52104ac4da6c282cdbe0896f959cd1005d9a962fe2dc3717a2ce70a0994ac
+size 372145
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ac845867ed4b8486bf54258f4982f24ce8ffb6e7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b003b81f16f75eb3af6900be09514fedae5430ecbe957c1d6d89a57f82b37618
+size 453175
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb85e0276b24feae376c3653283b815ea0321185
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2779c0eee09316ddc7adfef7c486c7c4db9bd7f773af9af27b2f32a32825c53f
+size 335574
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..02634d16bec8d409d2cb57eb93abca64a0b705d1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6ea56b96f1cb548f2e9e2d24be93f7a11ac02f85aff0fd8ebeb99e712b77f07
+size 510922
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..59a88038f1da6b3757bb2702bb9389b6bef10080
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9cc97ea5ec6e74ad038d59465afc4563916b03ddf54e2a29697d676e323e081
+size 349883
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3cf55b6948e1ff0110821ac974589cf2838af2af
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0956ad4ae251655f3f06c95cd45b3537433748897b335022ece66b9550893a2
+size 389806
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9ddacd6cde69c76389911f493dbe5e26abadf1f9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b9902b71efe3dbd40cded98d333b4be26d3f48ebe97437c88a13e5a489859b7
+size 249495
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0d35fe497a88e355530a584a94e94b1d9c3b619b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc5fdcd5778d4e163af2e5c77cf4977c6e38843606f4af380d5c3ef5f4e5a77e
+size 464219
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..06dd9a6e5f67ad1c36055156ce94053cb79e743b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92244afd7ece8f76ac55bc7f0a1abcf78933665e35e2efca005470d2a0a5d6b4
+size 362565
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d4db45bf6fc2705e04846f4403997a8c6760d916
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c37c722c278bca7387d025cc4acca930ce1a0aa715fd897f829be3cf724dccf5
+size 515053
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0426d8fdadeff761ba09fed383520920e8a6ccc4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca14fc9e97152b8c560fd44a03204eb39b31b7303b8a2658b4b774036184cdf2
+size 355122
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..72e0590f91ca3277be1dd4d5e78f334a05386da0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45829a9110fcc69f75e9bc7dac8cbd351e3854958e31f96a6c6c9b5667e4e8a8
+size 439806
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..192bc6d598ff3c5993f7dc61ed914e5fb487f447
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97f7d13beec3d4ec65adc25aade98f4c37ca3baa68d2752fad0d0c5d165e138d
+size 380071
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f940a8f9f706586d02cd384de71d865e389436be
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9defe240ca2a540c3a5d8327c14724a7ccbc44401e68ebfae69de15085399d91
+size 543852
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b88a4e1f0a12cf22bf774c6d2c34eda95c3fef9c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6b8c2c7b2a8851455a03c3c2fc5fc97e563583b2d51c23f74997326a9186e3d
+size 275862
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fd617b953df6ac0297fb21872123471baa10764a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c00770d62840fe426cc4396bf95826350c0430b2a0d1ea386af3da32983834e
+size 530843
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..43b5c0578c8a744266dc11a41faa0e55da7ebb64
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17d48d170dece878deafd8ef2f8991593829eca9ee3a8a06e744b193a7b4a8cb
+size 313659
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..37a9ede5bbd94675139a7b32aff9081422547428
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8691a35c978d82fea4a0c63f28eee93bba59b985be7ee3e155c7a9161280b483
+size 330385
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..35c631e16644adb4cd0d6e7d3fbeed03dd7fa67a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01d1b95c02fabbb9da358950b07edb5cf2f5e60879e91a1538cbd76b9f00f861
+size 249101
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..50ac8a1a50f4f4654ed6519974fbc21327dcbc34
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db081c812829ab2f9236a11e09d96ae9f7e4aa066dd60881c131c182597f1baa
+size 523939
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b1bd4d0ce0b8a7fb7b93e44103d4782535b761ba
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:487e02e56b1e6d184b3d196b00453c88154874f6b20e91333b11c47702cbe525
+size 318158
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..95efd827e847fd7f2ad085cda8ee7f0fdcab8856
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:638c123f5d3a1d6710c5d757ee4d64323ea8594e619d4b5901a9aaae05e2ccc2
+size 276758
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d2f48f339a5c7d53e3f9050e9dcfbe1b62f04e2d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62891d7961ab579f3754fab16293de1bef496fca4c18ec3902cb3d86bb3aa9f4
+size 190633
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e2047294e4b3bff514420ec26e8c451e524c4d6c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac9822e5364c6b511799bce56fe2983aed30def5d79059ca85640045f6f1f83e
+size 399165
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..bc7c5bc4a80a6cef04af547fc9945804fd7274c1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b01_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24b37c4a76cceb6a1ce6b2f07ce4182b77835dc270f31885cd19f7a4861850a8
+size 287300
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7499c7edb7d18f213014e0685c4620ff37ff75bc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03fec33082d3f12aedcfd8a9865fddd73b2aec9586be9f219ac1dc6fe31541d4
+size 304058
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..88d7c13095405a4bd671d579a9cd01e3c0244eb6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:535e35f7c3e2e39166199eb482a44d229b4572e398cd5c51f865574bd4a483d3
+size 155166
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..72cad8000f7d0249cee9404f7cb0912ae781ffd3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f4dccc9d487624e1329b817c9ebcc6c261ec4db3185c3f01c4f53fbd8c0a7bd
+size 379022
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..803ccfc95c039b9221694a9c679b884f71dfd1e4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b07b2851b9b86063816b4ee96e58cce33838363ef9644672b7c30fa38fcc8cad
+size 280941
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..45c3ee472b568c311c80ab459ede13c4f839fe30
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1542ad600913d6ac1b4f8398e2a87e2811ed9612d5b37aa76fc8f130fe7b2f1
+size 409557
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a8b3bae11bfcf4ba4035831cd4b59655392bf05
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:511989bf13d35d2fcd3b75b70295b52e1ac867e45b6ffca37153ef2080cc541e
+size 293216
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..41323da1f139391c397c92b892e7efa60db8fc32
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d58e0c0df9390de41dd6bdf9b58bcf9f45eec1ba2a295ffa61b1660c201dbd4
+size 598080
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f12a7818aaadcc73833974faa3c883a8c02842e5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9e49f12110f25ac1b4c98ae059cf60f886bf2d6d7b8865334fd3973d6e3e2a9
+size 382771
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..20e4584175fff8647948d5ec0ad2c08b0e3d2f61
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91e3554b1efcfba8d9a4c5e5b33758eba3019cf5994bc62b052ee02405209c15
+size 335548
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..17628df5722d8ca11e76fec3b85736770dd18e6f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ff2a576f8a1ae6d968a72004f38ec5de23f33531e44bc5c2b3d5e9459af204c
+size 259450
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..078356afd78e5151af73335c5b26da21194f24a2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd6f873305fbd48e3077732d843017aa02edbc745c60338f6c22a96853044ef2
+size 195869
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9acfc8af3dd95c7651318da896500c9bd34085e4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73ad217c0d9727d2d7bf372c4c477e5c90aa08198483f0b169a8e60e21abc7c8
+size 138654
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ab139479e061ca58375871fcd4cb6f3973953f69
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:541f1a2d51b686ba99d34d1fe57ccb101492d96aa7272c1ba189fdba67b53c94
+size 197782
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..46b4717357bb598aef459fccd4926bf8d2c77b94
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bad8b275c6e9cbcedf7bb5c41deb902cc8c507302dfb639fc0df021e0a7546c
+size 134996
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f889f6ace1376946184a225fa1111ba904315868
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17b52191cd0a185764f2b5ccaae8c9f4b9e50c90a338daa7707da33308474198
+size 321341
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..012ca32f0dc98fe12605927ceaed1ffdf0afd275
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc5ed1182df2772f596483cd81fe65e559d87f2cf887c4e7db79944fcd88b7dc
+size 214362
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..dfd0d0345d94db879b988cc3a8f33888d6a86ce7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6e9702083bbfc3e06c1223bf84d1b772bfe64d11ac71143ae3d889f0bc1c0c0
+size 319779
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3f64cf097c9653ad1d3b69a2d4345b3daaa1408c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c6c19b383c161b51997ca0bcc67f20054efe0c8c408163e44ce9dbd32d55cf7
+size 187115
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3c5ac32585dd679dff071fca87f52d607d6298bf
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3197febac8c08f1ce797eba3dab2443c2dfa24000ab821f81d34e0234255aff
+size 270299
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef0b183f9edac49c94111cacd39fd1be29b54d70
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7b79a6de191f7aa98d9cbeae75c3361bd17c9466e19456467d7e67a3e24d410
+size 222649
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8980bc2fc58cd06898ed03fc0468eba94efecf69
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab8e690e6712c0dc13adc36ad532c53e229233c34b52a41fe8e2f2c629fc50fb
+size 446906
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d9ae2c97e8597399df67c265fd6a4fc890bed5b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d769342574664b854bed4791c648dc98188f990584cf6bf9ea3c6416bdfaaf9
+size 323032
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..77f406632fe9f0ea679257c163fe014bb20ba167
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ff1547ab3e8ff16f8b6197bff0da00ff83a0570e2e68b3c01cff4a64946f3ea
+size 497212
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..79c9ee1791907e72f944e03f0f551e97e6f70d7d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfefa40de10c0dfbe7464db6a2ce0d01ee52c4fd739ecee26176aca96f3eaeef
+size 405145
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7f8a965585e8c445f35f46c3ff49453cc8220a59
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:513ed0a70ff5ddffd2b8eb52574b2b95f2f7bc5e442e3a9e2bd356cbbaae16e9
+size 338237
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..34ed5d2a40b126e84d7ca12139097a60d1aff073
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d122d188265cb9908b1eff4845c51025b7f3ebec13821931ce04ed4c5d297723
+size 214449
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2df0a62d40132121076d5d29c77c01c361c87d24
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0d6e3c5b812d027bc3f9626ba7504bff2f19f6d5c7909a6d3b31e99d28637c6
+size 648166
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b0108d7aae2896c6b848a58f68acca4e98aa771
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18a01c2f1fc9e40ce964cad77970f97ebea0275a31c6151b29eac123b6e71197
+size 376022
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8f53a34934232baa323a50920e91b1251851a560
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0496c33dbbcc626884a64d635ba4c3714640db44c85992eccaa36d564e6d63f0
+size 238501
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..84fb8899ed1400635b75d9999606f6b14d2ec67c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0453491fe39d2e60cac752959008d55ddbfe165d21338aea2456721aa5fcd92
+size 175659
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..be3e28eadaee4beb6913ba7a43e2ebc336c04f01
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6691fe018927bb91dd8491afcbedeff944a466e1391068fa949788296201cf7
+size 350867
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..68aec9dab272e87a622a16c1f66bbcfcb4b096ec
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000004/scene_b02_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b63b518abc4f4c7851447f44006ec19c5a29df2d9b4b366e0b207fb0de6e168
+size 265962
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b00_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b00_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2bb6e262acdf54a4748bcb0077ac8b8e02ca8d89
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b00_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b10f2b399a2216ff0c21078e02df1c6c0c35eaf3b5a9a5eee11ba77501a800f
+size 842445
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b00_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b00_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..da051d910cef56eac1b26b7acf94076febcac32a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b00_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bb5e9ad62ff180624fc1f70c9ad453caa0f38e1d37231710ec17aa511638aad
+size 489517
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b00_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b00_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4b9ce0661e614b0f4f2d41908af6518a6b5e9130
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b00_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63e18fa4ee349b025f2c6a2f4659c2f39f5110b6a0f457cc881b7a7c7e332145
+size 726161
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b00_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b00_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5df085d9e3472d5cb4599b12994e03fe97da8cfb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b00_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5e0a9ee7dcc33227c0c9b7a56d300c6b1d14188f0fbcd56f650c749170a38a9
+size 452621
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b00_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b00_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..999a9453fb7ae036cef763726bbfe10901bf75e4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b00_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c0e11ef02eed5d86e4add95712c2b599a86e92af483b5d6b3cfefc0f125c4ed
+size 574107
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b00_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b00_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..73926455d4a8e413785c6eb5d49dca78db8ee496
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b00_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9c66ee543acba7af53d5d0c551839d58d1515174c3d1f3522bcb3ea31b05326
+size 406343
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b00_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b00_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ea39453f5acbe2710c6b64981597ff406040a7d1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b00_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60b2bcdb24a1eff2de56b08add3ba6effd56c3f4e496e80ed34c8a5882fe6e33
+size 433502
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b00_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b00_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e004c4d9b92fa82c1d04a2d1bd13020d094ac3ea
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b00_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:989b01101b3291639afbd1ae61d9765117e99637edf821aa8500c96364c794f0
+size 294769
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b01_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b01_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4d841a9240e954a216671af3c2535a71787d4f38
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b01_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32d7b2da4824dcebe1a605cced1000ab82246cfc0804cfe505a26f176bfdde1a
+size 520381
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b01_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b01_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c3d838f78029edcced7b0e542d6b90e4034e6b93
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b01_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a82472dee36eb8e72c8320aeb7f17b7c9e1baeb871ef145c95cf59e3a0546c5c
+size 387242
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b01_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b01_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9b70bd728e99184cb94caa0d7ccbe5bd2d1542e5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b01_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06553c126e055d130510647f1b070e2adb2b379763b970d8aeaf6cf26def305e
+size 744825
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b01_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b01_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a1bfe1f352bfb9b88ac2c423eb2cc95f299b4e94
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b01_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c559a86a8f2549beac23923784a74fe6942e795561b092feb355e6ee6e50395e
+size 540656
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b01_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b01_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..35ccf7e19f05e2a931a00d4dd282629cc166c194
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b01_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afe1466c356ecc579a2d81281a2863f76a928b7985b14a7d62defc940f725d4e
+size 606681
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b01_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b01_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd69c63c71e400c9e40f64b058d03c94b1b4dc48
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b01_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:220302e23a3920d8429ce5810868982621dea9ef452e844f3555ce839410bf86
+size 353101
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b03_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b03_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f9452e2aefca500c55c95b8aa667d4fd44c9c7e3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b03_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea4d4f24ba66f996f94077e89f76ddcc3dd99a95b346a34290e405915fc6afca
+size 333933
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b03_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b03_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7258f0c0e607c372f93f57d1a144bc773bbb953
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b03_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea092d00e54a5c0d83fea042000a2cda66c4097e456a28a52163d4ee5d0a6989
+size 265514
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b03_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b03_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ce8f577b7884a4359f6abb8b8071f3845a2d120c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b03_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80d45303ab3ca0ac1f5252fb6d822473511123a4d0aac0a4e1a348d8c032dcbb
+size 707168
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b03_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b03_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..489d4b7717e96359832d7e230f898a639a48ad61
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b03_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a54fb4a18fd024be4b4c26126787d2f1b914f42b53f38ef7ac60059653d5e52
+size 407423
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b03_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b03_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d738a6dabf836a6b8aaf990113a5a2ea4ba236ef
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b03_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5dc6af9a016e4fbb9a7fa3c70ae038fdd3b5af4539097dcfad81811da11ac2f8
+size 548730
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b03_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b03_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..55319fc0d120e88deec14209a5323cbd8c085aeb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b03_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3636ce53d07ee0351233f4e6e8a21ac1289fa0b054a8a60b1c9550935b195cb
+size 358441
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b03_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b03_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..432502816f3d634466dc287e8b44ac44f6e1ea69
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b03_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cebc27dc6283a5ec862ed90539ede453fc7d6fb88f48e4d84845b6dd58204bc
+size 406278
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b03_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b03_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3bb61c2f550786c2f28d2e55c3c56311ff049a7a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b03_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee552c770a6bca14d93b5987c3d131661e117d66227f8feb7c79fbf8590aaf97
+size 311875
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b03_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b03_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..be630356ee928a89607d8caef60de93f0029a124
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b03_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea7186912df92cf419a90eb0638f7a5a05d1fd043fdeb578593b8502446884ad
+size 639205
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b03_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b03_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..289b5a12341335c71d88d02e9895a6d3b7f8ab2f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b03_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08c9571c7c97da72e7a7429de45501e734812fa2e835767878546165674cf79b
+size 486247
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b03_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b03_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6477b14b3725637fdb9e991b2be5f41d3b7d13a1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b03_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57ff1d0e608e48db71fe2badd1510b7459bf05126e7c7b0b22a1d240e9b6aa11
+size 750791
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b03_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b03_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab15ce840d5486c7daa2b507bda2159daf828b8f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000009/scene_b03_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9578d0c6292e657a3e75c53bd75d997d41bc39e3f125ada474032759bf00a76
+size 535409
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b00_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b00_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..334b4165217cad0bc4dd3b72b9c70e2338a671bc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b00_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a6df0c8f5ebe45e96afa80e3e3dfb9957978036e34aeecd4050225a21a4af7e
+size 292712
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b00_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b00_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7f2b86fdea54bd38adc9f45bfc621b30968f637
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b00_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d56de2261bf56253b69ee04eaf69530af2bdd0eee466835ba21f9e84e8a9f823
+size 182329
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b00_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b00_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..67c2571322ab7ce6073ffcecee70b4a4538dd93a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b00_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:748e3e62dcd88c8477244130aeea1ba42145ddf523784d8ec5d1d50cd67ab6cc
+size 359795
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b00_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b00_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d16a152a9b389b37a966ce354f56b919beb5bb4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b00_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df44b01d3cafd66b6f55a6bdb6493b601584928e4015d947b0b5117381429430
+size 257419
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b00_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b00_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c8807429bef0c55e8debce5cb8477822b5c12254
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b00_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01b1e3c9440f80288527f90707dbd57a07f17d6cc0a0bc287ac695f4e7c5aa44
+size 366356
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b00_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b00_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..19ab1d5fee25989fac5a6aee44075905d4e843d4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b00_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c06218302c7bde4f1099929747e421c6ca69a17d38cdfe540895a6a9fa4762a7
+size 233728
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b01_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b01_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1259ac131c7a2cb3c94dda514162ded92e975bdf
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b01_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c34bb455bbf9341e527bfd8e7880f9eccdf27647e9df3b353a883fd44aeeeea3
+size 434570
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b01_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b01_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..82b8d78bb881f278b9442d5463292e68a3f322e9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b01_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67972a07beabef71d0b59498e80a10ea8635d6c403a079e8bb339b6f5224c3d8
+size 256484
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b01_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b01_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..64b5b88f5676b5a27e086bb51972817bc07f78a0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b01_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9673755ad1e78a1a29842f675a984cfb22529af4521ff798f228d9b2d48a59f
+size 309556
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b01_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b01_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..83b89edbe477f849ffe40716443d09c33fb257e9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b01_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45847d540be59e34189484edd89e3cb45e86991caf4a83b8b0cf2b9d6075db85
+size 154678
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b03_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b03_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..64b60eba1be87fbf51cdce8ff89cd0f883ef2bed
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b03_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e5c2e5e6ef78a742f366b0f535f933b89ed00f8761603e74506972c0eaa8d63
+size 301497
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b03_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b03_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a3e6be5b99b8e524cae04724928208393844e770
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b03_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59fdae790e65f1d78f59a5fe87ea1b2ac8437cb54e801e43cb7e78e3e685b1b6
+size 222826
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b03_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b03_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..11d750b0631f2bb7bef3c25584600820e9178474
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b03_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed4346118a2fbc98d3d22201726eea723b00bf4ce297c3eb08f1ee34b07380e4
+size 316936
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b03_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b03_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..30ca5148693eb4ffe1750f7683e7e79ea4549190
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b03_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74f6100cc280cd167e7b782a4402c5d2f66addc7ace43f2c56b5f29f8e59e498
+size 273502
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b03_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b03_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2ab31a3079e8bef879d5fc01bb09ebc01dcbe9f7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b03_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7905430e1ae2e4c66fb6a52191a3e6105f0eb5c9eb0d66de196863ad3dd05060
+size 239448
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b03_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b03_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..67fefaaa5d287c51a005e62c6cbf07d4aaf5903a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b03_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:933f8e962ee359c96779b10392fcd9d5d4f0e3698544af7433d84d254c2b5d03
+size 158783
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b03_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b03_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9e5be276ae52d681d0fa11a337dd3c60845e41b9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b03_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e51621388853061330f009e884177960e15c3aaff42d2622f53b4236d590777
+size 271782
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b03_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b03_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..26d1247083e0e96a637421cbbf6e8dffbf2b2f78
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b03_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9784dc430c2a19c2b781c71fed2f3bf899126a7389f11d92363b01abc44d30a1
+size 132455
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b03_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b03_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..188f48a2b0e97dd301ccad11ca2614363d85ce37
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b03_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfb8eae9b30b462270af376def21bf0aafd08b6c61f402d8f0b60ac4c621bf25
+size 388881
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b03_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b03_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..716372b17a93fb27b12372b8d968aaf542d59650
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b03_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0b222debcc330ce2cf782589df348857142f092e5b3927e60c2ec8fe78cf635
+size 288041
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b04_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b04_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1430bbbecd82307f024d0d45384b8c7a623eeb95
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b04_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8658f5b04bed23f1071a22a7644240a7e66a4bfec3c5117e5a98aa52d0c5550
+size 367385
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b04_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b04_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f69bc5b35b8516546a80d2f78beeb182cc32bbe
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b04_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c5b99d81934e9110f2e794b4743f67f5dad731c560e8231b14628582d599de0
+size 88630
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b04_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b04_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6bce7a4e83f0834ffec3cd435b31fd502ac95037
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b04_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b833c273ecb492896112a3e7ea9c806f7d5a93a1032f1c0f132503e01f4a494
+size 208049
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b04_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b04_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a0970c36b68ea19a2d80042c7fd6d411747640c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b04_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d3030369a0d5c46e3114769a4b59962f38bcdc99033c2d2e00de559283c89c3
+size 87397
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b04_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b04_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0696251a22115525944445d85090552e8d27babd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b04_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eec81528bcf19abcf3cb1d18df2e157146a3661f0e3ad91301a093e258527dbe
+size 240135
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b04_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b04_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..126f24674148f33a16c19f02fb79ad7dc4212b2a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000039/scene_b04_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff6c5bff8d79e3d53a698f0089fcc2c7bd08623cdecc60f2b43b1bc8b86ab8e8
+size 110154
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b42bc5fd6cc1619da86623424e8eab0fd638d6ff
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:434476cde06c3b18a3b96b737ab20bb933ffb692554f22700704e8adbb298fde
+size 268896
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d2a0261ec3ec2cf412f5874f33ad3e11df3ca16
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d2d08ee86c66cf868d7677c8ea7b0964154144304151ccd9cc2d3cdaa97cb5e
+size 188213
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a97ba765f9e989aebdf5820ed33c29d860fa59aa
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ae2ae19c1eb982f87c80265ccf55ad584edc26ca85540842d7edc6cdf89f410
+size 329375
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0df7e206c0cd9850aa3199a817b5afbe94ff947f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6281bc6274fab48e78bddbb385a1e72591c8d0c5acbe324f1f092229de0fbb69
+size 266911
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9f24170f5859e64b3ee4a5366f9a6623233875cb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:796c870fb63b4211a0bcd0e2d5faf72823428050f62195f0dfc6e50e31dab549
+size 412120
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2af512e7c939404d4ce613ba4f7e5e1547147584
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:487bce919d322a6aad325a5b17a08bf99f580c335a9851e7497cc8f3f7f0a37c
+size 266916
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..66b92971cb36c8b69a83eb38e9ecf598b965b0a0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fda1a4b92fc5a0d6b3b8ff6d5cc187f41c0c6aad3939baa3eb20c779355fb9e
+size 330628
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..488235443e7d1f6f2538834c45304522827e829e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80d9aa0c239446125f675e5811f3024a411c51d8891446ff0eea749a9f624c79
+size 248158
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9fc5a27ad01321ad2d1339f8d963934c73bdfa14
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1062bcb29768890b457bc3daad801b70b3c9247e2336447b1751dc772ff5258
+size 370370
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e86d73f626c3f0518fb7173846c416558d01795
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bff62587c79f350c2003f2b65921c22a2cbe2882f0eb6b7f9caba6eb777740a
+size 257025
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5f839c0de8ef24b39d8cae5a48ade515fe7f3029
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddd6b358b18521fef92cdc74faccdc09a4a2cce5db24724c3a5973dd69a1274b
+size 404034
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..598241f1af7ecbdb562c81ebd8158a965827110a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0fc245d999580ea2b3bbf253cf535e5fb3bf0535d22001b3170ad0cf40cae89
+size 339845
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..661c1eee90daf408ae4a80a61f29d50f93485ad4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74709283722dbbf4c9c86c88a3642e6912be3114db1527d6b2212bba8886eae4
+size 299324
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3dc5584a066440e4f4963cb52bb73b4d1d99256a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40121b1ffe222a5a89b11074a19ad0bb90be2ba674074e1a625b6dd31d451002
+size 224574
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4cc911bcb013de5d29d5c785a3555e3b7b01d9be
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1dcf99dffb4a89dcd134f85b4374baa1ad5aaa40e4adef737d06c2200c832178
+size 376424
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..de60c22ec033e34c4172e3e01b7b2abbc8a5af4e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6eb36338c23344d0541cc0ff0d27528eb3b20d163e04aca961bf3a24bf96edec
+size 289951
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d2ee4d999ec6152f3e04bc9585c2fe2aa1887733
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efe1a6e10f059356cecafcb3b7433dc493043fde3aef90feff34412442b1ba1c
+size 526836
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..16004c6ef1ac6e0ba2f50556008c913e2d9309d5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2184e9cefe035a1837d1191d0ab08b1a8268a41c9e07ca27bb46b528392591f
+size 353445
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f0503a718ae27ded98982bf0823473dbc325ae57
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c28d29557ff59a953221d282eb1c8ad6b67e7c4aaf8ef8a6b0c38f5308f308dc
+size 296122
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..efa60d8f5af1965f4e4b825af7ee3140e18657db
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ba47036bec2626322696e19e6ea2a5c96808fcaab36ed0bfa008bc2849ea533
+size 234535
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..aa4c8261c51a8179e5e63f40d05c01425716ccb7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c307d843fce2ec34ffc93dd31971a86f420f704ceee8c542d8ed9e028e602cb4
+size 349416
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..57ec76c3edf81a8082245d95c6832f9eb6c3a9d8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e2c8a4f15e173d467f8eba3b99557651959decae4fde0420525cd8e373a628d
+size 287116
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b9bb778f9e989cb6747ac52e9f349f134ceef3c6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d9f61ed2713008b0912a22d8b50e7ea426caee1b876992e71bab36f0d3d779a
+size 255975
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..29526746d77a5c258a3bf2b630e81a9b9420f0c7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:103c7e638db0091b9d87099b6ea7bd54068902d1f7b7fc5c9ba609334eaa065e
+size 174201
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c01b2a11fa16c3cbf7cdbc6590a8b608148c3099
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b956986ede0a83c07dea7c729a063751634486a521df86a02487bc03a40eb952
+size 372742
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2cb556f3d69804bb092582f6008ae0cd47860595
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8222c1b14132d951350a2ec296812c1f20e958aafada554b27933c5eb1665743
+size 302941
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a8f3ca91ffd9eb639f2557275c09e57f7441de0a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:238a9c503e28c4bdffd6ed35500473f223e93509b9c67e8a01f7f7736424a80c
+size 319582
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c8bcbdd3ccdb4b62cc54c0f29443ae0af0cd3d38
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a18988ac9b35cca7a2d1120db88f3e416e1eff1ec92ab53b15ad2cf5aaf3f321
+size 238959
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bc2b5935d7e1b347b38be9785f3b90da3960529d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:983b1d0788a5c2b7fb7cefacecfa789edc21144720e6d2117d4cde309edaf03d
+size 587146
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..842379f2ecbe8a1c3b188573f3053f880d55332c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e9408a5ded7c1383b208d2af5debd333228a8c22a4abb6f02905d42c3b9eb8d
+size 354262
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..181b78291bae9d204305a6327782c0d296f62b57
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e314ab1e77e2057a92e61012098f09e3cfaa0dd79326a7b5f1b688cc09258b5d
+size 336059
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d6fd9370e39b5c14e47398396420648c34315e54
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b00_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7735d88a2ca64715b741bef555952afc7fb59e8bfa83cfd8e0908c70bde1685
+size 283445
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6d5389b78159b07bbbbbdb04e1f7bae8addfc749
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1942d38efb9897119500475c1898e9f525735551dfcdbf5f13392c006e0f2bd7
+size 259026
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..56d79a3111611cdaf21903f8bc3cc0928a5e08a0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac4cc6ed7cf387c000ba78b9913ed996bece448405945463349ff2c2bafc8ace
+size 168768
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7fb27a568086c97cf2fac6601beeffa636f30a59
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4a882a24e614ae446b1e48f76300404ae6084996afce7c516c6675fb6eb8379
+size 635338
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..43d8e03570a346e429b641200c10eb1c672f3fc8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a4fad73af84345decd2e05c48760ea0309535f3b75aedc688d12070970d1ee0
+size 362672
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..698e29a84e9757bc3b08904d16fd357de27aaa5d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24dd0b41876c6954ca5bb68cb36a22eaca3aaff711584b36cad642450682f151
+size 596731
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee1998cba2cf3567b4d22f1a4c32fa1589ed7e38
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de02ee8a69e6c4a9077d2292ae7291b1e0a0ffe4328286c1d79dbc5d6e8aee73
+size 344517
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..787d82a77d4399b0563906454cc0350461011185
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f1c44a01957892120e0d8d1866345c1ee15e66ab856117fe05a70e664d41568
+size 418165
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7189b4a5adf7f5769ac3df9c5e06cec5595d4ef0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7bb8963aeea0ce5793025cca38b1b176016b03373409681ccc9d76c783f9744
+size 337198
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1c279503deb563a16c6029f0e1a2d8778f4cb07e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53ed510ca1dea883da86d6f9ed705819b58f74f18ce7045319b83d765964d12e
+size 400570
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..89eac7c4673f016aa547f515a8f5de8aeb138e6d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3294b7f4b6c511768048c1ccb11c2560e2c548f5b827a8f35ef9f716cd20e567
+size 238847
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..64462e1cd5a76d266c5ac28b0578f3dd69fd3bd5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0ab05a9c44bd26136e59a9adef6eac8d2e0335c92cef86186707cefef7760c8
+size 296292
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b54f7ecac2d5e6a079a09904eac0efaab78a121
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:918b7039d5632eee123f8fb5fb14efd418c7d5b041d5d1b3133da636063ea321
+size 215707
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a27de8b61633048fcd6eecaf00ecc82fe71c157d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6e63f9d2e81ef3b6f9782be7156ab7d4d5d89fe19a305aae068075855a4a08a
+size 580635
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0574ac40bd449a2985d19b44c737d9f1f013fd36
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2eebf037337ca6b041940020c1f55f129b79ddaf4763f909bc53f481bf2105e5
+size 414012
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c70d3de595a47dc9f770c84d883ced58b3386de2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49e9ce0d360edd74ee16ec1b3d42ca8e21ff3efc00e79b587e5eb483ece15436
+size 524472
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2a61093e2c4b466a152b365fc5522e2330152fdb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e111b6927ad5a28ff9956ad3137218bcdf564bb56510d4d164b473d7b8744173
+size 384498
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..facd20ca31502c338fd751d313a01b15ecd7041c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:950e97b0e5ddd3b6445cdf51a99c14ec8b44420bdf6b968ffaa8fe33b40757a0
+size 385993
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ca8498170b5404422ea6e58b121a545b10cfc7c6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b341a80539311f8df23eab0e14745ea936c134cd455fb92f806b534c29ebfc5b
+size 275415
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b9d9b0297d1aafb21a4d43ed8ce2f1d00848409b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d49d8167e846dc51c63a4d5de1a54da55eb8f5d9e57886dd152f61046dadcabe
+size 441479
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2867f10796c7ab43a1aecac9f40ac5dabb0d0cd6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e897d0d757b810fc9445a518d7adb7c2479bb25841c70bad1c144ef6a4394e9
+size 312383
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f28c97861ccf37cef3291fe4280907fd105970cb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2225c82eeb840e4e286fd4c6bacd6618208be88bc7a2fbc64239d0b006088737
+size 361110
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c59ae6c6d5b04d8b74ca57f6aef00bd9e23f90be
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7dccf4e557a85dd66cf9b97e9e7fdb8e5155a5147884ab242a95c36b3e445986
+size 268930
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7a6e3d2ebff208f4241f5bbc86aef9748e49a6d2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:316e90c05ed641c7667aa29996706f0f54be83d223a29d018ed4941a4960db5f
+size 419761
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4d494127119c7f0f7eb12a9cc6571c9dbf0a4981
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ce9f0e722e7106e1df85562cc43aea281389dd90db074b813448382f1f8cb78
+size 322407
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2246cb337f7fe1e4556dc48902d7e75f282c4a95
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7edfd4ad284f5e1a1d224dfc0fa04e6a20f9f587bd4c09918442047c905569af
+size 384116
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec5ab6f8f09bdc3164ad92c9be2db29eb5353080
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bb850b473c5c4f934707ff1fb9f3e1fb88323a913254f5e73030bf29438c896
+size 266243
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..152bb13f8e29cbfe2d0604c0af2733e408c91739
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d731504d8109aa6676a7898a3f43aa97e3bf03fdd4e00a6a49d8c9a44bc13e2
+size 643060
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..947e8b9216b2cbc915ff585cba6afb5f4dfcd345
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad08274deec9f67981d8377e84e2cd146161d7bb74d715ffb14dd30a06eafce1
+size 392990
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..266b955b38831c9cc9169ccd60980fad4dcd4ec7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3d893cff1171e26b2ff9884f0026a313ab07c4759cefc566523728a8d56f7ae
+size 418861
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..fa90ba4845682e6e96c96fd887e58351e252d003
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3197291658d27f367bf4cc7caed312227372c27d9040b5d0a43f7eb337435d17
+size 261618
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2d68b312b1b2a4a72d6dfbfc50870bac45f106d0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d52d12a70358048d09e4931b1de5b4d9e4753e00ba96e647c388beb91d30b4f
+size 395524
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..391ee27994bae639e7eea11707518b67fb0c0521
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b01_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e54449500a2ea37d7336b2487996f91ea7812ad02abc7ba677a8cecccc688419
+size 289337
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..988cf060ecedeb1587874adca1ddc32f8a4b0a86
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cda9d87311226c897387282cd05edd4b6277c0751ef93142fe4d25c285559323
+size 576525
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c0e0c5bc0541b9253a7217009aa9f90d3453eb8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb0c2452550f2ff7688dc8b20715710a7ee0ef6721baf63178113eedd2c1a185
+size 318172
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bd20d4965cb4d0feb24414f2f45da7bdd2151742
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9b99f2980006655b5184bc5e39d16af91b2b7197b9f7aa8721a1c2a786899a6
+size 335055
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..87bfbc7b3f863b91b8392c372d7830221e70572f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:308328477a832e18599f96288b032c5bbf95c3000f93a1e40786d7ffd409dc63
+size 251927
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e238aec7fa24adcb6b74255e5ff1a3e49fdbfa1a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14474c836bf6f3055c4c0088324855fda852ee4e0d9cdaff9bf455c111d3fcab
+size 691896
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..eac307e5b961a0e71ed7970905c76b15a83cac9e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:369bdb52333545ec7d8931c1d949ca0eca00fe76cdd94f2298a0c0a9b93fab6d
+size 409407
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..722b55249d299f2247d7899e1a0065b6fa22ac7a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62e0dafb0c046d8af60e5bca9754b086184786d85480c011e3ed658d92ac9aac
+size 595820
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b0ea6c3830cda333e5beceb0fa122035a9f2d02
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4a61d1f85b7adad6f55b853cf7929a1fefcf0aa658ac7700c127ce087477c79
+size 374622
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0f8912940947dc8559acba7efbde56810c644c91
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aead8abfdc94017f7005058630c98917ff4e21a2dcc58aaba10e60927a35b8c4
+size 539000
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d06eb3e8de4bdf747c224df68c1d28a54960bca
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcd69d370a4605b8e7d190a2add2b43b48d0a588f89578f4067088fc6807827f
+size 341413
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b40416e22e85105ae3168fb1111a571d6bf44dce
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c537b88868a930ad0c435ebac7fdf27bc3662c269cf4b0e17e077bc971fc1cf
+size 274432
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a22873601f9c6b7d8c7006d5eb59953a75aea907
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:384ba41f65a87807798efe576efe2c5acce1b8e335f1ce5ed7dc25e3309e7bdc
+size 180284
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..23a7faf2c0c48e4a56d44c43f5d0e210055b5903
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af9c9483d4b0d8e296ecbb4fda02b30a773e13a7155ef578f736932490ef7514
+size 302397
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1a8fe1bb7278e2c76a2f0c39e7629d36e47f5c22
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0c5f9ffd75bf6e7bc8196e35f5550a71db59a467a79cd7a0b3e52b80054ddf0
+size 212235
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7d2b1f271590254247fd92f339041ee94bc6a8e3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a648103c19e4b1fc6eb4b2a5874c250455b6a5774dfe241c688d2c7ad21c25f
+size 271371
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2ea49f3242c7925e14fcbd2ecb546563d8b04337
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b97545acfa2d2bce32ac646ea0c6b6faa8957725c7a4151d812f343b9d5579d4
+size 169391
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..74d7c249cb8e7b08683f1f508a3b3a3233019a3a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c86629eddecff477d0186c318b03f090744b57779c331cc40c7be344316f873
+size 386738
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cdff1eada4bd24883cf65481c8e33610eefd9dc9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6dcdf723efc5b217d7d86d31c680d1c304f605cb40d22e4aed2c36f2b3fb7da
+size 274401
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..33809ae3864051b41b9792aa9d6ad854c090519f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c0dfd61a7b52fd934041c93f7b19837fea86a6f69e13e8bec958897f2545bbd
+size 317869
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..340fc8863628f7f4e81fc4eaf6b5a6f6b44abb26
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2b28c90c925ce8a9644ad85eed5631b7b70af8800783d1cc64b8eb706a6ec96
+size 216070
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f11bc529d45fb6a00afbd2cb59c1ead1856ef558
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f636ed937c548c4cc755f4a4a09b973830efcb84791df6cc53694e516bf1db3c
+size 410306
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..56a95689c4b62d765f269c1412014ae80c8d8e4e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abb258e88f8d32e4d8eed78e5611a425294866c0bad1b9d5d77b2d9cce74b8fe
+size 235136
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..446f905bc985325a394cbeca176edf31cba1e710
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b113208b89fbe3b1ba888275a9fc643da92b3baaa88c7e7b685d0bd09a7c3345
+size 357954
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d27b1a7eb665124646429e1d3d05db96e02cf7c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f15a7befa4598698153d0bd2d1e40ea39b08d2f351a7964be129eb4583bcc61
+size 252737
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..798acbb7353f56b53ed78435ce3443d7260e25f5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84f567bc5e67428bb481c55ef71d73602af76d1f4845b4e5ae82b6846f3e6e3c
+size 463245
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7f68d4206a3312d3443494b62a4c24cfa67efd42
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1874373ac790f856dae9bed82daf96ae4ae0ed99372eb770d7467634b990ef1
+size 324025
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fcf5dbc071285260d9f06232432741b34a2c9f50
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb4319b23dbd3e9d7b80376dbf8daa13879b565c1469824d8a76f9efc8087cc2
+size 276807
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..787a5c1c4cbacee38cc92907ba7e953a196b6149
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a81f46aa2a8662bf4f5ca4ee506dffde0bf2f50e0edca88e1883914be4d0e59
+size 209553
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..92911fa279132094020b6a9f49e3c81dfceeec8f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f70dbd9c7698419b2fd9e9dc8db9de7cee762fa75a9f9ccb4a4920232f46e94b
+size 407178
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e33d7e43b629c4702591606953ab2d655751522c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e1be38aedbc5d473c419195a080817f0a61f136265231e944cce3dc66c2ffad
+size 246438
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..424e4a9db376c9016f1fd8eee05a58f7ab5725c4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc813c1db7c3c5f97657af87d300d6b94248314833ca226607ec319506b24141
+size 483538
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a7e0ec9d93653cbf7e7e34b4af9ef83a0d33b7fd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000043/scene_b02_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4ba1dad8d6182e0ffd4f34dbafb5007b741aa7acd7a5e28528ed492746cad8b
+size 326486
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b00_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b00_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..dd6d7868241f343b311ed072816cca23e629a2e7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b00_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6cb68d218a6c0275725d8ac6278eb2484aa43b8f7ddf20ce1ed57d3d83452cb
+size 355289
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b00_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b00_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..862094b039f1e8eaaa5ceb910af4737b6eedfe70
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b00_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:163a70ea2acf8aa88bbb783cbbd61657eb6511fb6cd7ce6bf63edcdb1a431a84
+size 227712
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b00_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b00_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3730c81fe346f5d262a6694b7e5dfa6242807043
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b00_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77d3d1c727e4b7410a836b11c48b3f5a5d86afe8641673395a8ceda01c03d040
+size 327494
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b00_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b00_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..075c3735cc33dfd7e6985098be3df888cb55f0cf
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b00_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42dc17d4e08a2af9e0e0855542c22aa72e3f428e5a7c6e5c8b3125dd48e291d5
+size 213382
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b00_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b00_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..574e252f20ee40f35a3c7cfe2a583eab5330b4fa
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b00_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40460048d7608d92fe967ace183b4b40e44fd64984998c5b1b6c3a781d74b838
+size 469004
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b00_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b00_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..706449a20187747229f358a9a4ca42fc723a5de2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b00_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9999325f5a01f5c24be1a4ddcf12fe3883a2af6504ad1f1421dd4a908d00d88f
+size 243739
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b00_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b00_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e1a3ef35f07c8ee1e0ffc0faecfbfb9650b64888
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b00_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0bc7fdf307ce49241a16b1862b114df41081a8787aab92c5204ad36b6d68e7c
+size 514930
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b00_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b00_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f8244d2eb6eaf0b786f4bccced00bfed9037f97b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b00_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d74c7e5bdb7a409997861583a969360cdcbb919ef3a54893c8c45a04e2c4c4f6
+size 279672
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b00_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b00_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0208a0ef313494de60e414b928ca6d3313beafdc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b00_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23feb7b247493ffd8bf30896de97d5b31d2839878b206928def9fa733579fc45
+size 392844
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b00_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b00_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a35392cc7b3f754fe39e34e9e33aad9953da1fe5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b00_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58f8c7b913fb60e89b27548e34d4c785b919f1d02061429f9316ccdf5e02dc20
+size 305312
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b00_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b00_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cbc752594b3642d085a7dfd613883d49b213a6e0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b00_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01a77f9f10b701522faa0291ac9484087e394ccb854e78b7526ceeddd6347bb9
+size 316766
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b00_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b00_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..91a3dfa21715753de36693e829785d5012b700b8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b00_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e33f8abdfb0092de349cc7aa88ab2aa69eb773fd16d26ca1c92ab7b7b5db168c
+size 240387
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5330ff16ed765f22422704f829a02b1b42eb1adb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44547d7c9148eff002f9411800f4f2944a79e4c3ce30f02e6fc4cffe7f63097f
+size 409838
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..bf66b03229c723b6e02e78d14c6911fd1826739b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ee1ea960e0952ca3b47b09aba0b535eb73edfb96aff8999ee8d7317efc783b5
+size 229451
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b6e87e6ec23ca467c4fe2fa27ec5f9953adef56a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bdc526f9a70d83fecab0838807c001f90d726fa15dd33e98f0b421292953cef
+size 389506
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..73a1c268c9c4952d64fc76c5654b430749fd9868
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:129067291f6c152c098bb66682e6bf817bf1f2ba46e2f0bbdf24b66017ab1979
+size 204986
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..674a67032f31b0bdbfc2ac9035d85179cb90470b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adad0eacf58f4e826834bc7cf7f71840a858f2cf66bc3718f20c646832bdadb7
+size 406087
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e8fefb74d5b6d9bb04cd02d27a730ddbaed3000
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e683fdaaedc429364cf906680f31c4baad2c0add4cf953d0b419cfb05200aa0
+size 257350
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c2d41ab4d0945870b27f9af86143f213324dd51f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e6cdf09aaab8adfbef9681033e24f36e28f8df42b69b92e6e2d60d93915a4ca
+size 358640
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..71770df64eaa53fb6a2664f10b6f83f09e95b682
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2cae3390ead8d26eff40709ae32efef00bafdd901258e61880970607cd4119f
+size 119860
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fac07113e055156b90ac0d7215fa072703f21e59
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49797ae6bb7c06fb55afdd825ce85eb52b8f3aaba6d5f104db5766d7db51f224
+size 270959
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f9f23f9c0b2b513603b0776a02ea22fa4175c455
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99e2c1360d3cfe262bcd586d513c03e0e42bc4a5d2fea11cf214bd61a8dd4144
+size 144487
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b01d54be2e1c5df9a8046eebd3b6ddf5a7ff6d88
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccebcf060e61e7ac4c628dc9fddae876fe49eb8627861b8893351d22bc27f530
+size 366850
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..846d168e5fa30132bc3441f086fbf31c7937e383
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:116b9ae95bded745b8cd3ba6bf4f0bcb45524da0988de8a380fae0ae62edd734
+size 250445
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9ffcaec91cf63ac6cad10c01f9293df1a549a7e2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a00762b44da5d8a4245f271deef71e89cc2671cad8a214885350d83f9fac6b7
+size 293134
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b0e3c2cf2ad1ca4362e44c64655159f895c4c5d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6291f5a15621853e34892e338d0cc962e02af49b6b5af9791a5de7c1d8cc841
+size 224791
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e2583b7fdc2483fa3b5c5bd0c0001bcb222e7aaf
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb41ebb0a9d9d7f37004b534406328f16c3b5c318134e3c5e357c3dcdabbf539
+size 303007
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3685dba09ee9c0c2ab3b5e6f2c13a4616d76d259
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b01_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcc41794c0c861f18899f5f00a89a063b3aa085c1fcf91e94c540f780890d0d4
+size 170125
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b02_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b02_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ade97462a254e07ca7897d60f12201db9c72342e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b02_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecd830c4bc019b5f41821505f754d3a45cd36c6078dd030438b41a9bf2b540c0
+size 306616
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b02_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b02_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3658db26f636cf51c45da91b1ecb863d1b200de4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b02_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:096a566e9b5121098ed167638049d4d90325d0e682f997a3e7421dd39f40e2ef
+size 116975
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b02_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b02_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4a680984801d840073ebffba029248da2432e173
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b02_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:318e583d13246bfbe3bf8f287bd8eef7d37afa65c00a1aab80468dfeb93baaf0
+size 340894
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b02_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b02_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..34159906234e675109bb50e4e2042714d89643de
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b02_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9db3572704dfc868aa497b83ee183869183dd6cb637fee0c98167be7fa74d13
+size 180507
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b02_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b02_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..167c679ccc9550091dceeb2dfe3f2a9e86bc1dd8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b02_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:192721c36c8a693e1f04688e5b1539446d27c7e6c57aafa4f797f4815966276f
+size 326943
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b02_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b02_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8a4900f2bb19a6fcc0c1a56647fa0cd66eb71e41
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b02_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7dc0dc675ed2b6bf297d7d7c9d046e7871a27e3dc81fd1953e2857bcbd566499
+size 266709
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b02_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b02_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..726c8f68d851d8737c2ab90f682e222c8dfd66d2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b02_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38ee38e6d189a9c3617323f24cdc89ca4fc0682e6c29b67b7a58e38b37ed10a0
+size 373083
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b02_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b02_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd7d4f3482110d7468ad4a40867fa6f1b6e64e32
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b02_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7f59c341d1f439f6531c4e085b5321ff62d57c6d0ebbdaa32188038e5c1aac7
+size 278896
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b02_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b02_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..288268eafaf9cb965810aa1b1c4d04a31114ee64
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b02_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:970d2c77081d662636baa8a49123e8ceec9ed0c32ed23ca9f5a7d7a8779fde90
+size 277759
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b02_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b02_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2ad5a3829402d19840b13a803618e43141f0d694
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000045/scene_b02_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08a8ce25bf680f582985b9e8504ac43d7a53273f54d33d386ad34225499113fb
+size 230228
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8caff400b2bfb8be652a7f14c771857baa1bdbaf
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1b65f3c9e971d063115845934252972ccaf36102124c63d0edbbe9916493da4
+size 556369
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..40c4d062331710bda67a0e2a278b5f13f55f0b92
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:187d985a04b18b306c7a0c4352871e07af192619973b342337a5ea664944a772
+size 480604
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f662de6081f89844e29d56506e01adfedddb83be
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4b37f0103d9f072c33575c6f2060e2d47b7a005c6897d9b61ab02e00c16dcfc
+size 750978
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f56c0b93a7cdf50d7fe431feb19447d080102e6a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:066fb2066dc5298b6c737bc4b153092a99787fda85258ebb4da7cbe238864b1f
+size 476531
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0e93d180f388781d0324471f200adc6446d56565
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:695831e9022b1a6d04372ba286ca7a6b7c30ef5a34f9fc7946cca7d7f1ae3a89
+size 541348
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8219bf055db38da715a1b3aa3426324575dc6ac9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80f64c600a72da85c2af627c58a69938a6bc157efe589c8774f671c231bb17bd
+size 411100
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..25649e92b13a075a0fe6fbf8ecb062e8f4297c5b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9e9a7cec7f3e57c019e6438e62e7b2e3448b48f911f84736f1de24cac82ee40
+size 571014
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..52249091da25dda8723438cfb76fb41acada1536
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b09c52a69fa4f76c17e7cf6683930e14d001d494062b8cd1a3caf4e83244f3e
+size 416821
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..43a97746ed2cfaf3d781f00a0a0bc7c764137c39
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85fad5f70dfbae6f4633dd3ec221eb27b165b2e0581efbafdfd3a0180d77db09
+size 605942
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a4054ee9d4cb10899df8edcac4af434e78708122
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79b2ac2c3e7de2190e28a58138c80f145720a554c5c74f712414ce3f29d6bcc6
+size 412110
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1b6e378d56b2a2b2e5d552547b8fbb80885bae40
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b8cb82c24e0c4f761ac05dcb0b6eead555c2198c735731d4c1d286ac92dc97e
+size 541664
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2029b5c97c292a8c3841aabd81e871f05525e247
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:157117f3ce2e062cc7ed946466df4625e9ee9922e6cd9f2756914e8147836a1e
+size 372830
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ba32a168ecc624e0d962f17bacae45cd31aba73c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d981b4c389fc37d5444c126099b3c5d950838f6ba8b8065f3ac9318cfea37670
+size 722744
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e76715f4ade20e5df8a919abecf3fa99841ddafd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d901c55be23ed1771eb1526fa858995b198f15d19e7ba4226be75ad1c1cccb48
+size 509506
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4cf2cd835f9f1c57c872b79168ffa0fc2578cced
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:455f0ff390c676a27b4fafadbf71ad872e556a4d8800f4989abf1fecd23f512f
+size 649244
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..62d33072a2fb93621c5e0c5a67df09542929f494
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16bcd7adb3ef502b6f9f7e9781605d990014d11860c531cfd301d9381790217a
+size 482448
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..653032de6ea2565046c6c897f2f7b90f2ce6bf7f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1393131fb3acf675204aba0d7277f60ade4bc53f524802b3c7791794965edf3
+size 768941
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f2409a1d88fa02de03ae7cf10cd92e00f964aa99
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4e7e7aa003496bf0cc5d9eaec113cf5e26f6d319cb385d85a62948400ba4931
+size 496266
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a639e9a24af40db46a557ef8d50ecc03c110e2b1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bd63361b68e79f396e02dbfd7289200ff462df6c5a38d7417ca4c35cb083dba
+size 628458
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..35fa5bc2ce7a5fdeb7011a028ca57b472c68b432
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0429af627f956ba5478d80a3cd6e43ccdc2e59a0c007db8c74383d0a1652f8fe
+size 442969
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b0bdf8627ef9ed0438971df4755639038bcb0fef
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:082e7c70a600362164092f55115eb138eba36bee358e8cecb27e0d1c59821724
+size 563926
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f4eda5924804ce1ae562393080cf2a1e60e0f6c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2abedaf26bf6cd6b0fbc761026f6f3ec430fc4f787f1fbca2b8b4e84ba7e5097
+size 407769
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..73066b2acaa440fd76b3cf91261100969528a103
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78cf303b1cffb3c701f241833f8ec51de7568a3e461b13487dd3ba32f559fde7
+size 522814
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8fc24b0ade186f6f1f3eedba8e41ee535d6c5c03
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a650aaffad8f377a9f299d40a13e60fd3e7af230d8e8846ff6f8b52b9a3c5dee
+size 333353
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1ed78a3742472d33356b7cc18a4b93e2b8a68e87
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47af842960661d0d3df905ef485eaf11ed155f0c498547dcb1dc288dfd6c8a8f
+size 593178
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cac79bff53ff932a7d8a1f9c35babb294d3dd9d3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6539e27ca5fe16671d79701ba36f5db333bb3e2efb27c9275843b4a0cfb6e21c
+size 427063
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2aef5f1acb6b62c1efe12d44ff9741a5399bb05f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ba087d3235e05d613ed06158624748b0b97fc7a8e98a8a5e2dc2c26599461a2
+size 627055
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b969ce3c7b4d0adbfa53e3ccb6820d575c199218
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0c1e1f24b7ee26ded1d4d08e535a909711d050cbafd2a6f52b278982118577d
+size 504000
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..addb4e19acaf70a74150f8674e9c7ba03298ad9a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b23acabb95c46a71fcd6a5b22d9987342edc1ff613a23e9fd2c7165863ab588
+size 639539
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7eab64e56d3a888c257ffe66f84c3492b7bf04d4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:199b06248e42d3d5c348d2ea5180eda68dbfcf76bb3d3cad23922e5a95995289
+size 466572
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a65e2a182704caef35df899dbe9e7a3e46ac7ef1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3b48a4a82f7770c2779c375ea094ded6f8c370014b3334cc635ea2a5ea49719
+size 720549
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d233e4c9db46402c8bb3c96cee841258eaebb1ae
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b00_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:451f8f4e75ddab41a9cdcc841bd25f2634e46ed0f4efac93dd499c0720fa061d
+size 501337
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..338c036b01b21ec02c7a60730681d787883c783c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c88f0570494dc528d98ffc9b3f0c87c91c341b153435f284a023b00d9b4682a3
+size 636851
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee18e378b431744e0cdefd42d93138963ba477e7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5eb18df60e840dad37ee43ab3c22cc804dee9d91d93bd92b0ca38ebd8bc1359e
+size 477623
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bea0ae14e576973ac7d94cfbc045e5e63b217389
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b56cb99d6c7dda82004a8b39aa6391ddde700e5195435bf04cd2cdb4a14fad05
+size 545419
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe0e3f01b611259819fd0f78b4cc00bb91f1cf68
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b81d73f3853944633d32e0163d52e2ea88341a494a15485330822b16fc368a9
+size 347638
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4a6ec73ea16625fbe51de4e855fde5ceebd2a2f0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aff3a198a1b72dcdd934a72b0b8edcfdbe37620d849406d76e1e2054c9084eae
+size 686422
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8d6402e6dbac55f8d86ca3a21943e33dddd4bdea
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:540684d78ecc473ed00154d6d5fa8d381ed927288e1453a87a0cc82a64080db0
+size 459881
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..44a3e9cab9ae9ace925655d87d0e9d7d727b44cc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b21d176c504f2c2a7da8153a21cd463821e5db085ed17b19f0c68da5ba3af525
+size 515953
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..975f2dacfc8475ee31a38be840a0b9516121872a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fecba464ef8219d0634ff2c34c8b468f93f9e47e773cab0adea685b9e7ef0e4
+size 452683
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0e184e575ffe9124b3dd10cd0b6bbde83039cd16
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1a7403d03b2de9595d1562e89b8a0a303847a208555c571137db18941017665
+size 763922
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f4aeaece31da2addf7bf706ae2ada2c7afbcc3d5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89f008e7d2043ead04a99ae05ea22455ad96a195e98e33f23d57626caa89cb8a
+size 487909
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5151ecb50d461696c17a26bc0d32dda1ee292bca
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba8cc265ec3668786364181c6c43d543ffdfd43711e0b47684820f7b06baf1bb
+size 582691
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c88dbe30f27f8c647eeb18af3fbeac00d3682032
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:965619f5976651bf61ed315c1738539241f757e097a7b37bd4efb8a0c1508e51
+size 419779
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..faf111e8cb6d19247472bb4f2d982b6dc4ade492
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4668fc3896a3f3471e4cb8df88ab23a14e3f8d5742ce250f0353c92e77503ed
+size 631392
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cec53dba25a4e9474da3100a0d51c23d82b4e9ac
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b96bedf187ca390b718c523fe96251bc23057cb315f42bfa432289f3875eb77
+size 464683
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a0a97f1a02cfc2951c7d79e268c76833e79e5eec
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a21c805a92604cabcebbaca70b1cebb4e11e949d18edd7b36427aae96fc8b25b
+size 576085
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b22e6cab9c4b435f7af222d18a6627e806d769f9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f8130dea461420c9b93dcf16cff85dd191767b2e0c40efa83f26cc3ebc5112d
+size 345132
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8c590a5308c89f852cdda70506d4aad50cc7e2a7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7905cf1ab6b234dabb6a3f0f40fdf377f4a6d9a058f465b22910e2c5e0b3f354
+size 681222
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..11a9bbb56536c3a4b18e4f71e79dd0ce142c6068
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c66e7c53835531003b42cf7581b1d8f59957f5bf8f4c24b9dadbe822412d1824
+size 485351
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d8803396fa2d2017316a03f2cdcf4647bd8819a6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b10cc06fd9c4e5fef00bb84f843da4b00aec8cbd0d60b5c557a634abd0a9ee11
+size 470053
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..09e506d9215269908fbb05b81d12421902e488c7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11cae583f79130a46d967a89a5507e48357352a5afefb6e0d48d671ea1731045
+size 340575
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e4cb62896ab18fd6066bcd07146fe5b84e5137c6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c24e8ed575e56e224b3300a53ab05b6d45d90f4b2bdff4a0e8aaeaf29866b893
+size 733001
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..18484da3e9708c390a396390436c394308c28ffc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac195ca0b431418ffd93f57890247b51299d7cc175c69294250525d16b127e12
+size 489841
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1d079f1836749f3c8ad0c5cc6e99d30c27820c8d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5cbf11f0b96b7a01911128842dc69e93f405d08bd7589071a5d5f659224908a
+size 567382
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ed584fe2c37d1c18dc62cb0e490cddf8eb2e9fb0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13ee2798549f755612815757473d00041270d29aff0c1e461ba15fd3c1faccca
+size 377984
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9c4c147ee6ccf0bd7c02032eb0f8d4e42a4a8522
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bc6a3434711abff58bdaa318efdfa3a1c92013d6577b3a8edfb0829572daf4b
+size 646619
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..069b6331b56be825b82615c5942817fd979f2e90
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60f612a744345f01459999e6ccecd9978cd2eb2c005714e578424e59483e3150
+size 473778
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..727722ba23d8676ef99203e20e17e05ce91950b1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed394e674edd07db4629e171d045a41da887acd337d37620fb74af76682ab202
+size 617221
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c78ed8e84ca430fd70eb803827b3e453d016b7a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9102325a957c92fbe30350092ba4fdad63842b38424bcc375976796bc370358
+size 452422
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..600681920c44d44fa96573bb3cb3ab193cf6da96
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a17c3791bba2d8bdce1cbe97ccdd49acf84f1966cb77fbbf0d70707cae30bbbe
+size 590649
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5700f680e01c56c3f062a4508b4d21470c69906f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c72e334633b7c1a526ae77487fb2177afd94e6d8506425541c4b1f84667f91a
+size 413284
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..96037f09c102a24a42c72d5778586764789ca077
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1faaa560aa5d32df0ed723508a9b9bb672b902577b08032ceead88f20cc9d596
+size 672767
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc290cc9ed7dfa2d37010517daffb9fe03269572
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000053/scene_b02_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c48723ada07689dcdfb8cce1ed714f48fd2aacc43f4494ff7a3353fee73bd3c7
+size 486998
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a1d46d67fce1f9e5ad2ac57ada2fd01d6910c0f6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1eb91151493f0ed313c00fe18cc15a1ab763dd60a139e46c659376b1f226b537
+size 297271
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..32a73d229e8106d54190fe0a1cd44cb36f88169a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a7db6d4905a93f1fc8a6fd5a409e7000285331fe45bcee2695c3baa240ced85
+size 208764
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5befbed82d5e6a01063601c790189874e51073ed
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96f4571cf2f32b00fd6be78a05cd93df1578197044d593dfd9a223564583026e
+size 404834
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..57ae85e9af422cf6b18ea290858a4150abaf7217
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e194980e4f995e89fb52c79e7d2930b936cf3a0f97e78285a6a383246927bdd8
+size 333279
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bd3d3e92608cf6fc40ce412a60ef6b08cda9d595
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d740d2cae2cf0e6f26fbfbca2d9b1e43ca1a322658273df1cb7f5b85721535e
+size 593786
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d3a885f01dbda504cd5e5f0f4b4db28ce14f7e9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:592b0aea53758bc532eba512660b2fae34d9ef97e66c5ca2f05e31466de4e25c
+size 383918
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2f3bd4bdfc4527f982fa81d2bde619f28ea44cce
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d45faa658f55dfb328d017eae8bd2bfb101125311f5610e809be87ed9ee3359
+size 392231
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0bb59726c877fc17528ce1c3578dbc3b08814c28
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09184864632f6eee633ed0d18db89afff20acd67a9b2cc6afce404ea493a8208
+size 186493
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5fd7bea7ab9a40e9ba1c2f0c42d0e974db027531
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:771b029befbfb979dd584ab81da8d95127a9a02311f8fc2ce6c084a3d25fc9e9
+size 331175
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a89cef7b8a169a5b8a96ee6e2d4eb3e55036888a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b91f96e6b6942e5ba48dab64f0328afb4f542658bef12f975ea7ba4a87ab2946
+size 273557
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e589866fd9e0a822bc58b3d6c404c3f4672c9720
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19b18af7b0fe229ef838b96ceffab8886e0df586e61d8133b636ea2f47fe0cd7
+size 413668
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f4e7a6cc468d82e576697849891a2231e8014c0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e5312c253ddf95ad152098d55a174a84127b2bd08d1d4aed0ec52f9f3ca297d
+size 296959
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0277174308e9fb9ca879c76d8afe3ed08cdfeb94
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5641f9bc7fc754cd9839c76e81703c48a8b0e0ec68b562734ddcc413dc1a13e
+size 393014
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..43709fe76dff4be5f3a8193949bcbffc53ee1485
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cf67635319e5fbc8d111ae2848351f59d6e98eaf155ed20e10a429466633837
+size 264797
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4049f98a167d8438295e62d4f8330e576dd995bb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c58dbd07ac041664ff31cb6b6df9662bb32ff0679f02b1768bf0f5be1f77a468
+size 600285
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..abe8bf582698ea984102c2c27931507f0a220514
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce0d9974e4208f0f4efbafd504d6ccc073eb2df4bdbc3836c176bd4f0d05e2a4
+size 316666
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f67dadfc28aee263434211093ee0b42928cc40fb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ad1b3e51b726ba601c54c09bb2e7b1680b56fd25755008fa7577892c7bd5bec
+size 384024
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5630e44c674b3bb7e9a106fca564826bd9e711c0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c0af540530a9b4235b0ce96c5366911ed5bc684ea3e4597be56e6dc93c21e20
+size 302935
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5144e507aa323f995465c477a72a9b53ae80fd31
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89a807665d152f836b46f822ba197b0f7e4845039ece1abe6eb2c2b0df9e5509
+size 393064
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d3999aa169ee724bf65eb7fa2284788bfdb376c8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:249b04c2f5172ef49effc5ca77c068e9c5c9a1160da632fc0fc0117e7a743451
+size 219352
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d98710e8b13e9ea884a96c97828642ee8d572387
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:831633af4fc3fe517adb96d8ce94d0c96faca72c778761394d72d3c9204a096d
+size 523183
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0b4359029d845377fad17f67145e7f126b18cd4d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c576d8e3997b70ebb25ac96e413e334a6a132c25cc3c3bcf348628cb85e5e71
+size 389815
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c31f4327e74dec1c8b43202f73aa20f1f3b8de35
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b81a5d9838911d7f49f3fd880ddb30cb8fd8f77005e31620b5a9c2c02d0ea4d
+size 577322
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..bd460addb9483f784867bac153368b20dffed916
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0088ae4e718f06033163bf16195cc67276e1e45f809f2d8275fa476b8e885cc7
+size 342597
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..673942aac8becf29e80ce98f6102f8aaed3ed09a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60ad91b685352540f2df1cf1c7807e5e00e51f67d26eb5b667c356c4828908b8
+size 326091
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a36adb75df710080b67bcdae9c5b717940351204
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60a7378890d21ccd61ec8a107ed1360b0d7d55721e0bb91eca039114894d9d9f
+size 251209
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8f13360dcb4a5c7ae6475feeca7362e78c405869
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7828fdf4e62cd374e018deaf0f727f5c3e4b9d4bb01c01a853959dbc62c56584
+size 405512
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7773c7029b3220375cf0bd5f0387b8aae325fae2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92cbee48916002911c42e4af5de85dfc2f177c1d3ead046ad22bdce6e3dd29b9
+size 274902
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0c357c1f30c7bcff573ea607b2d3232a858cd518
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d6d723079dbe37eadf3be0b9f61098fdd3ee1bce4c61e9ab4d5214b03b9ea9f
+size 440023
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5483f2e4d6b852e3ea9e0750ec9ba4e6882cf1ae
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9614736c27d3c54ad18bc8dd3802c2a5b2c2d81194d6a012104e1ab4a1547f21
+size 280253
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d6a43b7547c7c3e74b44b07b0052d9c0b3a7199b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c90fed65e3066fc1197395e4141fb82d7f8c8c43f75fa805486b2fbe6b19524f
+size 348917
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0da75a0b8be7b5ba4424ace3823aaa35de24abed
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e8ba862cf5b7d5926ea87d2facea8219dd54174b255728a829860d829afb154
+size 171411
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..dbf7e75889c7317b5d3286b5bd6cb5d0a8677f6d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:049db9c020e585fada01ed6800383d2f02c8f8abbee8b31dd1fc29e623035fd6
+size 296026
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..25f1c6362138423080245f3d03bf6c8bb3ea5e88
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e976a770db43fe4bb91ff04d77edb0558bd0226874a040ee3a6c784f7231262
+size 198812
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e301d069d538c21abd53a7e13751eb1712664354
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bade0454531c69eff75cc738d4176188fbc69e015fa096ebf4ce0db050815d8d
+size 373316
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1878305c7aa86f312a1d0c1b8945ac35267a7912
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:014ab586aa4a464e65ef2d3e61c2abe055179effd8cb6244c6743eae827184c1
+size 278580
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c04717bc68af64940817266351ea4f19a9e3c8bd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2aad5330d0c4fb423c76b9ff30e502e4f9fec33812a7638e65a673883ab497ac
+size 463962
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f90f250a07578b125c5d74023bca98140e671bfb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d69d0899c053e87bdd4245b78f1424b6809261dc458ce67eb8a9cb4a43213344
+size 277204
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4ffbb8b62a882eb94e84a377d2d37ff2db4c183b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60155e1112d22997aed4c06bdb532aa0a5df20c5e2e82c62974e71001ad8ea17
+size 454112
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..395ab6d5275925ba999acb356887dea3e91d1cbc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca2f5882936684cbd43d8d3570cbd46769b1d774d2a65b281634528fe09f9edf
+size 268111
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f703961d91fab7b561590e2fc2e47f2f8c1a0741
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe2f61e5492cbb6e982cc336b2566070eef10098dd29f4027f28688ee7b611ff
+size 360391
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef5112bd838caf6701fac9d1e74b90534d942510
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9057a5a3b73e0fe5d386b0c9427e3cf105e9b68a993943595995146e31c69ff6
+size 141318
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d8af0c38048d607a1c2b161692e19ac49c1a96e6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1f85b209403a161de27611d332307a60ca81c6b44791351dce7288452170d20
+size 425689
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..dbc44f894e50e53a36357286df11d8798f7e9898
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44e38d86465d42851127f179df1ddb484a78721ba3dc01259bf615412455215b
+size 362218
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6dc0517b0d8e43ffb640ac944c1a03846f0b7970
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e43865111692379a36dcae9387d793731e200ff850a0e36ea3b1a707f13e4d3
+size 528177
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6627ae2f80dd5c47e1ab57a9557641509b6b2994
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:233f5dd47422b4247b7db3e2ad40af2be18bb5f7d0f174c02f3e4303c63f5261
+size 390287
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..92caf9250fff32c566748c0845eb4fad28e7ae65
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec1b4bb472ad059bdf1a5f6e4af1754b6f4c889f7f4b9ece4b6a12eaa10d8643
+size 570572
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b7edfc41136db544a9ce7eecc11c4e841a8b09e0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:303f2d01ffc7d10a3ab1859d3b7e5d3d0c1873630fb29c8a941f6719037f7073
+size 325792
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f120025b1d5c6dcfea498dad597b877765ea5a46
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31d28330016170783383ef2262c5c2e032534a5ece4fed7d40cc876bdca9fafa
+size 496319
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf68cc519377042be24d5839bf3c38449160985a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad08975dca05bb94d1514a118f7a2f85d2b21b76e952d4ee38b1f164588e06d5
+size 383410
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..254e47b03e2680463c6bcb8ebe0c9c7cac0574b5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2be12f0972e65401b5c95c3048d91e0203ce02a0af1c691545e16a9c099a3fee
+size 487222
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..33c8a82c0a0829b631b36631151ec8ae0d982a2c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50495a758d80fbf0e6d88eb7b395d3ba73699b05d8d97a6174c0be8ec9d1c5ee
+size 415991
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..673e3f628ad5f6ba012d449efafbb1bfec3c3f13
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab1c7966ecdd21d5dec95ab22687c134fa1908c5999da356f8d19971685d2f67
+size 413687
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..671f50851e9be1341c3d9f25e146d1becf9ba1d4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6597095ae5a6ac76a3f8e24cc8d95207673cbae2bd99f747f0ece7f69e7b7f60
+size 345941
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bb37dee09bf6f896b008c8dc43e090f2c9757fd3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:047167b6992c3776d53c4fc0d7fb49f9f3e91d58ff975bd2fb7906787ce1697e
+size 541344
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..80ddbaca7fe9ce7f89887f9787e47e5eaf04bfaf
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41799ae8337f1fe703ccb8932f0da56f4442fee7f5493c793a85a29bdf67f269
+size 288086
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c9d6537a2599a7afa7cf6473f39c8683b6960e0d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e648431e6c69864cd177c0660fb4323f203f97b3857786bbf62f81b2533f8e9
+size 241722
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..71ca2293706cc8772d9c3ebe03b51f1a21434bb9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52b66a7d0ccdfd22778dddef9f324e4f51b8ecb3a5051ba70fe7af67cf282cb1
+size 173101
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ddc36b4a823b565f46052d9f81944e7ca636a127
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce3882b3767bc024e3a8fa0b1239a7fdddd8aaf6c44a4673455e9f0d865e366f
+size 303940
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f37c0e92934dab76139af17f6a170e8b7581444c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ecd7cec0199c877c57a8c7b428092a4c23d4d8867239caf0369b5d9b1cc5f9c
+size 191618
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2667bfe75e232cd4efb38d9831ba7546f5c32a93
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5c1cfa5644a763c40f29923f071f56aec5fed3e9b7cb425e9f317038bb667b6
+size 555879
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..efb92b32579def90492763d1c49b28d374e96fa7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b01_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41d00579213544d027919b20590ae27ad4f15d2e63b81a2e406f3830a76e9ede
+size 327154
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..265e7e8b2205c26723d82d3f0c28c158d4944d6f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4603bdab7e66423654210dc2fa8fda86344e834bc7c02906253b4e9efd4852fe
+size 419835
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..080c6096f41ee33768c7091db40738d955671465
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d1dce1f14b0ff6ea32eb0756a783c1af59b4b87c1f138177d005143c6e15b55
+size 247913
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f4771dd67062bfa2da9df07211f5f20a6896738f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab2be5800cf6dcfbb22f3b802baccaf9b90cf4d4e100ca8ea2cdb52b5bf2e992
+size 410352
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f8c40aef8c994900fd3913cd453ab39c74c0089
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fbd737c19e984fe57781d5c22650d2a82d56713417224cdb71dca8d28aeabb4
+size 327007
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..786698fb1e110d1c8263b7b06036d6c34e2ca240
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae53d504a26ddbeaeb7f46c3ee86eb53abf0bfbc5114924ed759ad75e3870a83
+size 634638
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6ce727d1ad0752b5896c9736098cc767ca987ee5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a254b6f241d7874f02a625eee14bbc92d252de66a6b727c7f77e915dc2f6264a
+size 421477
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0ac15f384d5819e00cfc531780510c1f8f0c9bae
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5e2d41b583c4d2e0a3cac2032c2510cd40c38a395b0be8bb49fe16e06c7e689
+size 467815
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..af6ec655449d70078b5cc1ec4d7450e2b969ebb4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46a445b68311b96094df5d0a3ea75e16d208514c96f40c972e4233510656242d
+size 273325
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ef7f82ede69713b6532ef7f257c9f4dedb0f7b09
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01c5017400741d2f5670f9e22091eed9c08fe97d1a85014a5d10dceee0b7a565
+size 474913
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a6b7e2602a6a3bd21dd97badebff7604acf88243
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44603290f4e89e786cfe6951841bc9f9bd489c4ab5abbfea8e583c89081a447e
+size 280036
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..388aee5326f83a45c5b93ba43f20ffd1c261f950
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f0feb8793a7d17e8f91038647459ac4da68dba0679d8b52b717deab4e521519
+size 493070
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..db360e51f138e6d16b62da10278de43dc16c5ad8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b5babce1afea09acbae200d9af6f1688ece796fddb096b3a4c122730e144258
+size 315453
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7553289e7ea2f90428fdd4d24b167eec95f74585
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d492a820dcaea65c514b63da7766da1e69234c2eff62d9ae4a0d3921366d6a1
+size 344053
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3f5cdcb407688089211eb52f0c964d3b5eb6681a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5577627b37fbb76ddb03dc8b00dcb162dbe6c76af8391f5770842967fd5d2fe
+size 197400
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8a3e4abff9a0baa4041133260321f18354cbf46b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:394b04e5efac868759786d581842c7e071ae4dc6ab0579087c2ba63f017a472c
+size 301225
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..eaa22ad475e11408d38556ce4632cd7e4c296b8c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e42d1be16ed13d39167e5d9dccb85dd00765478b2a72aca7d96dac9ba73b378c
+size 122899
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d74bbe455f782bd2bae11c52f3985e66476ff5b0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b75f6435898f566bd0b13d87e6e10b2c18c5715ed2be9986a7c5b157e98af04
+size 393159
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e60dd3dd2f710fc2a0ac9b75959a4027e348e801
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2e8528869e59204b2d14abe20113a62944bb1e292bf7d6f62ff8a6255905c18
+size 283692
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..43ca7e01e51fd6b72eb0193d8a3f37f9078a24e6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aad5e36eda7a896b997e9d6d13e71c8b257a6a8faa9083a67c663c4d7398b3b4
+size 369113
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..02aaa56cb6a32fd8121987c262c8f9e377b9fdfd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb1ae01ad5173c763830bece8dcd21a7b9de3c52d4bfe2c517de94d1ed2c4c54
+size 237489
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3e686fcbee0b00f686b3704b57de5ed5135fed7c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d5f356b6b76b1ea749c4069677ce3fe08d2ef518619204cbc1117c4f88a19e4
+size 320090
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..770c5cce48ff9f294fc3f8f24cfea58883b4f67c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:796cf1f5ecbfc51496ee1267f7af48083530e598311cd1642f407f6d7c2e03f7
+size 144676
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..25e348f0100878e42c8d5da7cd89e45598501249
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d0abcaf4a1a992147d3e7000af617972e2b4bb780bf636eb8edbf8737039c3f
+size 404190
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..195bd242fe1a0cd5b9af1c7bd6d552e4c52665aa
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2d11b1a08045b1af1f81a0b56227e4e6ab2a21921872acd87f64cfe2866ae61
+size 152476
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..35c1654b8825f0d78cbe7823d61733caa6f2d0a1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30271574e193fee5ff19419143d54a54abf0edf6547cc5b684e4e86b6c258390
+size 454737
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..534a1e513421709d1082a8273c9c972484fa89bf
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51761fe2399e456333f7464853737c608be660ad78a2af9c9c8679f396ae4f68
+size 284027
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..254716ca258101bc354b6e9f05b996c952ea82db
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffedb6f3a64ef922f5f3bd194ee012fca920643a24ca1622a073d8b29ac642a4
+size 404737
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..69cb19002544d914026ea2ae05dd813247782e35
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:217b0063bfab3a763ad10e1be3ad748ab3c3a131c7067df2d563e8d98f8a8744
+size 193240
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0d5a1a1af84b7b917f1acc5c48f47b828217de64
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62538dc24840ec21edf02bf1348db80717c426d1d5459c88801660b7792e25f2
+size 507436
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1174798ea29dea17d77ddc70a7f14181821088c3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23ea7b7121831fcde25162beb01c4588af2da22a836cfdce8ba524f1469da0da
+size 371002
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f47a45c7fb21f64e025b4e3b702f9f59b4885373
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92acbcb5dfa11275773200d72a58eef8812081f6712ed05068bc95ba961e67d1
+size 204634
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c644347f3558611343de84f181946186d04f8488
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4dc57ea0a70596269e449a6869c3af9c006f52ec7d7672201ae2534a03941d1
+size 159751
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ffa6721573236c754078322010c7306abf9ee288
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e5bdf89ff5458cebbbc9917461d883a411b6d43cc7ad8d2c533bae31ef92d0f
+size 459876
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..21f4329e95f9180a89c20583c3068e49af6bcfcc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1eca7c3d315a218f0a9e9cff865d483d558c2c5a529c0dffca8bc62faa0f7167
+size 346846
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e1b9be78244d126f8d8df02879b5214f3b247330
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5a78cc5ec4341e55f441d77887f27bb4c235b9d52d4abd2378715c48c05f995
+size 425382
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..94caa10e0b57f2ccbe3ec7aa7aeea755afc1b759
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d81c8fc8d6453344b30fc277186c7304550ea4020bc8c141b62582b829f1814
+size 347130
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0680e6ba83a98bf4267fede6b81ebe89729b7010
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90313b424329482f9fb4f8ce4b05966cf7b86eb2593ca5e7bd585c910c734cb3
+size 339625
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c7b6a1847eb30a5ee130f0c590ddea22c3accc64
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0200d05c46bd08b0dac504bd3d3e802b959b99f40cfbaf84274cb6d9166a035d
+size 249951
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b805f380b0787766ba4cb593629cee0eb26628e1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:faebdf50cc3323e9126abdbf4b68f492d746111fc82e7c130744de8ada32f314
+size 291198
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..359d3feca716b6ab72b19db3724df22489bf09c3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cdf29d46ef544dcb5ec48c70e09e379c06cd1943868a3f2ed5ca57a2111325e
+size 140575
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f0f1619ba13825ec038514dd45aaf02ed3d8f92e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6041898ddb333b73cdb2c1fcf830e303f3b998e67278aac3f7d13383e6a4893
+size 283100
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..688bde11b4780593ba82d37bfc16a46750a13538
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e177d9275c46817cae3df7802a7f6f83f79c8033f861a25c2942eb6496a4f61
+size 229007
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a41da34f4c3d6fc2b63a44f261192c4a50560984
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b510970c793131a82b0468a8ce87d5196ddd05d55ea00002dd010a11040fe54f
+size 236184
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd485ed015f379a68bea98631b8ea064a32f9978
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c27a313da02e7a9ee7d042fc21c19a0b170fc0f123c721746d0bdf440c2b9d4d
+size 127226
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..16e566fdb0a05bcd17b97228d6db4ee2c72a46ca
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bd3d0dd8e8686af0d3b4b55f4fa662e74b36d008ec00f6d2241df59a9aa5c85
+size 289944
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a47fc21800e7f860f2171c182b42ea12815cfc0e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa0650d651a04985768354e0cef64af701a82b48a984c3bef866fec9ecbeda24
+size 199706
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..659680fdc7c18c084dc98e1abcd10ea404f1d872
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8887c0c56a93abd587ffd9154a76f7993a7b95caf443bf5cb119fa66c49c24ec
+size 355188
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d3bceea1a3cf0b59cc213307d24edd2284655f8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ef0f918b9700587f596f8ccc6b6acaa21c205258ec1d3f8c9f11c7433c80819
+size 153198
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9c33aa511b17526abec4706d25f6f908bd7542ce
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4482dc4d0500b48680630b1a2a5ddb4b9952d4add32e6621ef9e47eae5603bc9
+size 420644
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..753b9a25e7f80019260b4381629f0b00eea3851a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbb9c00888db5a31e8b9255157649a721bc999c50ca58bcd15f9310e66372f82
+size 331735
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..78e833a2dabfeb0ba08ae0507703b5fab1b21e6a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94099624e6458417d808053ffcb05ac0e84569cf7fb39660e1165cf11b9b80d2
+size 523850
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..186237395444445cea96dfbfa48f068e3ea98f03
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f658c156b3527aed2a66186178d2a2fa85a70d2fde3acb3751cda2759360c2cf
+size 306382
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0ff2566d6e346f23d8ee740987d6be70f22d802d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:403cfbbc37810d3f915b79ff710d4f2ebdd4aaaf9835b999ab3265285fcc5c24
+size 514349
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d0a6f0985652fdc153da9da48222b6f368d5116d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c072087e81170351119800424a753c7a88f52f348f983ed771449ec05406e46d
+size 323676
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fc36ebcbd52f6f0bb7042bea7eca1fd30e3bd12c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dad612694fb17cecaa99fe7e81e7bba3c534434c7da4ec66b33808bd928cd88d
+size 365250
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..459a73499aba8a4db588cc07ff51fcd214331b3e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd829ce89b9452d6222adff5b9416e4b37eae7be865235b195de902c9de6e5dc
+size 261053
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d880f0ab777ab5780f6aa5a48e8c12f324016d5d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3782d36cb1c6279336ea509fa5b036f49981d5ca155ff9e47980b109a68e8452
+size 299522
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9325a75fda8dfde6952a3c2c6fb34a80279e5978
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da75e1f13ed902a567231dcc120e6e3c2fa2b9f8190dc78f8e2f88652ee2d535
+size 248072
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8131e206d7216ed7bccbf6d842ec2d20df2a5a03
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89e8e69dfdfbc4f05f37d208012712ff48ab20dae8f944a77425786c4de9549a
+size 361338
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..bb1083f745a0dd67727342b8ec809b2370d06a56
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b03_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5465268b07a5a6b25569bdc9786cdb44e3d21a88eb9fd5c2d817dec639bfc3b9
+size 257213
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a771503a08e9a035c7e10458470a724417fb10a0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38ecdc867d5e070d98b840fe5759658462106d0cae49c3fcf4b41febd11ec71c
+size 94394
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f71c92ddcf9878e60851bcf6b8fe0f176bd72863
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a065a2fb9af6172a74040824191b0a412b58fd8c2c306fe2b88d09f09567a5a
+size 44695
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ee0002ff7531191613509a8fc579842fd3942270
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3136660c10f7c7192f2d2aa54a2cd26d80d9d29dc830e683c0dfb2a2462f7f0f
+size 467411
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a4cb5f3f6ae73565fe49d4011b9ef844b96f7e82
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47ac33c8971508bf22cd70cb724f2fac1d1408b9154c938de1f597623b92b8ce
+size 290767
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..88da7b6cdedeee74f12181c1747ea1fef203b736
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18bde215becbc53d0b92bcab2d182ae7e9c2ed2cea0c31193bda05f8dfa09055
+size 227174
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d462bfe0945af1f93e2fab048909711265c47ea2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b3d6beb64d670cc59088f27b5125d37f8b93b13ff994cec9b45517b448a87df
+size 143515
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..533b531e01b0328f5ae5c3c8c8df1e9a7e288515
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f07f919a151135ac9ac904ded2c7c64b9812ac68ae1b3ee3a94f3156652a03f1
+size 370146
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..35c35a29a63a6dff62c5e972987e0339de135efc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb5b4b180bdab920e4de67386f0d62cf17fa7cf3ae1a7eb7efd449b9bfa40387
+size 240434
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..314aa88a42d440f2eda3547166572a50d93c051e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:049fd00a0d042f527659845183a13b1d7d6168d34faa4d74701f4ff31b182b25
+size 177752
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c73319bf5520b17ad1862fa9820a203b050101e3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7be32047365ddd106ee0f665a1b1604e7760b24d65186786910b3e13599aadb
+size 90343
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..428d2c9e850f4884223f6ff537e6b17ca139a539
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6ffc2f37185a381433016fd65124488973a7290052787700f7af32d369ee9b8
+size 336861
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..795f27c8ff8b502e613b77a9f72a345d965f44b5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:089d14f887aeed5504cbeffc665614c1b139ccbe8a2662247a9546cdc89686f4
+size 261266
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e6666dcf4d8426fa58088ff1a79143af3f502817
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcdd5a596f4ab63dfe3cfb2b7d6528358ad50d60a14ced4d9fbc7c5a6b105ca7
+size 526183
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a19c0ecb86570a9ac902d40c617955066cbcdab3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67e492dca48a4313256939ad4146c6d50ea4ea50c83fc4a11a5feb7198935801
+size 310878
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f1f8a15c08bf89a148ddbbb52b14270db3ea08ea
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b0256c53918a1cab4924d5ac92c150262656bbfed4b0dedf52b299e6bf087d3
+size 239174
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf68cd4a7be2fedce92aefe04cdf55cc06b44940
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe9d7d8672b296c115aa607b366a699385b91cd11f000fbb514c91a418c899f1
+size 139565
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ddd813e722bcfa762bce66192d97402b3230cdbc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3a06ce0ec13dabe59dfaf4b78949db1a4a7701e984e3ec5d4963876cfc7039b
+size 426793
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7458553c6135c41ef90bcabd8c5049326cbf5d3a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:848d2e9d0e00ab11cbce488c20d464a5c37ecfa91aba34d9eff1728b0e5e6feb
+size 198967
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f31465558e3f2f881d9162d8b86c26072b911e5f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66d1671fdce714f3f260ab22408a5757f7398894ac0822bd04068304237dc597
+size 247818
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a87fdf5e3a3ff3db5dddc978c211cb11e4d60afa
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56409f474470f342cc53fbdcd241541f9b013793caaed234ad716bdd36afe003
+size 176414
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..491750d1799cfe051a5b5d63d6b3705639665036
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c5126426a2041a7883a5cbd75cf311336843331860e3e5b7af96f9d0cccf5ca
+size 111766
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..849f38c53ae96c77dde5592367febb0b1edbacd8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b00_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78dda462ba8ee6f1ead47b33765971d7a37a40fb570018cfae5611c20abccea4
+size 64480
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9210dae9811985c6f219e6f6269b1628b7ec411d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8d5ea8b5dd0bbaaabee9983d5686a77334c9b12e7cadd43bfeed8ef5abc9168
+size 361861
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b77479d9bc655f02875cb8d904109ea965815b9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90f2893bea72889be42fd75bcb0d0424d3f58d5acde8e98b4d8174af749bcdbd
+size 190947
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2f8524666f84c4acf7c1e7145fde9f3e0c89265a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f7fafae92a6d2db7fd3802453d2e8b32c947196fa9bf3b0125b7e180af8d05b
+size 370594
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ce390abba8a40aa200ce3c3821cd5725f49eefcf
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae89458ee4d364fcaf163df231edbd448bf3716507df20ed7c1b3690b6c57c8a
+size 225907
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5ad29e2766a5e751175a9b8b1a9ef350e1b33231
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bd839d5f253a8655bb320077dd5e6f81e51e635d367603a0e5189003d935e18
+size 515973
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1eaf51337e1ec9dda2fa3f57d6044d50297e260c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db5baa34a6151a0acc9fb72687677da505a5fc94384248bc87a21ea4f0245d00
+size 280104
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f6419ad07a10461d32d3f8857b6ed188841cbd8a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50817901d3dbeb24dc52e244665b607e99d01ac9da80d1c48078cfa3f243a804
+size 410106
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4dadafa2c780e8f3bb02580dd7519ed165522cc2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0dcfcb5e2ba55e51847773975cc3ccdd0b730c6e630a822ac91c8a597dbe1a29
+size 239313
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..12bdba622bc8d016ac0eddef3d67773a55b78fa3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a859d1aa18d474c832d87987ea37956fcfb75e3682449b5493f404ae8e7672b
+size 385263
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac7dc6eb5fbb90384e8337cfa39acc9fdd822550
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec680dd91946e5df47e23cd28c4ec6fd336d41a601b081fa647640be422b9a91
+size 283627
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..24e0ea5bc5f830d8cccee4a95e52b662d0965162
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ac12b8021aa646492ff35ea4d57f28b81dbf0d4bcca27c27833f2177ccd0b63
+size 320990
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c0997b42d771d0a0d613f3174f0d0eaba9b9e6d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64f695ea6157260031b28ef1b54dbd6353b6baf6781c767c199912f642c599b6
+size 227266
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..371d2bb465bee9fdf127c0c23ca0b188df8f2422
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73cdbf3e7c94887aafa5395fff04d81b558415183e8af2cfba8a4af3cbdb07b2
+size 552472
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b356ccb9dce729c3e5d2f2fad08ce02d8eb725b2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a136f5023b68054084a7a2f3ef76864c667e98562748866934867071506183d7
+size 292081
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2ceba6d4bdae30296e2ebe5eac91147b6fa42842
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acaf6afeaed33e60f4e5f62ca238a60e72af926fe4a81ca120b3a4218a8eac9e
+size 461896
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b8af4d600432521d5a5c8a1571ae284cef115cda
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca7a45b9c5dd54219ca646936085747d6dbc96629e7a1f8835bd7359e70e61b0
+size 291916
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2d25561975f8226340487284936331ed20e9b764
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea8ef96acdd073a1f2c5141069c2c7cf816c84e5dfb5330e1e5b829dcad1b347
+size 375612
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd802934492f02527114e1857e04a01975b449e9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd2d9eebd78f6e272f9a551b30ead4674efd755e1a3315ef22f7657f2915cb06
+size 238992
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8a091fd29d0825c12b6df94dac568cb77d99a1e3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03a26a1eb55ec87842c9e0727647ef7904ee4503e4e21d0639a0c60490822c2e
+size 310312
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..862cb1c45d944bb597166b2fc90469962c6662c8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a77861813a678d1b0fed9e4445681903e304f8d882315c435fad2448ce4d6dc9
+size 232336
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3adde29ed2bce0c240a84ee95c6b386d8dc22d0d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a03148a90568d72e8114f27279c03f977e4b9bc9af7a3a9705d40eee0b5b65de
+size 457491
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c80c35f9e56b27defcc3c4e71fcc0d6232416347
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28617c9f82c93360db0523c0a598a376a00f11e6985694de73e8607c3a2cc5dd
+size 224918
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ab779d45214fce5637adba1c85ff535699b570c2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47517dbe27def2df8b6c0550e17c81e483ec38804f86597663826347def14fee
+size 464916
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c6dde8dc2331d104bc8513371e500069cf15440
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b23cb9491e2ae74b7d3ccdb3a39681cad7ae8d1360d1e08c28e03d4dc073876
+size 267937
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..19a79635141a41bc3cf4759ff6d223b27a40f4c8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0f822af5028a9a02fb10a76a67be405df8c86a48baa980a4d43dc7448a41cf0
+size 558992
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb3dcc719dc73f457a479195b64ab798081d2a75
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b01_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f480052cf26e65695c683b3b203e25ff7ee53800ae0e00a112176640fd36e1eb
+size 300867
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..df22f34a8d277b8a8856449176807dc3d3a107c7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a87726c304b5dffef4bae86fbde7f205fc2964769be38bc35a738fe4f63def0
+size 338772
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d9887ac8331d8d094fbee0619d89dbcb501917a4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bc476ac77ed6c6cc28594bccbeff50e13036ba9d1afb135bd7c2436d7249f3c
+size 223474
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..92d6e395db3b82bb19f8d4fe1e846147d1678940
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b966beb21cf7696aee256078d33a4c43de4a5144d0257fe78e8fb156cbede688
+size 268007
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9f6b7166de4a61cbf5141677d9dec8e3a9d06eb3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b45ce2523a1ec0f8cf0a9ff531c667ca23eff08d018d04ae6a68ad135505faf
+size 160694
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..40b9a2255836477896a8aa38654cc8590faecb9a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62e8d325ff52764f506f6ad651d0296cf32c22ffad567d2b8f109ec213320783
+size 419086
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f523170063090980a8147e4bbf7a3f2ede21b418
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1d8e98153b76977715ce38c0d8c3c78e41757a124fffeac55648f20dad38489
+size 224631
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..869f8bc06625a656a4d61d603e3528901dced8a1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cb10d7a56be89fd6fa22bf251725def1ee29e8a6bd17a76022c4cb0ef7c8e5b
+size 322486
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef84bd42cddd380ba07dfb088ea64a255d8f58d2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f86e70e6e2e0882a10285e89f7ccef38594436e35eb30805ac177bbc7dd72145
+size 235297
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..52061af222964a19e3b9e693480d57f120b0d662
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad25f00dda594f5f48d4437e15adc2118a0016e993d6b4cf86ee8e450646049e
+size 522556
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e199e9f09fce9f01181f724ec4f82d2bfe29ae5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0e1463b42cc2e3727c98a9ef0cfe3a5decc7aa4a45317e11f5c24880d5f6818
+size 301340
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9eeae1c47ab3115daf00a97e0d8529f050d64762
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bb9f695c2334fc797103bb08815f4a83a5fc272afeccca23098ed67d62a0c0e
+size 261499
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e25e49d007321881cc189a284e3fd9cc92cc2538
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07ffa6692ffa4f7319bbe968432018ee31a419f157c59050915e273f78056f50
+size 159989
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ed3c5177debe3cd42a96324d9d13daa269623778
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:053dae92628ef138895102676b140e7dfc2fbcdc6526a3294cbc076fbb64eeed
+size 531635
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..71172feb1ca7e551972887b57d0edcd1c496ab4a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c27c475a046dfd9b20b0b0e61a9fb36aee65349e21edf792d46f939769e38f2f
+size 299385
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f2695873cb958ce17ebfea4e3682b98ca554706d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fe7e8e3ec9202e1ed4ff63c56efaf3fefa33741ed088eeb511cc24c68922d6b
+size 233532
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..145972588f3fb76a1d14620ba747b78d377c645c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5dacb41bae6b25604a52b58f0e723e2c8fa6e2c9d3549181ac66b8c15b92cfc
+size 162723
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8823a0398d70e5ac1f1c24ab512f39f63047da32
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9937b0e1f671c1bffe1f884581fc94e46f1d14e924a36897bcbba1a928dc0c97
+size 516920
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..71b7d5f02db6eae55a5fe0062edff6fa403ffc67
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:414cae7a249c8440496a79092557a391844b26f6821ea4f2f9e1d97c055e24d3
+size 326614
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8b13c0e5eff8506cf39e2b47e902ee3a760edaa5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:419ed9822b18c5edd3c1f9575e96f44faf4efa8ee796ab9f95bf154590b004fb
+size 241054
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..bacc65b176c0986f9027cc0c452a906fde97def0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c73f1b8d7a9227764a2ea505e92a33c3fadbfaace32273e71fe3c32f5e71af30
+size 159189
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8b08a19a6b1bc74bb8c8ce4724e5c4e5761752fe
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e93c6762b2f0ae6e37dea713f8f65fcd57c596fefcae14b482a16e1603d06f6
+size 290991
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e8a4566be99c677986bfb041fba180bde774af9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000081/scene_b04_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ddc3dd943dcd68b780a194e3ebffd5dd996bcc66a30ce4af30b4249c0e6164e
+size 198960
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b00_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b00_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1cd82d6edf160f75ee6fb44475cdaa62d210a3a2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b00_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f75f19e1439348562ecd64b74d517252f502b6de7d68c1e4e7da4ea651a58f51
+size 230258
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b00_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b00_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..aedbd550c81150f54275b194fc58d016d15d5e70
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b00_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:501dc66f4330c2272325077baeb54fc94d1db4d4d6c1ccedd31a6dd1624e8764
+size 105350
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b00_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b00_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..46a06a6f0e93d2afc48054e353fd4af9980f3b69
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b00_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37baeabbed67434fe80ff0449cabe9730208c68d0e2241ba04bac480e2fc0529
+size 497247
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b00_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b00_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..35f149de8310a2e9443391f085420f2f68704a99
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b00_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd796a7b26d36986f73ce7b413df04155740de1fb372376c3ce4ab23ab972af1
+size 296198
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b00_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b00_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3cd6401c44791d05d187826d89aa5d55c2c22d5e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b00_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a73847205c00e8047f728667ef08e9d0f706e351b653d5e2ca892a166aeb0b35
+size 417823
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b00_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b00_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5eccb13b912c96bd81d33ebc0cd3ebaf3852e59d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b00_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:314c199175dba042dafb77705a19fce046a9975878a36207dcb61f03127a10c9
+size 339798
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b00_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b00_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7099c924a4074addc7b07f0432f466c246a0ded1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b00_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff6cd1575cbaeb992df78a9b905156023bff0756b938ffbca5ef1e1ea6dc6425
+size 189401
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b00_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b00_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..15615a68f68d62a7949848df6209e79fbf59ffdd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b00_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:deccaea2ac1e5b8f69472870e5312cadcce93cecf97b1546e5aca00c8aa253ef
+size 115796
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b01_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b01_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3c6676a8cbc7cb2d0ea698e157f277f3d5782346
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b01_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84d0f44eeff5dab1d3b6b9dd3e0189d3c15d541366ea7386f4fe82b881b5be16
+size 398851
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b01_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b01_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7734fb869b9d80116b4bfa40205e450715cf8563
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b01_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f26b16564e0cc4ed99bda39867ec636b2ef4d448f2ff4a9c8a53ae7a20f480e
+size 307281
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b01_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b01_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..74db215b3184b6d42e0372f8d1fd66a790bb3973
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b01_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be89850fd66b2161b942e96c8bc9b21f220c7f1474c11b2aa4a7ae1bfabeefe8
+size 137529
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b01_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b01_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8edabfe8384ffb6df57500290eceece98bcd79ec
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b01_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7bf0e9bab4a17f89f40db2c783f32f4864c47a2d927af0ae72e7fa09f0cc68b
+size 98052
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b01_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b01_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8627c3cc03457828cad2df497432875a26a4d5f2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b01_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93469476e6f246a9e96b01fd63895a0337e4379d20f1568c65e279311573d31a
+size 232269
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b01_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b01_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6174346526a6752541c21b1892fabf653c9266c3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b01_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c6a984e0675a9b7c4cf51e4eaf79df221037246bb7f07cc43c41423b81e0f0a
+size 214381
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b03_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b03_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7f88677aae07697abb9959632c877b4c6e86fe72
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b03_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6acc5321acf180c26898ae17cd13d769a01031d2b14b212c34aee0ba67b2992c
+size 514954
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b03_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b03_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c10bf887038e31d0dec743cb8e90a15f28521310
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b03_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cb5ace65ae9f9689ff554596234f5c32fa71d7e18bac9c2ae184026c3d7661a
+size 318588
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b03_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b03_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3fa2700191138d934efaaae1057f29639f1b1344
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b03_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ff9bbbece6a62c024ddb06de4115b5b9aae10e48a710237c94725ff78df3df5
+size 495484
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b03_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b03_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b266ec4060cd22553ef03ded019740db25fca22
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b03_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c97d92da72491adbf0cb2bf91565521d8ce7130c12c9c003c11283160504576d
+size 331868
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b03_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b03_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..746a83647cb247b433dbf96858cbdad9602bb4b8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b03_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b98331f65877756c69ee3f50d0d1303555b7c2fcfd742fa68c341ad567759da
+size 328556
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b03_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b03_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f10dbc3129a88c06b386209cd6a6095ef7f7870
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b03_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72da75b5ce7959de8448352b730131fa09775507513d1c96e527204c29d3e8a8
+size 259997
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b03_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b03_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d9b6e994bf3131027174aeaad40b0b1d6323cdca
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b03_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc90c7e138f152a2b39139d5b21b79b567d147b4ce6622960cb2513104ad3713
+size 363639
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b03_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b03_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e29c4ba50592cf13e2eaac59a9b1506ec0830db5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b03_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e9281df67b0c8bc68c08e962df580ae0a00aaebc8e8c4213d29db2e5094ac19
+size 254361
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b03_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b03_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a416fef550f8d4e8bd12d1dd457486590819821b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b03_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04ab8bd6df682b2b1d0dc87387a36f30dcb940614e513fe155e8b112ab0639eb
+size 280343
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b03_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b03_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7be56e004e991bb086c80a163f72770192b33327
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b03_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:907a3938cd9af60d242c8a744de1a373df36babef9b6e20a9a5d365f30528650
+size 179525
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b03_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b03_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..56355f3f684d4be6b2e92d637a7c1207676f4104
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b03_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cd6879b2180f27c93e499418c27421eb8659e865bd73790b68817eeaac3de8c
+size 559168
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b03_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b03_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9bd60ee794c5b9e4e64743d4be0f1401fac6708f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000106/scene_b03_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6479eb846ac8e7ba49b0af1850477b0dd5ee5dc55881ca904053afde0faee50
+size 390330
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d79045398d21aaf53a02b16dc5428a6c2a5d5e31
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58d923b0c074105d89a8223901e408c2c730a612f11e56ad4041dcab58f35d96
+size 367726
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..328e13cf073fa2dfec0f0abfd9bf46882b16f679
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a61c1aeff29a92891392bdd27f244db3d88ffbcdcab26dd3eb88f3ff397889ba
+size 232397
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..29aa32dbd83a442565cd9510035c6359674d7e0a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0aeee834ea22da72dfdd95a352a22e89efa7a21d5e7974d42096dc7dc2c1fb33
+size 378269
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e5796ae94594d0f2b59ed99f3c0b3d611397c81f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44141b6b3042560a1680864ec109406365dba52b9485ecae41ce9f9b4b85ed3a
+size 286139
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c0b1ccee09121651adbfac8f08d6e4774262d30e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52cf252b9b889776c0337b03067b4de1cbcebaaa6ef190bc6596f6832263d826
+size 299461
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6123fd3a8e74443af239b3e2f6960132f8de98f6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abd9528f9331037120a6a03abc3a037a69365493498f5837d3a00be61811c887
+size 178282
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..496f2577841d4aaa211945e52c91cf0e9683cdb9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42a84fbe4d12e96049fc2b23fdcf0c0c42b4241102a23f2c9f3ceae9c156d306
+size 322110
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e861afa744592a9b662d59b58481e7fc2576c612
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0215a2813d07b8be1973750a1489aaef8ee70b0234920a6e8d06c305c49fc64a
+size 186235
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..71e70a7599444083d911babd48d8d4dd3d4186ea
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a14420b16908c3c791ab78802fcc9d0e5c5e1e7d28065ea3bbba46add613f80
+size 400973
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ad790ec7a9b1e1610850f3f5c067c83a73395cbd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a0c8f0bad8c2ecfef6532da1f68c854371b1310914b9a60aab3a32d2d09e0ee
+size 239239
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..590ac4a650e3f919d2031ca3281f5993f011534c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bd32e712b6e40203a54c3a4c639a770ba12c6685107bbca9b64ea529f20930e
+size 361147
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9766c8625af568e0f7aafced047dc16ea8019db1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85661ae0ce8bceba6e5bc3c0a8b90fa4e56039ba0ee2f12d1d7089f74ddabd37
+size 263468
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..57e47c6d246933d6776a1211d7038e7561a9a361
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f1eee3687e94b6a9e88c89ed895ade729ec005ea893b446162deae9a31f37b4
+size 576613
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7bb766af012c06cc1963d62a6eccf2b8c270f59
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23472eacace000d8187c3e94a68e344e3e0fcbb4203b361375c2a5b3ad8d1c0f
+size 430309
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2c1a3b5509c21468aaa58a7f6ee67e6fcc9bced8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1dbeaf91d591245363a4456aef5fbb82da9e6e44404424991774ff5cea7b2744
+size 520957
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..17ee176b05ea48aa65a0fd00e35d29b403677e1d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b46cab680ed2b0a3aada5436a5a079df25772685bd571f365e9a6f9be031acb
+size 325857
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6c67530881288c5becd69366efc5722813d7af7f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:051ebe339d8eb8fe75ca2c6a00f64be0a99939a331886bb1c0bb1de4f8552451
+size 393342
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..edd14733e6c480ea76c8168c5bd0eef3ef8b348a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bf94673a3f7b0a155b2413529d93eab126ec1ed5892536d1044b32678044c8b
+size 244170
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..831bfe3484915d406d80a45cf705155aea012eb8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f82893bd34bfb8dd8896a77ae327f1c48c2e683db38854b812a4fc97bd5c5ad
+size 284269
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c9d42f30d462e7b5f4470e7d430fe903ef44fba
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0fe6c26f316693b6de5d0e146885417b8516dfc47ced289068b32dba8327bcf
+size 219008
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5c1f23a30774c1f052e3542130e6e53a8a2aec73
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4904e4cb5319413e1aa3944c37f991c70dfa839c54b7d76b7742b59fee41a052
+size 414161
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..54dfaa1c27a30af32d723b5c6065eb4fd0631d0f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a738d88a702c0ab3be13c6e1e7068916ed78059a8b11d25e8997206a0eb4d53
+size 339147
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6ed60be9a85320d5394f212af48215c0690238dd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f0a1a1721c767b599bc069de1a8aeef31ffcbb25bbc16388734a1ec260498c2
+size 406098
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..45c181f98f4ec0293d5c0f6ec8248e6b50e16c86
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9bc155d03debb555ba7660baf772aa53cfa64bd7885d380ed47ead74ab73bd8
+size 261255
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f0210e70af0ebeda5298dc3b38c65d5090b2388d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8796715f36a96ba1bc3874fd81db68e1e1a6858ac32d50a7353a80d7efc1aee3
+size 329533
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..62af0997ecd4923c291d2446a07dcda9a8859eb9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9527d1e82a256c65fdcbf87e199f3baf5478d8de087ecdfbf66228408876747f
+size 225827
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..dff101d783120b773914fdd4689d3779fcc57bd5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe7b8acca74ffef5169eef448ca6e2c53d670f6147457fce8e3da2b558db869c
+size 448003
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1fbffe23cad00ac4aef72aac76eda71337c28c49
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3946c2cbb8e1b8271f0e3ecb62eebe129b3963184551263e7a9d0c7df3a6afb
+size 172756
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..14e13bf3c4e636299d4a5772c0fd9b05d7335aa3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:955df765434ab6f44f74f520123cf337bc78fcec7904b050c9e671208600edf0
+size 318096
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f9f03d854db55dfa90f7ce9e8eb1279bc0113edf
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1021845549eab8a72bd70c89e90e4bba08678321962df8fb1285e4ae3bfcb5fa
+size 258352
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..747599be4be41200c6a526219977ab13fc0ce338
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d43c47f33a8020a3861591265880bc6c340d96eaa73835ddd1e8063469508934
+size 282173
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ad3e73b5ba65b0d250c6c1abaea5a08e0ee33bb8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b00_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11ac3f55b2e9261efa51381dbb4a78e0bd637936681c1ca8c08e599f04e5abb4
+size 202132
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3ae33f35635b6965915e23428be68210a4803119
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7b7163feb95c712e87beffcafaae79c5d05c817275daf74752a4c2923257f3f
+size 359071
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f541b4a2d3fcf1a519f1ed82e40a41f278d4a34
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0aff7c133bede3c813f06250d4271431a47542c18b895870fe461bd26f378b31
+size 281331
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1eb6b3296255febc5f62afbc8a99d51e7b8b52ba
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2950c21fd8f65893ce8296a97c8061858252fc4d0cc252870b8ac546f5a43d30
+size 457153
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c0557a8a837972990548818601deee719c07bf54
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:885cd5a7389139e3a880f2669fefe7222a755a53db694667c1a70d52085e2f89
+size 278538
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6c6fcff4589e96220efd86f26bfbfd54b5651156
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6ff13d45ca06041e66f170f9ef714cad71f5475db8e3c9606d0a604d25495d6
+size 522796
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e27a2fd4607ea4efe0731c8ebc0c26cedf76ac3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cd012ebe15b4ba4c50cd8863d94b8a3956bd7b5e30d96d1c5d8361a1a660531
+size 335519
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4b9176603f9923f8a7e62405d19994c0e957d9c0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c59501b1e944fc59818488b886a9d587f2f895dc4d74a7743f48225da7f84d2
+size 566054
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5126a3c3deaf1eaa27f0d264638e925d4ada6808
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:512eac8144662f824699b08596cca6c9f7eb12cbf05515e82a8bf68b90053773
+size 366390
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f134f7c9d3e72a8ee2c3e1826c27c56df614db42
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b9b29d2c86245ae666ace212baf0bfd52e2548d10d3c428303409330b6002e2
+size 264170
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cab73fae728f13e81fc01007579e3092ecabdde0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:121536b55b194457332971d2f90cd31634c7f8b071a096a5b963493e969af85e
+size 146875
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b22e71feafbdd84310a4a7e74a0587bb5bbb52d9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46abe50c81872182fbc707dc4fdee12e71e06af4c8b472907e36bd9212b06a1f
+size 324310
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d7e0dee6ca0932637f1fa6d1dc95734ba8e12913
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d2cde2aea4e31e3b0ae6dd08d9672bd55d1ec6e8030dafbbabd5c2e483ff5e5
+size 222598
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..02b76205f27f45e706f0af230487fb090cda94ed
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a95f3620e98e41a79e2edb380ddc530dd6edd33b3eb608af09141e26d9df3d44
+size 396795
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..94807d7025569e5e6fb1e1ba853ed2157347c4cb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4792b641ffdd5f67be174d6751356b664fae24f60d93952635b76519850deb5
+size 304976
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9e42e27802128876a58609029d3f1b733102d052
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c102ac2261f79f795e17b9ba60d26e86d4b78431af4b4ab87a26246e355adc2
+size 343470
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3e0009f8d8c67f3850e40aea0cafb09a804b765b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78c888f40ef9605e3348f95a432284ee13b3f89e04f9af77e54e182e9be73218
+size 118749
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0ff7635c941fae906fcd02914e1b6d9da0920e63
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2179cdac057681b3eed1b7cfa88738b6bf1694d12f7f3ca6c46ab89e8018b897
+size 334801
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c93e3b2b4bb5310dcaeff56f291461b7adfd3afd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9e22e434c05a5c9d27f9ecbc0b287e137e3003d6b65475503e3e8eeab47d16b
+size 280481
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..11900cfb0d2633d28be410b6afa8d0d3024cf186
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:236873a8b169a5844363e937b3ae056d4f1dc2db74cc336c46b246ac48e9da61
+size 387713
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f35b07a6beacd20fe146f7f77bc4a2f5efa8a68
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22ba7830caadef5f8327a5c6171bab872ae31ee8aef882aa9f0765e14ca948bc
+size 309020
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..edace4f61b0527bb9c0de51116f88250c4945b17
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1b188efe831b14d9705eb57eb21071f9ca2cb28287513d88b0fb4050f5d4b9a
+size 395861
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..64c5796f651b8df582036d6fedc7aaecef3bd860
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b54a43cfd5710e6912e8dd00b0f2c875fe84c1933644b9dc5e615a3f6637c880
+size 289942
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..acd84fd29b62aa9123eb490760e0e802f783662e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b9110bf9f03ba3aed59fe13ce8c5f4b6c4322680895d1c850431a68cc09787f
+size 390246
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..af183056a339e8bc59020cb5e0c3218cb4626f04
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ae537e8d40556c8aef67b6231ca364bd55388ba03e8fc39078457b3f990f8a9
+size 286663
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..77a5a064e9d4af9498804c38e35e998510b9057a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fb468a134ddf73ba79b5bdc9314f51229b50599a2229ba2e7dc12a2946f14c3
+size 282076
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c292eb58301cb1fa8a35c3a34d30ec3a5c2f1d2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43083a27316aa5b9b6ce3c9947496d798e4abe48a7c5584da58f88a6bb2a89dc
+size 184602
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b7b25eabc7a709fed8c690f3dc6f77c70935c44b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e4095cfccebfbcbe1c55aa1472b316457d208d28171ff60fddef97a084eb07d
+size 417295
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d7620b0fe65c2543d2359177547936c8bfc1e107
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8338398ca190e1cf7cf68552012982faae2064eaf0374e0ba4699cafc7cbfcf8
+size 216685
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..70e2b037c6f90a9bd498f7abfe46ec219b813084
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dd5c5b9724a8ff4fd7220a928c8679959436780efcc6e8c113d30878469c77b
+size 193475
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..94d6cc0f60fe6846fc4ff50e2b7f23e3e9f8c89a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2cc83e760306a99f8a2a256c26e1d9f23e8432edfa889cdc613e549fc539cab
+size 146568
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6dbfe32fed0f781df9ec00753334a3118c1a5bda
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f89f9cf5052f46a8bbd2747cc98454da0192c7747160998ab27b5903962c8ce0
+size 514736
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..fb1b9e6fe7fdfa76fe7eab1e8620b85954f5b964
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b01_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2f020a2bc40314c76586a47e0a74f83cc4d2f4c91c95e56f38dfa9c652fe285
+size 300793
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f63a6a95c47ff5babf945cb9f348b331936d7523
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa006e91b677bde49e6899b38f6b6c8643866fc144caca363b7b9bc44a0d0240
+size 314142
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..65cf09c13afbdbb18fafa48c9c2a1fae890b3c18
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6aad167be435dfb928ce7cdc9bf4626cb047a98072e7d6ff6c933cdf75b0c343
+size 244628
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..69166cef1439787b6cebaf14cf0c3e829f8c9fbf
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d41c6252ac12c211cd115b603ba33e4eae98f8e75d793002deb803a25ab1096
+size 223466
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..844892922d2ecc5de24fa5e7d2ac7cc25986676e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8697f3d67bf9e350eaf63b19de1c35ca9fd1a1d1b96a03e2458e35dbbbe108fc
+size 136845
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9506ba90938be7f0fd5e6b0fa41ec7ba4feedab3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a41e696666b5870bdd57cebcbbfa4149a338e5bf5c8e12aebe00c70b98c4da99
+size 341212
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d9c3b83eec285827b7fe6c1da14bd463ac8030f0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf3efb211ba68f457f867e4f94b5ec3332d60e1128070f5499dc1d1d9519f94c
+size 249825
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..70e86645ad18d08455a3944feb5b85507ac63da4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:136effd9fef9dc7e5441173951e2a0525fe7a16ade33c654b0aa85f59a822ce6
+size 189482
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1c8df0ed5bb20b459bea375d43da721144b63d52
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de97c98ce913acf4c6d2bc222626aeac3c0fdd7f68fa735d1a1eb210735c4162
+size 123112
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5536a91e00c4f185fbb7be1907603274710b0ec7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1445d58754871e20b36852a6af8345fed3bba3cfe95e431d93ddf689b925ca1b
+size 469797
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6a991446bc5ce810b44249d07a5a66dd989ce1a4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52f67e01cdea55a8efa4ef0e7b51ddffae6c0e939ac4547e34b5d6760e778d54
+size 325072
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c783050e17a4bc1b45d5461790bbfeb3e0537fdf
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdb194a7a0e14aa69bb9dbe366a09ba9d8a3068c80e0c5ed246d42acc546fbfd
+size 273438
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc32eb3ccc52b39c2b1aa6bd839059a320148905
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e75e4017bdd619b90840ef6b2e2695485e332f3b5d325fc8372e283eb7401df
+size 165938
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..58f5ccad160952f91094730286b5711fbacea9c6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85a31c81865b1649af6d437c4388b151f9666843fd196d2bb78247041e3d3a2c
+size 373487
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5cb0c19dfbbd7d8ec5111897fb70265dbf354efb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:001671f4deb7c4f88d22e1d050f6b9422f5fbaef9ba280b7c25415473174014c
+size 188162
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..06ac7e8812cc624d1b7794de8f6ed785abdb2fa2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b235af4bfeb47e74c82edbf1aa2ea1c630392a854b43dba39907aab7e4f6608
+size 584593
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4b5588da79c8071a29d1322cc7aeb795bee7e942
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:393b5b1df143e3ee10f1705796fe0b8d7aedb83ba82deedaed12f1853f22d93f
+size 338128
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..977a98f100fc134bbe16e85844ed4468729e40ab
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0f90e02110dffa050de2dcd08c555d89a127506aae401f244db4cb6d4b489c7
+size 86457
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..37b38eeb6ab557404801005e5e3b7c8b60f7dc70
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f746f9d39c8155bfb10c86781e0e42c51a3529912ebe5c269375bedbf8cb800
+size 49479
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e24c2d48c8c9361898040a41f16446f0d7e3b669
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:180de8b296881eb1caa5b47ec5613b6bab4b093997b11d0d298e18adc20c7d88
+size 261210
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee2ef7711fd8ffe3daabd669b66f65da6d9e7e0f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fa66b2ba3d083734de7ed73db606a81dd23c9555559d3c9dd34ea0bd1d436a4
+size 158210
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e8e1674b126b059aeffe0cf1e77b956580971170
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65bd3c2716c4221e9eb4079b4799ac6162997d7a6b2ce8885abdc08a937891ba
+size 350140
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5dbd77ad96b3e51fa4aedca3db741e86e4d50657
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c7773bacaa21282853caf70bfab501ef70f6f1862108ffc38d8d88643f01704
+size 261697
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..04ec95249360a10ef9d6ba0d5308ce5670260bf7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f8ba892fc3e06c7afc78570e0fae362886c071403d924fd9253540672dc24bc
+size 374975
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b0274c5ce17cdd38d2742e3b50ab4cfe6a13e1e5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a5af55e000a212250babdce76614b2767ba8b918499fed1525834607b0ec31e
+size 289443
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..dc1379b5b817aaa31a124d7d3263e0027e445882
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d16b9c7136bd6568e545f4a1edc0098919486c7ac0c622345d9df24b825b24f5
+size 610324
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a0164e500740d4ec08b1ff6dcb9202b6407e301
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ffd6f50e13b7d461d6e85eff86d9faf1a0265ded7263dd7d8f80d590b7d702d
+size 424343
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..308c7079d6e9db10e2d92514aacebcdc7e3bc206
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20582e41c51e30e76f20d707972bd894defb0d90f77840881892681e4dade5d2
+size 199348
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d4f75a912b5dc427b8b24c2fdb534a9933a6499
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10af2079ba6b7754427aa13fdb11cd5869452515e4edc3f8045d673ff4864209
+size 160531
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c5a91a2f9f78815675ca7a3ae2f45db135841347
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a00d0e7dc973878af4995b496c25ad8d5ca8459a6d732e8dde88eedd89d794b
+size 407908
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a10f3da1999080cfaee19820ea22f666676e9a76
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:770583bc5725202542240986c866a2bc9aa127aa236208e932553e626d27fe26
+size 306634
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..acb253aededad142538cf65c9b1044ca62b758d1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89b4ba583ee9f5c9677e8197812b0b6d10aad6ea2116bfd3e6a5b507aba5cad1
+size 327917
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d826eb0f5ebffdbfe330260070987243081ac05
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000116/scene_b02_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:231c19a676060405dbe2ec4a433c58e388994c6e63afa32a93b96851f479c0d0
+size 201190
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b00_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b00_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..da8b60f41c58a49a6ba4e5a3dd2ec21579607612
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b00_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93b46c6eaf18d1050c4bfce925285412a0c2f46d3cb7af4aa46b82598d67d444
+size 617462
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b00_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b00_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1894cf95e5100799f125c1e56c5fe82ebbd5e959
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b00_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32295c668f05fee9d325ab27c5cdc6f4794f31334d8c4671a31d3c09ab57ddc2
+size 382953
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b00_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b00_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bd67cee6db46a36ed6c9291200ff26e7c5a6da3f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b00_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15b784e9e01ad5ca04417e4ecca2f827834b7bf9696418605ca1f9e328c99b57
+size 545719
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b00_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b00_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a528e2233768b3a3d4ee21c72ed9dd074cce9fd7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b00_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdb348c6375d4d8f3c34a89fc9fca368fa87688c58e7d77d10dacb4686651d4f
+size 425955
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b00_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b00_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fa9f92afaf85f99a48241be32edbf823cfc2dcd9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b00_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e9ffb9aa3b49267df50fccf53eaf3c2e985f303ce38dab67c4ef66b1f3e6534
+size 271534
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b00_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b00_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e7fb6f144a3b077fc623f85d2590bc1f5f6e318
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b00_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c64f2968784163c522127b12ec5d4766fa0d790b5067c6548903f6d3ecd5cea4
+size 234111
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b01_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b01_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b32a25e700d33ae611846889057dfca4d16dba92
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b01_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac13ea764d56850697831dacaa3993d5c3047324fb0eb6d44e027e897c9d3e32
+size 598122
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b01_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b01_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d1248357a1bae46d163faa3d9e5f00509e17d600
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b01_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acb9e98db2a0397a8b6bc1f405b378d7e019613842fd6747c39d14f44cb98e13
+size 352537
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b01_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b01_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a2e653f0cb2b4a21abb7e0f61f011467862db676
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b01_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b9d7bbed3a393640e78e2cca4171f15b1abfe16d2394e6c68513a7974cd0d43
+size 484948
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b01_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b01_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..163718aaff4787127e388c95c53c7e61dc39ed70
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b01_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3988b40eebc6899ed0f73de0699577a5efb2025a745c36d2b4bde91676b51da
+size 322749
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b01_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b01_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..be9eca5b9a59461ba070b61793f1c778a0a87188
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b01_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e57a92606d9ee31d2999e40a5a7441a3917786f616f4b9edbe8c4997940ca67e
+size 369954
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b01_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b01_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c73efa0699370ec987f288893b9967abe743114d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b01_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e20111c246f9d6b8666a623a25552cceecb8fe1e4aaa6b6dc1ef91946df0ba9c
+size 310156
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b01_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b01_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d8b7b915a6f5dd443ec9c402a94757cd18f55b16
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b01_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55b250416ba0bc41d04f19153e8852319e494e970294cae0f0a530da2c3885c8
+size 324055
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b01_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b01_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee61f008a0758caf7f8abbe4d4b4b48618420341
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b01_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b41c377273aaf3af2e2b83f819432732504b483ba435dcde521efc3e7169c63
+size 297849
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b01_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b01_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..911276967c30ab940a7ce80402516310f11eb39e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b01_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e01053e5fa3fc9eb4e4711f111f441bdde5293153237893513c55fbd7c6f2886
+size 332497
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b01_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b01_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c6125c380037095fa50d4a0a309c267d3bc58f19
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b01_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5dfec091c26a514191674c130ec0ca4f35d4180e622d8f5ab3080cfb1a303638
+size 203368
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b01_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b01_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cb5ec848a00f3e3d43565df074c527027599b47a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b01_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abf786ebbb04785d04deb01ed6d3b6c2cf29a3a8cea6f53678b73673328a3de4
+size 349581
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b01_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b01_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..aa0c7c351e1c3e26422b8d9f49289be4396f668e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b01_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:813da4bbc19ce52e87b25ee67175cfcddc85b32e14c2d2340ec2a72847b5dca6
+size 331319
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b03_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b03_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9f2ae5b6a460f2cd178222ab90eb42acbeb90fca
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b03_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbe1ebf240b3e0b8f058b544bbd6dc0a3e3377cbf1f8b3895f6a3f00f3063586
+size 604191
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b03_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b03_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a06ed7d0b40747b8e94d6629426e67a0bf19231e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b03_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80de7d95fb5ffa42b3d77611f8e0b64bf082629ccb6a686125a2384ef9866b4e
+size 439046
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b03_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b03_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..267fbb80357a79cae5b98eeb5d31e71220a87da3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b03_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b1d18e5049c7c95536250e277e7ef79533c6d67a6a1e6d16b31fe57e89526a1
+size 264164
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b03_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b03_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd066bc389e08244c514d7f00509c83505fc1ede
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b03_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01f89fa55a27640f6fb2117bb7d8b8a36cd41a1743b6774f549098b97eef8646
+size 137754
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b03_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b03_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d98559350eb45ab337497404a2423c4e0d9cf349
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b03_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:754cce060c517254a44fd751791283288e28577690bb5405d279f630028fad32
+size 395119
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b03_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b03_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..422918eeed7148dea3a22a0c9aabc98fa27a6bef
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b03_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18f4f3f8f39b90604aa918787c634fb9ad2d646bbaa39fdb4a0053b0c7dcb6ab
+size 293063
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b03_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b03_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..063a60eae9b27cc56ca85b696349d3651669cc7a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b03_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3541156baaff1fc810175729296c408079fbd9634fc310987f2946baebc341f
+size 387718
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b03_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b03_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f90693d2f74f7d6aba92053aa27c1e95ed020cba
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b03_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c94044f4890db7536d90b1cf597896d5c5478cd2977670c5a9afaf9b2029a7a
+size 310307
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b04_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b04_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bfe199a0c8080f72de4f566ca1efe3d0280fdca5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b04_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40ef6c4f3d17c8b24ee0b38795d96dc475e3dee5dd508592a7b89e5328202921
+size 323438
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b04_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b04_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0eb76ea41e6ec24b8e98fa77974b8eeb25aec0b2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b04_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:701df958313e7c17926999f17b8e18588df5d99d616fbc5a67ab25cddefe18a3
+size 297807
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b04_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b04_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..54ed262589e85b3c50f109a905e68b2cfc419c77
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b04_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcc0e9ccb59b7b520d0346c3f9763f51464811fba8dbba82b62fda68959a633f
+size 266133
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b04_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b04_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f4e7b6d0b07a95985f107a3123dfc659d87fe6a2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b04_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:887caa39cf949ca97dba0ff30887439bed6adaa5107dd9eb0e7adb149fbb53ee
+size 151248
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b04_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b04_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9aea6716d2a3da1a3dc84a93008df155a433323a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b04_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17131941074ce7d326c1246111208e2a039c6a4cd05fce1a0a07a9d3966785d7
+size 386520
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b04_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b04_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d23e670f665cab38b03dc01a5394e35fddcb053
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b04_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a0a45159db0494da6cf2e98f87ba4b47cc15798bd5641b00b2f9cb429837109
+size 306968
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b04_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b04_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..10b9b2dc7a72dbfdb15ee5c33e71d48fd5df1d6a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b04_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0fe2745df22370e58ef1205739fed0d7c9f1107a00b984a05ae6bcd564b856b
+size 322446
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b04_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b04_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d180dafa5d484e63c1608c02d0470473dc2a44d0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b04_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0709f1ca9b1c0783f01ecdf7360996aee3932e0d3aaf7712df217798ebc95334
+size 306134
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b04_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b04_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7fac2203bb7b8f1cd0fc9de0725d07217cf7cfdc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b04_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12177eacfded42ba48c8095b20ae8811e550a540a0fd7afe6081725ef15efec9
+size 321944
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b04_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b04_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9068a2891423f5b88435768d7f52b2be74b9db46
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b04_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c8b7ebb4048dec2fe3b7ee9e106e48c7066f6d77b04acbee4fc19d80b3432b0
+size 139275
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b04_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b04_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6f18d47c36d56e6074baf7dfdffdb6bafd27162a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b04_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df45f7c6764aa54114deecebea2224f5b56e784160c59146399933289a719475
+size 340546
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b04_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b04_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..22ac1f70716aec1a43599bfb02480d01fb45c97b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000118/scene_b04_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4b1197fe48d87afee6f3a372fddf82554659e3f2f03814acfccb70fb7eaa491
+size 294322
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8754fe3ce840caeee9c2e0ce9c0171af9ad650c2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f5656480340ec73de905350a89bee01fa739ed0782ff7222f8ac7e4d8c19ec8
+size 96119
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c556fe11edb2faefbb15506898d76cb3dfdbd116
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:381de8f649f876cfd347725b23876d84b433ade5a90862cbc25d580ea9fddedd
+size 60231
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..223b46aa629c06c3b8ed8b438362d67da79b214b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33824f576c81db8d18a4552f525d2d96e1b5fb1e6a12c96dbb974ec824adf8b6
+size 343833
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7524359e6722342d240032ff6ffb1ee678096d54
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45a62faa14c2ef0b0c1ca81008c97cf5a5c76a102e9c4bf060f5c1e9945df1e3
+size 261738
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..582046b2cfb545c473d32170315df910fd63b70f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b265e0a67620d00938b6ea9c706c0cc7ec6c4d9e7a996db1865197014920c964
+size 201131
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5949bf55fe833c69cc0b61a374c80596d3038bc4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3290ec9590840d1810491b208960a682f45e56008eba7468c956c9258f5862d3
+size 118916
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..80f9c5c1e4777074e54643d2accb8c37612d5357
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23d5336f838ea68daabb7b5aff0006ef1985bb27f630b0abcd45b21371018fad
+size 315145
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b49d6f7c34a1af849549cea9f7285be92551fc62
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d545bf6988ff0b4764a8085744c3c94b58acc042e94a35594c9cecca3be61a0d
+size 238084
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..08745a19590869cda755f6f80f5599262c040aa5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e1cd9d7b7ebf4e161430f04e2b1a608a04d48b7bfa21e9ace9d07f1f0289ed6
+size 297213
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d2d0267709a0758f94e4772b43e532d4032e7209
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e2c3832483f0de47108f51b0b705230e370eca2438aae5059c2808cbe746721
+size 233107
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fdc58a11705763580d9dee2a603b0138463b4ef6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a69e42322b35aa070340d8860b6457ef750c35fae703afd7af871cd32bf36a9a
+size 221345
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b454d854105896376e17e9ca88735f89ee005deb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2a415bbe5ec00d8be1671685cda03eb2068fb2493fbafad46f81b7a5996371f
+size 196733
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..618d1a25e198d9bf3da20f748c6ea983edca7a1f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:957d2ab5171f8c87036b867139724447a77a1e13a7863a1a1aa398ec98d5f54c
+size 198379
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7761dea6cf2914cade15dd0e96f6ebb336cbeead
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef89d08f5ff8bceb16a8b44176144108e84880daca00c4d291dc23e65bcb3841
+size 182046
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ea070ae15b03a68b3d00af467a58b439ccd13bd6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bb5d705c44ded9acfd724656b839f9a5531a35eb5ec6d7342293d3daf478ec2
+size 238510
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..91efb12522840785d6b4e7c59e8c204c0fca864d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6b5b609c1f30944c99108ace364c19c6530fd6ec400eda2115720fc4e74416a
+size 117244
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..24461d47ae3e353d47f9bae7025c81eeeabaabb7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc5085741a48618f850b3fce4176e52f23af9b36b385644e22b356bcef108703
+size 213202
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8adfe18bb7a082f9e0ec0c2ad3b664adef5efb9d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e03351f8e9a51fedc80e8807bb758e370ae335e0c56bdcc8b8068ab031ccd79
+size 141183
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..00d23855c1b39797b60f59092044db3c74840fcb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af0a97c7c9f0f7e836d7b40bfaf4bf4c92add7dae10a24b5aa96afd3afb85d3d
+size 303041
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..29d9bc90f407bee204e38ff7c6b6f50ae036384d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aac48bece7b00edd7dc2b48c9b49ab53ae5d2b4d99f93c8a31a0d9879d1d92af
+size 178348
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..aa20b458c1d2df158c03c85e0ae41c9ca6bd0513
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3f90b7a57a8279a4485b0e7d1998e10ba4619a42a78d90869ffe5a3870104cc
+size 182447
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..29dc5d1c14827cdc2ad48b9b5a294aeea3505582
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce37bba096dd520241c6939030c85ae961121a51e4dea798e3385f88d6b0035f
+size 162792
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..08c4d9a95e27d67165b9f9625df1c010551cc555
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b07a9bad6789d267981e0b8052f5d0bf8d7ddc7c447c6f74853a3f0b8a51ee3a
+size 232222
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1a4259d6ff3e70614903ac90c3f8cf90f639c366
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0c3c30a7be108e4d1e3d1fe25eeede73719ddd1df8d1fd6e127d5a29b15f5e7
+size 143357
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b5c3ac51ca805cbdebc775de12f3986ac803f3ff
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e0ad22316d7db6dde1c7f8b00eecc5284e7a22de561f28747b71f37f10d2adf
+size 327257
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7ecf2a8721c60508a6e68fc442583197de42524d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b00_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8313c572cbe08538f1f3c1048ebb64e8aaf4dfd004c95f6574664bbacc13554b
+size 265997
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..eff5666bc7b7284e86a07c4fb4909d8131006ba3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfb1f5ecfc5a3405bf69fed486cdc8984108f5bf5b99965a004d8012b0b29447
+size 428947
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f95279ea956838f11266d950c392a01a664fd20
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f217998a14d59c378d2aded39ad76c775e3294524add216a62eedeba20386a13
+size 276649
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3983cfc1348771f8a7d0e3eecaa9e9f326b0b2b3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c3a1fc74f41d752f93445381243f4316b0d3e4634ad54860963aac1d96a3a90
+size 140772
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3114ffd67eba4f4671751bc565038ffbb523d572
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6845c6afb13eba95a7cb2df9065ecac42ca6a42ba0fe7f8b4591fd54da35fd08
+size 85606
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3ff4c2ae6d4ba65b575a5294be8f9ea89debcd21
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a300c702aff20adb9332de2ceceab84e1e298552a4e6cfaefbfa8d4a70ae54b
+size 163005
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5c8ea4f1ea32abee0c9451fe08fbbe9de947f8dd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19b2f44f05a54d1b2bc336d3141f53948dc592fa97615caf1ed18ebbb5fd4160
+size 81255
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0776320310640fdc2e9b8f64682fbbe01f2ddd9b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eaa812f3be74de98416802fc535f2a7286d32c63567b8ed8f76f695baef80361
+size 253391
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..fc7e12e3d010474cac0d266055f7dfa871f5f984
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:095718b270c032dfb8aba539276da58ca2cd6bba912bedde081cf4558e10f1eb
+size 227096
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..aeeb5db7a2bbc2bad9ff6fc3491ce2fdc47e2f40
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b74a94d203700262ecfa1a2564e67284beb0d9f58cc8bad0cc6fa9840d4a744a
+size 317973
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..34804683bb040afe05e0874495d73c5e809e9b6c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8f65460c13ad1209f0b8611861db8db07817c431301444c62a76136bb2f60b3
+size 213703
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d17b763afd5bd1d6097e86cf8e8638635a981af3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bdcafcc906e6a8a544ffe30edc7931eea96eb6630f9320cae0b1da9575c1f32
+size 413290
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b1d373998fdc0205dbf121510cc1410fe9b0dd0a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d815e4c6bf829db1570f052787308aaa3b7bc143cea8e4495ee60050c647ddda
+size 230171
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..746f5e3c70f4b38281fedc87d87bfab0eed0aba4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e998b62d5db890f72d0f107de8b33a8c348929dd7ea54ddd7ab9633b503c903
+size 267960
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c22748f5b22dc0bd94023b0929e7ea0d9e54d18
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a78742763c7888932dacc3fc7c9d10e1c90ab6cf893469b890ffe90995fb95c5
+size 251284
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5a213b3133f696eeee70187c235b978503200637
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d1761a27bf54d52bbf54ee90649e5eb6156aebdd45f3a76d22e70fe2fdc7bff
+size 309033
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b8f79431a9811d49c17225a6a4ef9ad4511de19f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37d197a409d1fc66dca1d727a95f15724803adfb18a5903851bc6a945516d1bf
+size 205896
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e8d9da43e4a9ce88cda9e02fda9d480ec1c72e24
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41b612372308bfa85d8ea453f6d093235fc419dd640168cac4570fa2c321253a
+size 224337
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..532fb6fdea9d7fa29a56abd2daf24392a2f3ccd3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09154253c658a375db0b8c3ed17d941a9d8686f7b44e6fc0a384ec74e8717232
+size 206410
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..85cdfa8d794e95147d4ae434489ebecca286651e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c43860b043e710195bc23e033e901fae364bd4976914a21fe542a0516bf870a3
+size 343114
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..309f4cec3f84fbd8570dbe21ef321e5b8f9ad490
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd8480f8dafd386ff022bc9ac5476832149405d9cee6f1c12d8d49e26f7cfd28
+size 273879
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..06d46265df35024260416032fe8e1d8db314b841
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2a2ff76bd8ba6602b0e2270e170b447bba3d81c3bdef36055648f2506853f49
+size 207940
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4112d5af6898fc6f9d1e2dcee7ce3eaa11abda25
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6436e94087e7026a5fca73dee75baa8414d0afef2a7757c3552ff93ceeb4549f
+size 183015
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f930cc0a08b4b9057efdb57590887532444fe23f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cee5913f275fc27361fb4daea7e99b901e7d9e9449c17c14b17280da8d9fe397
+size 159099
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..03f0e44071959e97f6551a9906995fcbc3ad81b2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3c4d0f2af48eb19fedae3a49df8306da6d5e6efbfa9e29d52d839b5b31b1f87
+size 151655
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1addef07af017ad49a41e92b1908a5a688217186
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12ce538db0b2dd8cbc38de1cec11ae42db5c5d6822c9b161fe07dd1913d54f3d
+size 319181
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a84018199a6e089b39c9fdba525b134266580012
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f447d0a68945db88b77ebd233cadc09930d145df01263c135c11ed7cdc8ff700
+size 268874
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4e716a64148f97de0b2168d9559a2a04da78dc64
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfa84cd17dae51d9765be9e2022ceb4c0b556866dcc5b2ba142fa7c90962ca8c
+size 216771
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f29b5b27b9dfeafd1feccc0634eeb8fae1b06c0a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b01_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92a9f8ba0aa0bb8311346ad41bc6ad94ace4245e2796457e8cccbff79bfb8f11
+size 186323
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..691b2ce897acc08138ea6b892f0a5119b18647ec
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d26cc5af975afba33b659f2368c8fab7d90a4ff05c503d4c28b9d5b74c4cf441
+size 316691
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..fc799e64eb79a63ee4d0bf053f8b39e7dc07236b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1985ac8a274120808ed34f9465ca48a3f3f4a4bac04b6519bfc45020b1921415
+size 190210
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1e0fd29872320c5fead9af48dfe8275f416989a2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb80ed925f8f6e0c74953860453580a422ff646586d8c0e1425f3c86b0b87a80
+size 389060
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..611a37bf99fd98135542c38ecf662d84d88d5fed
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1292cdcd059aef914a1f2dd8990d1f2bffe271a627f87f9863dd0af70efdec2
+size 243896
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0ddd491311d860b413bf9928337efd0a110f246f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:533ec99526bddada1c1939d508cc65f3be9363661ecfe13f05ee4931e9442a25
+size 289063
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..daa31f21ad8902dfe9d6a4b9c5c23104ab89e0bd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c9bab6c750670469ec7acec3ced1bad1b11fcadac980464550aa0cc5077b4cd
+size 245639
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..514681eb821d4f9912d6455830201b448e7f41b6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb4f8666f70d837ea8452b599819d6485ed61f14bc3fe9f534414a1879863d82
+size 487643
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..264136cf2d2886192fa004da0017336f2332cbcd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:087d0fefb1cced6a9a6304112b49c3d77d6a45363a8e7a0a02be99610d777b02
+size 373575
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..38f4c54030bdefcd5ab4fb23038918293a487f87
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3aa975cfd08adea9ff320db06b9d1d37c335b9145314fa04d284e95da10b890b
+size 454712
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4551b795ac0346cf3b9be204a15b65053cce20cd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c8029853270fbf3fc6cd1430100f2370faf915986f731f9044dd96ecce5c744
+size 249996
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c833daed5d0dce6fe1f58d33dfb9d36824d895c4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:132d60c3e2319be6d568e9429b54a5a37a21ac6159b16605e93805d1aabecc8a
+size 554628
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..43741be6f8237e11115089a8440682bf532eb46c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3dff7905694ce3c4989fe11488e19cef4d90cd9ce55f8d0789b666072262ee87
+size 273763
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2a6e53f660aae9b6c19ac195f683a361830fb30b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c06b638fda759e12fe8f2d1d7417bb9c42a3a203bed8438f23067c19f07377f8
+size 234561
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..47837ba004edf8312b70227a49845710c6fac478
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4482808be7e870150f9ed07ac0b84059d89d3cd708f799af9d7178b3fc4c6bf
+size 155338
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2917f58c0599151a32a6c3588453580e2f43a7c5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a0e143647ae8811ebb86f3e3a4c11b03eb4accf9217feff86e6c262bb2b6460
+size 446851
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d71b2fd9cd9363eb41510c1832b5dca4a677d089
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f5f9c30b85879e86b480355ef0b1c2c4337105c0979a623342518b4013d23de
+size 251769
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e9c99404dee4c3f4b232f0a0406ba44d5e18e555
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c24e4f35ab4950a7c26d9d70dca6a0dd48b4895dc817b77bd47cd5400cda3d95
+size 428255
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a64b7daf944bdcd4e3e6d9cc58d78e68df03680
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73d090a7d20e18b9bf9f2cf1d048ce67567888c127f717c10e8c2521442fe266
+size 235194
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a98a3b14d83dd1c37135eade4826135d811cea67
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eace8e32cd5c2cdb33de951f37fd9e2d2d73bfe3af92060e5378febea5d973c9
+size 269224
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e3e8fb75dee4b1da97753a4006bcbaa3e317be43
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ec1a44f838827d57dfeba3886fd0ae66483dd27e13dd71daa97383c425244b9
+size 210580
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..13ec4b4cee93524e3699e899c3b9a1d369ad9dd6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7248a4f8bda10080cda4db142295c1c468f937ebdc5521a5a2dc97e1e0070e8
+size 234705
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6ffa4b76cc7c7c097390e453c17512dc98b1c6f7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c204db0b2fb945a86d5c2b1500654588f8562d6607e9caa3daf9ee5bec9f0b5
+size 198147
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1bfb487cff46122df276b2409b34bbf8779657b7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ad4e0fd867a35d657386311fb95460872fc7e6842b91a168811271685dff32c
+size 286761
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..bb237be3df8274a5bd758183701f6950ff917551
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b02_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af70b392c3ca42dc4430792e2a04f7c390f91cf06b265cf04492fc61c7f80081
+size 187495
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4ba51ead2b8f72f650eba3cb92fcd426fd14e1ca
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3215684df5b2acfdf58038cbdb1b8da41cb086e2093acc435c73a38e1688d0fb
+size 338957
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8b20499e0150ea6dfdc599d2eec292ad3efefb2e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41b70ba4439fee62a8712a36c2c47322143b73b7c4674f68c2196b7a3ff2619f
+size 288497
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c965efcf005b9b356522d72ec8b567d2fa3323c3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26e4b7d66f42e27a44ee5ab6a4b3cc3f2eee7e2407e07e96037330618defcd07
+size 230671
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..16b776e147005379a2d1c0ad7a7b8c65fb9e6fd4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5f98f9263f99877f4bc78e5d3074b635f1c9af43ac0773778f0e7b92525b15d
+size 180944
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..73d64958c2a0bb0b1270b128e851bc8b16d310fe
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a76b0ac941fc9b50d52399eb052b33cfe9b131beb562c5f0bf2cd8d3b6efa241
+size 281571
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ba468038303e0b11f98b14b0c6c770e201f1ece0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eda532e807a3227930877e8aaab7fde6971e4285c84a5916a6ad695455776599
+size 226406
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c1a8b350f0e0e5f03a4bacd177176a61f4700976
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:002eab4f293048abd987682e2f189737147da49050adab770ec7ace120b5e5b8
+size 286004
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..85abd230927d45a6cd45dc8e03895d92548e078b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72a40362d5129989840a9c142934d9545b0ac9999d26a687a4a9c5533b2f43b0
+size 187741
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6983d16ca499df2839c41417255a3ad789fc1c30
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68967e11123b9cb482790f23592ce1d9e3fd188a28ab6f4aff8b20ccc2d54e90
+size 467476
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..257b413ecedd0aac6a83b0e242ce602e9c979f9d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51d867ef433ae3e10bcd620b623b7b59c79c85afded197ae5a940af14ed6111e
+size 356199
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..726864ba0016e20c2f5b6a1b729184fadd8cfb32
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd1c4a98aa582c57756e8898af92be5a7cae77e2f72b56628f78979b148b28c6
+size 349364
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..45d0c8477a9d1486aa000094f8a88114cacc2796
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:441773681e2611ea2ed0c962ca7d743490ca94479ff1f362647dc776470c2f7f
+size 207198
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3c7499786deae42fe6d890b9c0e93bf12e9f649d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdb66c0e8bcfeb90620edda600fe96b3d8a09807be541352086668dd77e77d27
+size 295133
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..128bdd14b6a97861521db57b9f636f742b3a1000
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83b40def2d17a63b4203c794a9e4938b9d4cb3e7d0dd2b2b8828fbc7e9d1406f
+size 232162
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..deb83b4d9e1d66fe76a113e5f5a08eec15e66f84
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc08a5cdb7e1510eeaa4f26a6026ece4457f963dd3921b08d7fd325499cfb3b4
+size 290108
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..813702ad7e4de4b420a296fedbee23f9812e30b0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3149fb4d337d9377a8cd2e416a12b398d9ef8eef256c6e5d28105a85c9d19e9b
+size 193011
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..57f2e5d58cbf4af304379c70daf164af10c13984
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d78878f62877bc91e4f29ab2d93cc1a7b1b7e8f621e3a5e2d485348308a86ee5
+size 417790
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f960f2be24b5a272ed4b2ce833269c30e71c2dcd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b053488ee3085355d715796542b098af5f0531e34779a770dd62abc681d666a
+size 274665
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..63300851411306843f614ebbf0bd1998627c0e55
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6433dcb1e82c676f80b85acaf5be8100aece85e62ef4262694b1cf23e72aa67
+size 464883
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4aa32179ae17c361d26716cebe1e35618e144ef9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aac6f1f6a35158459c90b277eabe8e433ce35e37b660d6e424c5425397d4d5ec
+size 300304
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e2b2d6a268118bd66692d438344cb21d69fc49cc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:430a94f21df4c2e56c2d2c91809fa62aead5dec9c53aff4c281973c54175e0f7
+size 420116
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e3acf9877eaca623401f934b9ca12be9e1ca424d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66e5e05f1177a3360e4a3eed3cfcabcf74c74df3d22fb4315b875d7a8fe2c2f2
+size 223801
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a5972d531865dc4a76bf6cbc4fa40ed5df9cd67a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:494ddc1e811b157614158b974a8cca237c3a5fd2119e5a2b967bbf0d28269223
+size 209757
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ed5d4c1e897038f7d6488f01af9761060fea637
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49fd30d2c7d966a94b96cd654767280b43f7488ed7b74ebbef24cf8448b90581
+size 174402
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2b611ae4a2fc0bd1ced27400924d603bb8278f49
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1aa6a07917fffe88aa106dd9f1dc2c080922eebdc4c09d8df6f8f4eba219624
+size 415421
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..566fcd369af26e115ac3bc3e8fae91b42d6207a3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c94a462f68ca73df008a6b23c34ca2c7b566352b9ecaa643396b8db6ec88db3a
+size 287346
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..231995c030ea169addedec4f872a2867b0581618
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f0ca06effad1a26118a346e067d2fd2bd46bfea08f3a71109b6f6a1d93d2607
+size 392275
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..19ae711dc78ca5cf82a4d4162a2136622dfa3f5e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b03_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4017cf06147b874c7dc417b1b934e317fe95b5c143dd97d92f4a2988a04921e
+size 326795
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9f060d9533b0e3a693719948fca1a95537e23b30
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:809f4152f43e1d179294074657ace9f5deacb5668a9e63456754a99d5da7a8ee
+size 393145
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..08ec4607cecf139ee01941f1236676216afa7d59
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2467b898dd53ef3245e9a30aa15750e57a29bd48f6aa2bf92396ea558798376a
+size 193558
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9990867bab30876276060901bbc2e76def52f076
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2170edf2c91dd8cbc40308edc59e90f0518c571a67cea2bfa23e43acb34fdc74
+size 385427
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b5b07f3edba03155b05565768da112678e82dc73
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46742aa3108662de0f2302cc59f2ebe6fe56e46aa4a697ff7eacb2134cc37e70
+size 304707
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2337568684a97f413973e68e79ceaef36a79d1aa
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8b7c38557e126fd223bddf42753ebe56a7e3073662f5341c69a9f2b4ecc18ed
+size 204430
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d13500ae1c34fdde4fb882a7ac338880248e4ce
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c02450dafafcb3dd2ae7b78b9bc6fade111747b11462262850a87c6d07940f7
+size 95292
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..17fdecaf608159101673e5bbda4d9a165013b16e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb9efb57f0ce2ea85db293186f62b4ef7e575398c8a8b1b03e32e851189cddea
+size 472871
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..36e94bcbd5adcbc1b3b593933df2e0205c0c6324
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05511bf68fab8bc8d49eacb89912b7f7f278d79ca2f06b03beba47853176318f
+size 363210
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..59f64ddb65c594d1b5d0114a70547ce5eb9b791c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11249d7939afe26700e76f49c1b575dd84d93de96568b473e175e6d087add937
+size 242311
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d5fa8fc3410137539da9d22458d1ec4bf069736
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa0929874e2e5b87c4d48af468ecc2b0b53f5104c3d0f797d2be2b936cc1a5f2
+size 98061
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8de4628081a1cf29caaedb5f3ba238fb5eeccb81
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc519db0a888f302517db177720e9aa8000c77bcd3ffb3127598d0ddba713069
+size 505937
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..bb2227e162d38d65c9adcb68f1d5e3db1a65a801
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:186e692084fa8a4e3a0c0c6025014e43f2643384c602c6080e8d70ef0d0b49ed
+size 359822
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ccad285e489ff593037bda421ca2ada050c5cac1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1238fc25035c363e9b7b575ca8fa1867da88d64642bc253c82fa476ac8143b83
+size 455779
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8e49864cadc58c33037d431ab896d0153e88505f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c1dd69828298401221d45bfa784b6e21f0d2fb9d9eb6c189e8a8b73f200bb44
+size 292209
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..44f686128a8d9a25bb484bcb8b5bce4f552926a1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cdaa533d960966f6122a75ba967820c15eaa9fcd50fba9d39fa0eb77541642b
+size 379615
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ce1483d2cd2d363088dbf89dc610ff33db9104c5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d39f73864138a2f29e2c1d331b12c277890670be1ab25eeaf23c91e95d3a4f51
+size 257587
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f5052317d6d44d2744816fcdadfde84a5268f1eb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b43abdbc91e0ac42087c48801f1f1a53b2461e9eaa5d92e44e73ca386947bf8
+size 378580
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb075cc171e52773388767c2eb17e1bbb706331f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5d8d6057184777fd6ce651e365ce33b02ba55a965064d60f674d71debeee374
+size 250958
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1d2c3001c7d6befe219bc49f5347e878975d1129
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34a44edef16665ba4ca0bc25098aa07491a6e90b5a9cc99c78168f204029a2b2
+size 148826
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a37211d71856f56f77a976e45e6778bc2f026447
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0833fde43731e0deaa632e97b2239362a14662e1b03c184adebae963af1f3dc
+size 88488
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..21fc01b51e1bd876f5efe06afd293c083243ff98
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:208cb32c2c778cd9d63822e1bd0197445dcc00a3e70cdf6ef8704fee652ef18d
+size 295904
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7514b053e122206c58ca35d1427848015ff43e48
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fed606c3f42d0fb85a0508b64d2542ae73d46dff74fdb5b83d9c4b1ac5b4278f
+size 101881
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3d2e175d6de84161b70e2e8c8de9e0f753d69566
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:042d937758c90abaed95d150ecd230f60a170a7f522fad65d58d65a44bf94d31
+size 391806
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..31a73f1139daa56fa175d92da6fd34c505ea371f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3924f045d401e080587d14571cf91b2c608fc1575ca5bfb3995e6d5a3df2d09
+size 304854
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2335f8d1eae6269ae9b441bb77f6d2ff628360c0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71dfc4fc76c7f1b470cc6884cc996f706a7fded41792125eb4828bae4bc50a2d
+size 281670
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e21846123290ed147acf452b06f9b900fc618474
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0903e064b5b8aff3dbb169ab80caa2abbb860731b20fe4661c6dd7976fbc53d5
+size 155046
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9458956387e181cf6ae47ba36f1f625a7cc3e2d5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5bb440d3614509357e12bfec684b64dfbd16828e91358e77666c21f76c48d13
+size 471655
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3388e599bbc3fa4da0a4f49723a00ef8c284b9fb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c970d8107b58baf3757220065d5f6c27fb892381c6565b750ebbb137bb8fd5f
+size 332978
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..279477984d899b0a1594bcd4c1b4b2c512ee76bb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:525f250d5af8e2a2a9bbfba3a19373377c054867cbe3c6d004eef41e8d108305
+size 289676
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..457a52fd95a778a4bf7f982f82cd1e6e7a39c073
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000124/scene_b04_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7a276e78e21d00565b2dfc09e4008d5f52d755c5d8efac18cfb1703320c6f59
+size 166577
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c4af0575cce5561e7aadf869eeef9fa8cc34bdf4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77d09a65518b68d177067e34955c731b3e6b8f230760b8f589b951cdaf6f306f
+size 476635
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..083f369e589f2293fb82460047ed1773d663c8d5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70d01c58460c89d2b77c65b4430297ec1d3ef5e39be5dfac517ffe693d38a506
+size 220352
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6eb8ed77e152174fa00702a1690024695c2d71d2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f2d4b66a67c190c81f1ca3d34cfe1f4617a07fa8f3dcc3ad2cc2fde8836ca4b
+size 493486
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b72cc83159384ead61d352cf36b70dd1e980c3c5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4154685de33b89913a4fa38dfebc994d3c209f87776374eef3c8b5b39aa73bb9
+size 363030
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..507f134d56f220e48330a36f2e76c5ef9adb429d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2035f122931afe6cf54748300aa88fced1c26d597420c0fe91114e13319e119b
+size 530273
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..431997382957ca6dcf3613fb17a575a45b70b9ef
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8380d494d1f91859e7a96e2ea3c19ff8704df57444a09985f34de8bbf4c4454
+size 420280
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3ce6263d2a459e57fec74a851be46f28c8e7bc23
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7808801cfce2ce3cbae5a0d0773de9296a103248fbc9a6376907a2891529aefe
+size 145564
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8035c7e07e7b7eb152fdc1bd7a4f22d8b68554d1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:402b9e46ba84ebdfbec187db33dfefee6a92a9a8c90f5ef1795ab6b6a4824fc1
+size 79158
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..671310a69ea38640ed36281967eb2e75baf48be2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:495d3b07981e9e95763a3e439adcbe9ce0e8cfba0f20f93cd3b902a4762a4d92
+size 609609
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd82778cf8d3f5e767b0de7494134c0a3db4ed4a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:006871556812101a766586f72f1d68c42a10ee25aced104a592182de248fee9e
+size 344950
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8fff9b0c63173bd352cfe0480c751f1d9971e726
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c729c69332f7688e56040e0f2f7e83addb94d9921eff4ff8f1872d431c3b991
+size 584386
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..18df409e8ca1827c2c148b480d804365ac92e0de
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b51b0fdabdfdcf21aaca2db751e54eb5702810a7c2bcc8234834d2748fdd2c7d
+size 467981
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..329bf41259cdb7f824a20a79d1d0cc840fd73e1e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f174a6e92290eacabd33203532fefae10b044942c3914888411c71916a6b761
+size 575057
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..bf53853d4d70b9018ed5b668a2b6fcda8ca48b44
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5543a2c130b669b90069d089e30c55e1770a3eef214ce5070dff93038c9843a0
+size 349448
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..eb9ecdb307024bda993b98359a398bedd5d1480d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d835299490d209cd13a5f2c6cbfd428dce85f582911cddfe17d68faea0891f2
+size 657076
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0821caf3dec82fe3b51b6a1660363e8a32fb04e6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:841b742b05a06b86263e8a5c3b2815317a07af4e5584c2d5111a645b2d74a3dd
+size 444532
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c59be2c2ee0a4569f387d56344763b8e56ef39bf
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:224070a4aec76782d03597d4ccdff54455971ad2ed670c08c40cf4ba48594855
+size 263983
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d94fa6fc15e0c66517f27cafa2a1d13b1a05abfb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1d9ee8393effdf9a4685214b674de5e0b71edacdb5e99be81f8a325a8fd01fd
+size 96541
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6a7f0ea496bb51f5b2f967772bbe341e5be2f828
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d73f0e5a7516d8b1cbd3d92f5c6897495cf8e9479f78a15819c631acaeec9e2a
+size 389779
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..93131c05761a58e7a8337b8f4d6c4247a28aaf39
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7cb12f917a097f1b38012db26f42de6ccf1b7c4de13e32bc6f42b51f95f3c17
+size 206694
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8676d0fc63aa3c51aed148b1d234bb92eaf4aadc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9621105cca25918bc9f2aeca825f6dbe89d560e547773980ea92f3d3ec2733e2
+size 135674
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec1373e3c923414829430d51868b72149cfb47ac
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b00_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a25cf971efb49fa1631a8354426e172e6b5c40a78f64c9f1ee6109409420508
+size 79461
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b4c00dd0b342fa5a7f364f9fc64968ac44e54347
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d65997adb097f37f176ca973b6489eb336a42a1284f49ddcd986a990120aa29
+size 245376
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..692a101d9a86b4b54161ef7c0caf72534a412fb1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da10dc6a5821b3543388552e979c6f99e506daa2a4d63eab32c2515817bdad24
+size 183221
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8114e2a6293199324dc6ef8b0f27958b922e70f5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d91392e536563348efd61151686ac666bb5761df553a3c80d25bf5589e82ea5
+size 489316
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..07c90a8c4b238dac51447130e61cebf180e51b9e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9ab54dd65659f55dc5bbf77f8e4b06d1f4724f57bb52cfa8e0b51ca8a5a66a6
+size 359149
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f6fc28cc0b04bb5aa644ce161e5d31889001292a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba63769836e9ea27cb6000e0638188838066a867eae8c37521db41cfbb045496
+size 310547
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0effc553bf6a5f2e8aeee8952a66283291f94b84
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5e597f787b3aa2ea2aede669c8778e7360d707ee24d1735a0b82ac3345a3652
+size 239760
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..afca0f58be2f1a7d3380e3ebcb32a69d3f56bc97
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d47988cee6a9fe954e632dac4dd5fce0bac6fc769a3d033f4ca2f2070e6f0222
+size 270517
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..eb92fb5b0464a5df3f371c7e57a95d43bc33943a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac429d1f3c940015f86a82199a11d76ab970c5e1cf902648269aa0bb38b2e0a8
+size 146248
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4a5c061cb39978559d9dcf658a921a749361ed5e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36adf02cd79957ac98dcf9251ae4311c9a37ef4b8d478a9a4dcc88ff1835ec07
+size 593920
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f67195e020da444f3b801c332ea86b280c302982
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffb2c4d775dcf90d2fc4184f4acea8b021d34894d92c6df62783b0844dba4244
+size 434163
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3d6ace8c3637390ac2a17fd317502d700e935558
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4e35a09ecb20bc8d40364f1683d1270509679f65034d3189b486d58851a3e22
+size 506669
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5bfc5867c71f032588462cb18740834caf8dd8f6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76c81b52b118513fda8e57f7418093a3f91f2da7995e6ff7bd9d1e0830d3bf58
+size 398901
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..61492670238f83af5c31ce809b383a1a2383ae69
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4678ee0b77f581e937c6e4519baef48dc129ac0a721cb2319ef77a234367e6b
+size 712706
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..65430d2f8ee770fcb5bf7a4ca65043fd81ce56c6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b30280a8f1c781bf17ffe747f9c89a53747f7375df4ce0cda48dc062414a2b0
+size 453488
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0ff3db37fe9b99b21a869bf3c29d366a74b0aa59
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e779945647be91c93d94710668d90157c51d444aafcdf79985c84cb7caccb8c1
+size 675238
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..45557da7d2f9baceb24ea173d9f3e92899d24701
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b01_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6544763378efcc4ddf511cbf06aac9d17d438be4976e7d6dbf258d792b2f4b7
+size 453564
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b02_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b02_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..939eef85c6d43059781fc7d205d566f5513794f2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b02_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f2b45cf10e4907d29544c21495874f7b3005d1f8abe9edf7a522d07f6d92120
+size 335196
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b02_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b02_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..70367c419872ee1662b72eab569bfce287ee3ba2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b02_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a8c3e69df0e700fd46c59476ce7a16791b7c377a55fa2577ca40030ba5c01d8
+size 324753
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b02_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b02_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0394db434dfd767a3f7b34814e61c8d20a14e80c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b02_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b65a2d9d0f596221205451c2729bc3a91076a8d098a8ed1b9a49cf071ca8233
+size 282019
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b02_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b02_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef04dda06769df95def5c4f3a2151ea1fd7a9f89
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b02_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:940b977c17029111d74ad219bdfef6834801e63151b5e5b434bb251fd2c613e8
+size 221534
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b02_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b02_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b65503f79bbeebc0ab8268690aad6ab624ab9651
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b02_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5be490e4123453ad4f03d303a35ed77613362796830525e093ff7c1447787e79
+size 435401
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b02_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b02_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2a1906b774f7d92750318a1869e64e7f1c9746f0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b02_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99dc531ab09d5cc29bf36c0cd3560c63f0da8b130ad4a9cb3c1103dd2eb43410
+size 337695
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b03_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b03_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..43369b962f27d2e57ecd24dd3d708fda7c6dacaa
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b03_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f16b3e5ff3c9d0fe0c125ce3fd9fbdefe8858df1a7b46792f7224407bbd708d0
+size 732310
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b03_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b03_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4830f93644e284196f0d8e6797bb8c3425af015d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b03_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa3010fa8c2b5b38627a49d7f90d55ec10eb9aa88814e4f39e8c14183b9d21cd
+size 614638
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b03_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b03_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..50c7a94cb93169312749a4e89948a3b2b7ed7bf6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b03_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4398d2953887cb8ab2b48d07f9bd9aeb1eeddf0db2adbfb4dec2e0a8417843e1
+size 739237
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b03_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b03_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4b42b19eeb47566ce0e901c875d9de92a391ac55
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b03_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8dfa3161135453a9d3b13c62f86fa820204876b5ad9a9066c196d066289e0d3a
+size 478633
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b03_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b03_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4aadf9db0a726de471d42e606d03d273e2f7910f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b03_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:113572fb01cc581349e126682a3ced0de9aa3e6dc8bd3a9a75d58162c14a1dc8
+size 463294
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b03_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b03_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e993466b40a550051623d6774a87eee59e0edbeb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b03_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84e6199a3d0166e572c4fae7ae6c268123ac740d822cf7bc5913ddc25eae12f9
+size 426030
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b03_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b03_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e43ab0435ee1675f4ca37a7f02b05236b8b8b8ab
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b03_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f55d9fcf13f820c7051f71475d9b76dde5b4f72fc25774d8a1839d6fc8b6e6c
+size 338235
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b03_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b03_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..76047e992e332ef6fc4588f4af59524c6ca5ebf8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b03_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2c4f48bff57f658c955878dbe34acd6885da179c090060fb2cfe47a3d7db811
+size 210776
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b03_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b03_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..499cc18dc32d12a07e73450ea0495926e6b4c9b6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b03_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85020127f1d597bc224768d6f7a09fa907d4cc5f0e32db401fa8405d728115ec
+size 541576
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b03_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b03_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..83a674a62bf7924bfbcdf78d0468a004b8cd8f68
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b03_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2ff1625651f8657a4818dee633dd666399d3d8451fd65e3dd1a36163bc1bdca
+size 436503
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b03_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b03_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..60720ae34257001091526a046295d219e8f4dfaf
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b03_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e39472595d7a95000269e8eacf94d6c523f4a28ac321b8fafca530c35016d03
+size 354817
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b03_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b03_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8e1fc44af70f79d2577479888e9e9822731ef5f8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b03_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6a8c768cfccf140add6764234986fb4c72ed8c895c13b332197f071f185349c
+size 324498
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b04_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b04_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..637446843c1c27876bcb1d3b4330d6b9156ab221
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b04_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f82660e092631735defe04ca3d0093d51594c9ae6197a6501e3208447de5c9c6
+size 722571
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b04_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b04_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7ae55f6467af9846de3617d3470335fbf1cd3111
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b04_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad686da1fce2b7aab854c334b79864ab4c7f849556396f3c215ca64f09059ded
+size 491542
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b04_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b04_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7db040a474cf944e650eb9fbca9772885bc3c693
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b04_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3317ce022c727abb8e6dc5c5290a805114e407da09954900b0e5483ea03c40f6
+size 397245
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b04_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b04_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e6fd251f966b431ad23503a0cc036265980504cf
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b04_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1f3daf7345ec7ca73728d8d766b18852f9857d44a2ac2439d4f328e5afc7b56
+size 312339
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b04_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b04_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6cc4eace4a4cdab74651c511d777fe4cecdfdd06
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b04_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f0146b8cebf4e30f1b2796c1ba0f7510f3da3b574744fb8d7ea7521eb93fd29
+size 533133
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b04_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b04_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf3ff3b57e7010a4bf914db3d2a7b0e81a83b3f3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b04_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6936488db3b587862633aac1730cc379553ddd75fe870c833676d83c59266726
+size 443544
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b04_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b04_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4938dc1379d98ff1f3aae4415850e0ff3a0164fc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b04_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4066d99d3581c852a2371eb57ecb893092ed11a4097b7e03c92f7c7b3504294
+size 437754
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b04_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b04_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f3618915848231722c8257f9af2a29aa6ff210eb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b04_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5506ebacb3d5a5830a46d73fbe0482621ca1cc6bd984cf204d5ce4bb7ddc7932
+size 337910
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b04_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b04_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4059a943c21d11969af838d6d265b74044c3f413
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b04_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:020ab4d22496a7f88759a33565339a1cbc1cb991151e25b2f75c94bf5eadbe85
+size 453259
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b04_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b04_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ff9dd36896a220582cb0a4f99b7af9c552968001
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b04_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cffd5f12ae165098964ac058f307d67d0283c940b52b89965afaa3c36da6f12
+size 394502
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b04_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b04_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7cf2e973a24679629e323613a4046deb9a1650f5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b04_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69bd225f94bedc4026bd516d529d9f9af7c1f3067712c8ef0ceff99c3871a57b
+size 472180
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b04_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b04_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..36c3cd11d047564afd464a87febc80e3d203787b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b04_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b824f91f908b4a238a9b3e588301798e581a9e7836de037e4d5123f040a6459d
+size 304727
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b04_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b04_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..35ecd0c5322a1064b2fc07b19c5cdfb519f177c7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b04_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8410267b6d0479d4d24870c7d47022f75373cb9a1ca7a52b62ff9cde35b252a
+size 281400
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b04_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b04_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e552ec9071c6916b69d558c2f3ff6e1119fef720
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000142/scene_b04_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64b7f0ab32d5ba4cd5ef8a2941e4288a4eb865d57726e04541086dc0f6d56302
+size 219011
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..52430a4d4f9dea078854388621e3804ea18a4248
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e1ce5f00ac165b52417f25ae0e138eb8395877450334b571271350a91de53fa
+size 365051
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..bd7efb92865e5def626af251558ed15d826bdc5f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:901c3bd9fd6f59c683dc5723be1c1f5abd3ef7d93e7aad68221f4f2c8faf2a18
+size 287896
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..95eeead0e0ef4ab870e8213da06e5d44134c0173
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c41cc4c8aaac634be61a80edf6d072339ecd24b673e5b3f6c040e3617d58419
+size 164531
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..653c30596c60861d4aff743454fd5de831ff508f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09b60c1db30199db227dd888f003618ff48d860db88b92a0ac6dfff11c000f43
+size 109063
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..11a426c32e44244a309cc66cb629c6434de878bd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbf7bb6eba839054415b6fce60fd9bffff46124bd36b95db38698418baeb522f
+size 399138
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a635e8b45460c2b77646ba5ce79c8a70f33a098b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a1148e30151ea4303635ef9b59b9367258fffeca54e05010a382fa828f44600
+size 327780
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8c081477335370df40c552cecaf12e1133cd1f26
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f64b59f386fe4ad0f51ff7d9820f624ad74554ada864dba53c60b890100f4cdd
+size 101387
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6ce9ab26a0fb40d33bdd986fbf12ce6076f48464
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfe609316678f5d06c52d54ab494a11bef4cea6b1ea2884e9de1dbb68f43090a
+size 50959
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0dc706679afa9330846e2129f295b4b2a5084e5c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:795287d15f81f8fad863f8cc2882ca25b38c6f53cb853fa6dc06ca2c862a678f
+size 277121
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a1993c55f94009b326d22e61e7c8e16cac7588d0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfaeb596bca73c50a6d1fd10eb5dbcec65418ce64211d7021d9e5be305355dc0
+size 195689
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8ff93f056a7f0bf303cd3b66a3c0d955b0ab05bd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d19e98c63f4e5c8709dae3fc62c1d615c314851651b5d5a11ed3945562bc22a
+size 380217
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..411bcec4357392cecce696ca40a3cc99285614ac
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b2374fe24fedefb79c1f36b726cc40b54afedc1e08d0df858b80cc29e549f47
+size 201760
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bd2a91a3b86fb433bb250c80b67a28c6ce70a5e7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1e1c1e7a3270220aaa42d683c3e15232be9c5cfe609de84a1d65785b6639eeb
+size 466877
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d124b25740546e746ce6d203cf1fc5492ad8989
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:353f2f7540eb84ec3a11eac485956dbd2b65f92eeceb47e30c672bbe51af59cb
+size 269065
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2ad585d71cfddc64896f10b8cd77f0160582c99e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f91d8133fe6241d6104bf307fa1aaca1aace9bec2e5eccacd2b0a0c1819a4437
+size 435904
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e0a071821b2decdfa80f628fc2847c11f2fab294
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b9faf236ac9d470409c76d886fc63138f5720be45ff676ec19d3df8fe8e421d
+size 230052
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..75f15816ede6ba52c9c258aad8f33add4dab85d4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c772fd31deef60c42d1fec01ff07ab27cfb2814493116629b525d0494fcb946
+size 131737
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f846381abcb921135095cc9112ab4da3ddc1e887
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9b7bba91fad08d588204720a1ed4981498bcf0a57602949a16c20560642ea8d
+size 82023
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..96c7166b01da2d9eb3c44ab51979768cae631dcb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a451856b541a7033d2aac9b81c54a53aeec5f42e8b12578ea1b05234a424bd9b
+size 185003
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c6fe2564ac18d2fd26e41a39fa83fa3a38a2165b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3d293ded2a6907bb010f309f9e86a5b4d96c6ddf8fa2e6714ff1b160d4ccbd3
+size 78148
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..449cf0e98e77987a559dfea17b49272adf72d5c4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fef27ef880a1d89322062b9fdd607fbd53e98011a87d78c8c2786865cbdb705e
+size 296752
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..da33dd7158b2260611c2ae902704d87e8204244b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e88f18985822e1b46914916dbf3d926fba839242e9f8e0f80c48e1c3c18c075e
+size 188371
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..15e8bc34487023453dd33e57106e2a09a077b760
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b3ec5a49131f6ff812db236464601d9ba76a7b0a6f62feaab9784476f5947c9
+size 202801
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c63a0c89355e90f709ae3a504b63e2383ec40c07
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:585ab0eb970dd31e0e520170f23f5acbb23ecaf1b72145d3552a990150840914
+size 159312
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..45058831c8ca35fb3a09585796bc673085a93a7e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f0bbcb64e09e4a5b85706d1d8a34cdc79d20953abdbe59639e9f91226cb9e1a
+size 245651
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d7ed5bb5e486803269c1464fef1e858132beeda
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:660fd43d44d1aa681931857409d2fb63ff9173307a855c535d9888e990415060
+size 127678
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e8c780ad7fff53b3dc5d581cf062c90d197b44ee
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c352bd70e6a46f72d3e95759b8363c5d68efa37671331dbe7433e051b23f999c
+size 292763
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..332d2c602e7f261ac84c322f92771aaaaecae2b5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80ee7a95a10715a1343b831cae55f092393adfb550917d3f5baf95f04deef258
+size 216327
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fe995f77ddefcf88a0cbcf647801c8dd743a7271
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cd707fe0670e930d68bab3205a1655c5dd6d92a71f347831479f4573b8734f1
+size 367472
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b5a356f9d8e1d2cbf4ba548c1de176accb00ae5e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:031abf4113d8ded7f522b6dda4b6ea7f04b54ec4c472f8e92ee00acc9bdd0342
+size 247222
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9180962db8d1070b2b3f510bf8f29e38e9176d29
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb01e3145e54bf216ea7ed87460c9fdde9ef8da8f44df78b3406b5d08c4033a9
+size 436860
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc25c5057755a24758986810e5c902144ec36ffb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b00_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4d5bebfb2e078a648306d0ea0b663aeabb3405b5f54ec3a6b16fb74bb57e661
+size 331524
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..09ce1f2885bcb888e75823069301443a885a905f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ebc96788993de9e5a5ed3ef688367a2e7fcd0cc8fde94db1d29a7abb5119e99
+size 179917
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ed0b08e285bdb5bb144b283dfd007e579920f980
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1ef854059ea8d6cc319dec5b38ff1c14e40305f8928394a04854fe2a061c84f
+size 113347
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..da44d43d6bdbd86d6185d76715997a069a4b15f0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5369d9b76871868af118d8c83bba6e7325b55f1204a4aaf425d53bc09d6e3c9
+size 330508
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8a78982504fc82fb930d98bf9c85e1969b903c05
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a715a2c61f4ac044ca8583b6074eaeb2699eed3ce4d703851577d035904b5e58
+size 151759
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..be0410b238831fd6b165f995f8b8b706b0208224
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:230f8e73411b88861946e64d940b1a021176058a0cf3feb7600f53bd6839b4c7
+size 343904
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ba746cbab9f0567538dfd82d25e157f989ec184b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0097a66f9be95650e59c583f267c0a52d3c6fa9e383b6261b6f641945961fb05
+size 187161
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..db7d0f6d60addd628276cb1b32a40f37806b9fa4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec05dd3a09745b986704c7dd79fdd988545c9674c012d2eeb784fe4bd491f5f6
+size 368221
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5af8c5b76f994fb65d665e7f9d1b2ad5b83742d1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99b4a2a864fcdf9298f0ccd5a39bdac2a611b1dbfa8b9d20f02c1af751ecca77
+size 199063
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6186c16920e72160a5b86f1a04406780a389b890
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c806c494214b9e4950d8eef9a0ac528574e4c05939453f97e4a9bede731e4de5
+size 172622
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8be5d13dd79551d54d2761fdd8c3fb56b7c7210b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43f6bcbb5b84d00b6ad5bd7e988316548fc826efc4e1cf83815ceb3094a3eaa4
+size 100585
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6a773ac5ac4011a7e4f452ff92e5254d18a11aa8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b0ecd61b0072721c24adb78aab5688006919fe785277112bf483bcda332a815
+size 290513
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b0baf1c6d5871bed5b463ef8b2f814494a783094
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19fc2feaca1ef26f023e1dea892482897d2f36d3c0f5ef32dfe004f8afde4ef6
+size 120438
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e43a5b5588d518a019d5138dd753917451ab9d0f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70d7410ee57a95d3ca3456540b980ce9c2fc2ceb0db446c4021c0a864cede299
+size 244019
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1da42281f00b701004dc570c9dd59442bcabfbb3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efd432455e81a381d816b42eb6028e46dfdfca5088c25124caad3f220b2c2da2
+size 125599
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e5d4eabca9f05ebba525dc77457723a8d65e7b74
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b60561157a5203890c63a7f6c2dadbf7c8adf03cf3ff0132b88133a64a08af92
+size 446437
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3fa635c8590102132767556ffc6f19909c02a175
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8dd18603cc0907d72b8de27c211dab80bb2bca78f6a71605f1497689630dda8
+size 272159
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1d9c79337764e1e5ab9b98b8727804d81417856d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ee2176902a080b4703f892fceb395779ed6cf01343988aaf68b95673aaa63e8
+size 407360
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8eb3c5d73e4efa77c1a42820b22569b3546719a8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62bc50753701204af02fa4be4a55b004a486f9486d9cd22568a24f758319ed4f
+size 250631
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9209758bd7fe09c3a5aa57e95d908f121e132ff1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:564d774ab39a9722f867520f21645935203bcc8eb9be122322178e69b64cad40
+size 269143
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c6b8f30ceb7ee138e53732dfcad56f8f3b7215d5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:560b5c30257f39bf625613415bc654246516dc3db6b8accccf6879bfccc5775a
+size 137630
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..62fc3d6b87884b7f6946cce48784b70f4df9d388
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79a47f6c579f0b6efcea7b906f7e8f8c971f2dc0621e87216fd05d397353cc5d
+size 170273
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3bbd3ca235c9bbf0df3710f578649b38d62a2ad
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57b76b9121487075b8e4c75c30b39a5aec0872024253311267e1dcf395ce1af0
+size 112586
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..64bad66764887c9b2e50e767e46a81565c243bc1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f90780d802271c372f4eb63d4fd2b8d5acbefeb4bdd74baabbeb516a59df1254
+size 350619
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3beac4f7825ec14524991c5e561a537b43a4f4d2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e202c41c1a35d3cf8d1d321267bce0e18a9136a4363b7083fc24554fe33e0fe
+size 281921
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1212310944045d7dda441ee1779fc31a99d75c5a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:797d6912f3e778b115c14623ba2d956dac7230358debd4dd5efd7cc401bed1ae
+size 329407
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0aa7673882c2cce538425b9dba049b81a6321ff4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e077b97b1f1921a2421992aa12934db9f21b859faaf044465c1921ed7c2e8fb7
+size 181657
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9b6870356b5a7c09673ed856cddf52ab9b2af2ea
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9f0a2789590b8ef5ade3d9b92ed8a138ae810ae5237e546453bdbf0b1f0881d
+size 402783
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7bcaf67ff5ea23f547d7d0e061168ea83ac4943a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a97c23bc5c961b732953cffce2bd87994dd8a2035fe35e7a907d617e48d198f
+size 245673
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3dc2dcfd6a050cab168f600996661c0f4d9a33cb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59fe70becbb0018cca2d34fa8c53e789be2fa5faa5865680fbbc49eaccb5f3ea
+size 546326
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..09c5dce087b42a687d9bdacf5d1707eb224d632c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b58cc35daa8c752d490d47c80bae31353a0caf50121390056b953541fd3d0a1
+size 311128
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c09bfe756e8c01b0b3c777270cf54c008c67a286
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:766a3895abfba038858e99bb8b6a3d939622f8b1986816b17214c32a58b01163
+size 307846
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c093adfb4def4aba1d88164fd20110331c834b86
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b01_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7994a30d58d25d17cd3840ddd6c94ebbd2195f13b1c9f0c0ccaed38c75015b5e
+size 162317
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..43b08d126ec4243c6198b06294ec3c83fd4654f7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da575378e7d4ca8b26702bbb77c84420f610d288fb50763adda6020ce7b463f2
+size 374875
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c664d062be6bf1576f67246a89a698d9a198a427
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9af5c397651d8f46d413568b41f9cb710ca3fce28424d1f32b2800b061ed17fe
+size 302507
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..91878157c53c0c56c96b328fb81353410fece0bf
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e28915736dc6587e912e925d307b2b3c1abb906ad48061077a491ab3fccfbf01
+size 447247
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..bd5c0fce78c58ebbb7bb68f74c4bf2deb8cfe135
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a00ccf6506a8e170618b23113a022ce209b2a81be285a5ea100c846cd020373
+size 275990
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..783057e1ff4ed065075a9250d26f11ac7ad8dce0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee6b7f53e38230b7e587a68435014818aac0e67f00d7248f70b3c6b7ab46a7bf
+size 279604
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef61393c846787516aca65fc716c80cc5b758352
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bf6881524ed9fc580354ce7a9c2d1dab06f3a326fc4d4882f1066113b6d3c04
+size 187564
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fbecf3aa362314bd74e656d6b6c86d7191b37da6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bf33b89efdfb30b9765749908f6e1dcbb42c5fc6040554bf5049ab7acd7d275
+size 449278
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..821eba9a58137588da2861d78be394047231faa1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4ccbc35e7703cc9bd0571c2d201b63f1b5dc8dede344649aee0e1f38466cb83
+size 342654
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ea4d820329f86b2e2f4a0b311ed14bc1208bf996
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0e1efef0be419f849cfdb54fd590beb23e7e7d226d167a6a202e8f6c4ab2b8e
+size 413756
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7eb99681e854123e3e391068177539b81390057
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d13d21f863fb8db150011318a89b4a53f39d97d3d9021786d584b6d418dadf3
+size 263288
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..335a6f8ca77ca8c8fbb081f9fb533c6e1a1e08ae
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b993c2358a393d16f3234400c77d17231caec7f0136dbee636ca5beab1f30a4b
+size 379917
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5feb798a989fcaea5bdcdbdf5d354bfd3f482c14
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2da6d9779f13b984466cfdc54736e212aa19d98c07d9efd845a593f4ebf41b13
+size 239465
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0a9576c061430e0249c0e25e4ac301beecade2c0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6aeb9a3034fb4e006d0dd68da121ca7535eaee00ae6a7d720634e72539c735d6
+size 265784
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..702b7ae37f0f341962ad86dbff135e14b4eb2a51
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a88685af5e33996a3686f130f63f06f97f0b7e8be6a788e33df354983aa88103
+size 173802
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..eca8a5e10015fd5a6a3fb5348954f5ce32033a6a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2766f9ae59c9b000e5691d8dab969fd3aac785e32ef5941cad56423156ebecd
+size 270571
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..87cdf740cbef241f11d000008e4b154df2bf85f8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93001a6de97bcd95997a190014f2664548b95cccc902a765715517d61894b01a
+size 168104
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..23ea3a547fee5d4dfa58ff629a08d2f110ccdb42
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fdef4f72db7b8aa3d40197a5d46dbeea82ab6b8b0023a86d66a0a4a6cd99e05
+size 337172
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..59e759d9707d9dc510ef6523a5083a01237cc93c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed1ba5d2b36a67b33b2e0507d02b74fea24c8fe3ff000560bfab5910c7a0f5bd
+size 263156
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7c23fc4eaf2711484ec4150a12eeec8ece137616
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bed94f99fb5f0004d4f971ff098e5b3a8fd7694038559915c40d86cbb12804b1
+size 276852
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2d1b84c6384ee23a9ea99b5ebbecff6ff4fea633
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ad297d27168877c96dde1ec97fbe222cd8df3520bddc459a64b45a477d2ef57
+size 138472
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..accd1e4ae4a8c8ea9006b6828e43e4541523c104
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4cb533d5f7c5c69b7adf76ca1adadd4445374a6e6116c0ecc28d8f42010bdce
+size 244032
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..894af26f48c7fc44b6a1e0ba5a1ba09c7a162437
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91c1aa3a4a555c40f7fa3f8f298fea03bee656818ab8c6d3a7712843065b7567
+size 185666
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f371190d5b4a47e8af661e2ed192fa79edf55045
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c2997cb0ff8557dbf29ea322a187ff977393ad909a54fb78be4da2fa9286059
+size 230702
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ce0784b5bc672b1ca74da0a05d2799f234a592e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d32f6a591a76e94e7f7a8abe62a85d409940cbc10edd606539815eb5e0894a91
+size 173906
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..863d4cd26695d843f5629837a383a7600ffb8080
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37d134495a3f50e66339b7103d2c8b9cdaf5f98198eaa9a9de594d05bbaa05a3
+size 195039
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..415c9c1b137e4bffe4fd0e48d0ff6c985ef98610
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9300e9671078204a6b528095709dd7fbd3f17f73bddc7020f9e39b155a8e8d2a
+size 125965
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d3cb88dba2c988236bf7c371bdb4cdcf168a39d7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:391af497431c41ece7e6427d2c0f0ecab855eb7f53d67d2d7e313b89e34f6878
+size 261528
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..10e00d0a84d528e33d34867cd03f119675ef81cf
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd7751e572ad2a77a29fbaddaf3cb1da219e43a77e940cec159794dbb1463829
+size 207023
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cabc6d2439b5998a9205d7eda3d4905492f0fd27
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:143122737b6f055dd7c5bccccf5db5b004cccc0434fdd3b75d809d99e436a7f6
+size 411747
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0544c2bf8915fa178ae7c07dea675ab376a1f4ea
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:246466cbee4e94d590f5644fef1063a0215af917d98db1e99b8e68d1f48e214e
+size 283116
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a93413065fac9c217435a0913f51a4c1f15f6954
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39ea6ebf5116b94bb88c0ee1bbfb61b7a322480c34bac6f5726c3e3b04633d7e
+size 384272
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d6fbc700dd8714fb59312f64c7a1c11b5981937c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000149/scene_b03_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d90fea83551ecc22a393baa62dd73207316c89bad1330dae494f49c675947e9f
+size 209790