diff --git a/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b00_001/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b00_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e96fa43df6ae403f9724d74d16e436707e2c6f9b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b00_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3d676e9a997ace7beb69d248287af9afb9650ebc26697c8fc473afea64200f1
+size 383596
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b00_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b00_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..de39900e3e0fc9434f84d9ec5a8a1eb3bc38f40a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b00_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:112674acc02c92f657b932a6fe5601ae400ba691f67f73afb666549a07626671
+size 233523
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b00_002/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b00_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1367a0b2a291bcdca580cf8643ea2ed748053e09
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b00_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b59f64862df9226e8acc8c19c87e4be3ac3d1eb777f32fcc17a287bf34f25c6b
+size 357141
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b00_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b00_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..66add8e335f4351d4e7fedeb914a5eedc02eef49
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b00_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5096dff22f413f0c1e738113e1793820bf0872056ca15887c49fa52f81ca7728
+size 248383
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b00_014/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b00_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..100aedfc0e536aae9c23bc68bcfb46597fade013
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b00_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0f19d3aa5ed1beb69f075c1ae8e0167bb90eb648d2e6dc17f3d883005a4a507
+size 338610
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b00_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b00_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3df411214d27912a54b75f0f6b4a2f0e3d5720d5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b00_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:154fc5e6d971e8cc194afea791ce4901e632b19304911f6f2c3adb5d3ba91160
+size 192735
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b01_006/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b01_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2bae930aff3cfd25574aa33f2769001d052eb9a8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b01_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b28d517319758bf6ee898a52074925de4357e41ee9cc9570e5ece2d96b4a3ef
+size 254150
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b01_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b01_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3bd7150fe79d12949d0ca9c002b0631a9f18f1fe
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b01_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cda5839356d8b67e8f521127097a8db3cb66544c4aac39e2ba16fe142c482e82
+size 112796
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b01_007/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b01_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..38904a6c97354a7e929a5a661e02a5477f3cd862
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b01_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b12580abced12a216a96e93b512e4478c9a068768c0b6a95ea958cf4357c039
+size 371501
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b01_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b01_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..406e13c5df01a454ed491e2ecd05d5da7e69461e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b01_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae09282ed0cbb4a7d9a7d7dde0e3940fe87fccd2397578d8b365d2a0a6c7d6f2
+size 274558
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b01_008/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b01_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..002bfa7c1ff82f8d03bbd290f511fac90545065a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b01_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e44646d20303c060b468c970f1e1a49c16ecc44a0295d36973e4b0aa23e0b52
+size 281381
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b01_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b01_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9371d6b01da95c3808ec4f010ed7bbc8d4c55742
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b01_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fddef28f125e987b9022465074e5e80d619ed6f84c53cc0078dfd1fcb73fe40d
+size 234421
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b01_009/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b01_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cc334a61f8367d3944108a097dddcb31c5fb8835
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b01_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a198f61ad85c78d2343dd2d5034b476178efdffae2c0291201414bf8f148ab0d
+size 368792
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b01_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b01_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..976d1fa89d982cd070523e8e7a80d14e11ae8031
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b01_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44a50e57ce87b3a03f8d46b4a81594ab7f37a2e6fc58e612c4310c8df723deca
+size 151333
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b01_010/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b01_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e30e7391a0598dec00bb2121d54d7fa03e7446d9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b01_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2561912c029d0176302bcd194fdf9c4770563fc72b4c893faef97de891af740b
+size 312092
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b01_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b01_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e4c73774271054e84d47747af87a35fe434ba061
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b01_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03fd5e1a0cb27366e9bbda87fe65315f78c99d88af85e08ee94f931a656c3762
+size 131405
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b01_013/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b01_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b5d8ac4e3685ab8ab6e696c1c5232b77ece433a6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b01_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51b8abba2dbbe95ab5f041b5a61dc422395ab0a65edd8c70df4a6dface4401ea
+size 291385
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b01_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b01_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..467d6a69118fb3602988c4285e473fe972063e1b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b01_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef7bd47629cf083ed5778095cfda207806e420b9809a3f375ec0875891114dd9
+size 218192
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b02_002/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b02_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e813f5284e631ac2b45b1d6bf126ee2497460dcd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b02_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:137ba5e1f6711b796fbba9a5c2bd9bb8c0121da17dd80de9c652b5e233dfaacd
+size 351615
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b02_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b02_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..55c6741b9db3d491937e3bd7ab294ee855e98db0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b02_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26c7c15b6e2b542600160370325571b3debede7679ecc17084ac836be32a211d
+size 219776
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b02_007/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b02_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b717fe94d22a92d1c286e5cf73603470219d5983
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b02_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d631b10e8b98cefe1de1099957a645eb55ccbbbd94311fea0875c222bb2ec684
+size 348681
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b02_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b02_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a1f1da808f40ab915fde926c0ef19fd0078f079d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b02_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de1474b58de21630a222aea4838497c5469cb201f6b21bb96eb5e1f6112c6c21
+size 157728
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b02_016/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b02_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f4b444088d273afcf1ad3c5ce8a3aec0e97e3bd1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b02_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:945db9070777d9ddae2ff0731dbd9ccac0d21a24e96ed0bce724c1b0ddb298d7
+size 321588
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b02_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b02_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e5f59aa91ba0ae43affd66e7836be21dee19b30
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b02_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47cb6e0fe88d8ee3bc657b6dccfbcbe61296be752f281aa734bd86d2ef3d8434
+size 240866
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b04_002/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b04_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cf664b7f3fa0d626926ee254622967621f600374
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b04_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e40f7e53283c696a9f475ea331fde114cd07bcd020b0d43268aa0c9a8879302b
+size 209461
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b04_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b04_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2deef4995843d4431993489a36151f170e035edf
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b04_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a2be3c48c19b3355751fb0624067f92e89b819f76b4bc01034c79f52e427d53
+size 108975
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b04_003/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b04_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b1cbd22fb14f8375782a90e0939cc465f4c59803
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b04_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d89fa403aefcaac3f2c8abe5ec39f73ad5de0d7f276dfba8426450fe64b8d528
+size 350016
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b04_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b04_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..adcbf122b349c0c9238096e2aeaff4a7adf5da26
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b04_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2af49ab53c3125f26d96b820febc85ac13228a3121e1033240319177ad92c0e6
+size 143717
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b04_006/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b04_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6e5bcf923790d2a8e4badf3e51ffad96335caaf6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b04_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4964048a90c9f663737a47ab49e89653e0d85bc052a21bee7223ad481f141877
+size 371407
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b04_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b04_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e20b82e091ad56ccea37338e4668483ff38526cc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b04_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44e0d27ac73f3d08f084b369b51e01e132b85573a10d2196e335e3129f96c3ac
+size 303701
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b04_007/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b04_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f99726574fa3b409bd17e969727746a95c285dc7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b04_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b385411791f2744da4bee0290d82a9a2a16f402fd1d90dbee34b05f35c606807
+size 343628
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b04_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b04_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..36d5aff4a88db3fbf84807dd44341a1486172379
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b04_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12dcc59c65eba8515602214b0946054bb21793869e8ee216d07f712e7cc03f28
+size 188691
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b04_010/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b04_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ed629389dd3228e7f6d1b6420e2361f0661479f2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b04_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d20cb19f4071a6ccabf63e0d29c6b7c01204dfb3670e5f6146d70c29fb28e60
+size 254518
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b04_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b04_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac9e99ff97b7b5b70c9d349b90266d3243421e7e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b04_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03f9a9549aa635efd447a5deb8dfe117e501064510927d19e458b0b7edd7dafe
+size 190834
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b04_011/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b04_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a2855250125eee054b3bb58cffd8f50b8a0d6752
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b04_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1211d5073adc1fc14120303117869903120e3ddfb890785b9250c24720455f8
+size 406560
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b04_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b04_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..36fcf64a92273f8155509697be948d89abcc6d00
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b04_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:099621d25a318c592f7c89cec6a64fbe6e27cd28ec2b06bd9bd7bda5f80f6ae8
+size 359286
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b04_012/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b04_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a13a7a451af923838399684a72ecb7d1f427437d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b04_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:385e439792f5b635acd3f319e4cc1709b18ff2dc789475794220a5fb1381d0b6
+size 353698
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b04_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b04_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..aa5c4d2e30241aa4b7e4e1c61a5b8399ce991f47
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000572/scene_b04_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:929e1d649f7016fb3e98768da954ca262fe584ab5f5a0068b0880b1264443fff
+size 226696
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_001/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..dda57c5b5ae892ebca3cc08cbf29dc332708f8da
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b137edaf11cb0b4bb8f105235288bc8b24539e5537b1c6dea2a5884eb393e2c0
+size 498382
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..137b354c6029b6522f61e855f411a0ac55271f1e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b3ce2a6815c38fe1bcadcb9d931696efbc650fc9b74feae53c9b8bec63d37c2
+size 277172
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_002/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7b9bac69f831a2844c0876e0082a0f20a39c8479
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfb79476b27a011952e2dd77c62f323a0c227a9bc002c35dd1aff9b43192676b
+size 444294
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3e2d346bcd6a9004d31036dcd05c8ea4013b867e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1beb3294cc78e004a67fd1ef95224ad305f8ab46546f4a037136be2dcea13ace
+size 340676
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_003/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3b8fd7f5f0aa84b0c8f52bbf584de87a0aeb7c70
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:037f6c727f4207adefbf7612e83fa4bb7c8ea7051a38079239ec6696743148d7
+size 481076
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..775f69ec6ab8600506a20ca8db5f7cab25f482f0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04f3506cc5892778f8798982315c514213355dfdbb0c37a1373ff82d44ea81a6
+size 389394
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_004/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..120ac8d0b24118457a483cb8119e60c3ac8d57dd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e5929ba32855cc048b1f3f70ca1b3d8d844100ad0644b47fc89dd9e49036f00
+size 756475
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..367169616da746d2990bad26b647cf1bd9f8b4ad
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bba7ec31aebc43c3ddd5c6a2d90eabaa2bb88edcd267ccc5fdc7cf52e998e62
+size 475299
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_005/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4754b50c4b047927378919ceb6d194e3dd85c9f5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6a55ada42e8eb649f7c0cdb756ff89de2091aa5a81fc541adeea207e8f1d578
+size 459613
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..34a1a48caddc1b489558fce35c307d9a2cb5018d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23b8f533956df3b8598ffe02d51561b70c84c7275fd6dd9dbc1c66dfabb9be8d
+size 313395
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_006/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e89e66232f5460fd3094c7fce98152c9d514f21f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5e1d2fee5b99a168f698245231345a4fcc7c8875bede3655c729abd28875750
+size 535686
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb2135e28c3b8a853b9600b2fc7d8806b6b0aa61
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68048f8fb407a5d50b62a1163c6dbcd63db586c0f80ef09592e85bdb3d5dc719
+size 284544
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_007/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..74f11111368dcb8c463308b5cc5ff936c70388ac
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1ea309cf8fd2380fa2159a6e4b9247b939d27dd5acc861e74f5088ef5514afe
+size 434330
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..18d151a0b38aeabd866ea220ce648004d42db345
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a27101f6aadc920d99a076eb7b58174cf4559865137cf8286b545cd7e3d4d6d7
+size 335240
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_008/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a4ab963c06f4e558d44f523285a358737395653e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd33216d9e4f09d2307eae3699f8c2c446493e28b52c7f8c94303206fd2cb5e9
+size 703306
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..10a9786a4f2200e172d9365e8b8a68d9caa9f8d4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:162f6123099ab5118d7568a3d9e377135b0470d50ff44a5651d049f53c390981
+size 446048
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_009/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5f5761023963330cbd0107bc78d1c5b0386f1b91
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0286c85ee666cd4629837a0d0c87508038a1cf6f2282d34214213f7db1667478
+size 645505
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e8ca3dadfaf877e597a9c06c4c8f1aa8b32795eb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:778ba9a568b3daa0a0dbbf435e6836fa233e53bcfb607cecc21e0ac3f667146d
+size 370322
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_010/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..df2015b405781f8c8ff9297507db173c445d44da
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b76f8fcb1a730d2d60b66b554721881f69185376c6d579ad2eddb707fa668a9a
+size 653220
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d6585e4ea09dbf46c4c8ee04caa4fe01eebf103
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18b1fd6070f80e9d90af537fe8da6ed3e79fea1d64a9c76afdeb9945fe29472e
+size 435270
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_011/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0b656f6daa2ad7cb987679d6a589e730e4879900
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5843207404216de605c5ddc74b7b78a32bcf207ecc6bbd9c6fc9e1d252ed1d75
+size 418147
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c7fdb6dc64342267036046f0f757e9cce84a9718
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:195d383f3f4cfa7997e71a46bdd03f97bdeb1d4e11be6dae563243e5d41ecc24
+size 340134
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_012/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a46a4318efeab6fdb73eae6e3b4967d1f8e699a7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7637484e8a26dc84189e5f70bca209bf2da2a2ac2eeb16ff1975bc304e86c4a1
+size 724424
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c5fe6449af503529e8384cdc32ad7d4437870c3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c629a8849d6a4468f2ac69ef527b5cabb2076fa00b11624b8478f526f3a4a19f
+size 467581
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_013/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..03e5d122398b23465e7e6dd28d7aa410b632b274
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d2acfbcade62e47862fb20aa9cbc3da7393bfd5dd7efac1c9ee17fb3c1c8d89
+size 805494
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..921f87a14166ee6f7119c39d366faf71494424c6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6769358943a24739d670b8dc9d8d628a1f530bea585910fa5577e2cbee8aa574
+size 447016
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_014/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f02184602bf721d562baae9eca26b01a1b4fac82
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4920e6564a64bfe0f5703734f6d75be0b36f532d19e34d237ca7fad63afb8f01
+size 633025
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..662d831cab7e9ac41c0aa6ad33702575aad2605c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a3a6180804a8cd7c034ff5dc43801e3102eb46edc3b2d05fbfcbd9a26a8e04e
+size 407244
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_015/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a5f3465da92327a0b2e32f18c56ac94d28606ede
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa622f196e83b3595dc24cc0e6502fdb4539929ef7abdc524498fd238b3e9e2b
+size 478099
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..64d3fc7a4145bb0fc2011a9eb01ed66141735ebe
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7e195bc092485b69633233ccc38998c198f161219217d4b207af32a7120ab64
+size 326591
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_016/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..56cc3feba51731ef52dc0f9194f356b23bfaa4f9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40d8200ffb3d22a035838c62b8f4195dd554d553c816ef9df8e26e162d9d22ce
+size 245895
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc2ec8d262419883aa98464e686a2fbea17ab7b9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b00_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2935e3bf7705a877e8656a2369b33d1675fda57ab6f3558bd7fffdaa2e8fb58d
+size 184672
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_001/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..deb3c22f84b4e145b1de543ad33c55883e481802
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5df2837c8c6541d64ad816a08c7c900755be46419a53616475d837ddab0b6b78
+size 482199
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a604be50f1aeff4b8150d0a6135ae428789621a1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a39975e77984b7d5769b9d731fa19f97d206954f77787575f51ed2f779610bd7
+size 404016
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_002/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b3517489d316ec6650a245189c69c0d2039a0811
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2aedfd878d1c9d7f993a57ddffc3366ec53d207c930cae2ddbed1609bc8cfbe9
+size 782837
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ad196a4f3d77318aa01fd619792e8dd470ca4904
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48b820e7fdd9e2c48705a3c0ed2cc3986273a0ba6bd0d402c26ae53129f914df
+size 525677
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_003/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d91fc2aba2e2c875fa70e34518fd949dc5d79e3c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acc015317e4bf9f432f4a9e178503990fe5d13aba9f531af8d23aee1e6d85a14
+size 467861
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..811e493067bac3dc3a82b6eaca04de43d362ae7c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a838a6661987eb8a2344269c9d086156b91a6b427b7ca9e53fdc4025945a9a49
+size 363580
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_004/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cf7cecc78cdc8f4acdccd050984f43d5753db2f6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77bdc8de520f1509d77056305d0ce61821ea9a405685da22e59cd7e7219c0f4e
+size 321475
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9711cbdaa3f3d3a24613a1161b3c69c062a9f790
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b825584514ecbcf0fca3944f7f89031207614c4c9c91ce77a27231442bc1c44
+size 211895
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_005/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a9a8019aea4f2226a56fd73742798d87a512ab82
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8a3b1ee9fea3cad7644b9f5b4fd257892cd3edc6931c7de0fe88293d3746c36
+size 781357
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..eaa7c7ac28d705ed6d5c1de9dee7123258027f1a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76c77b00dcb0bd76bd0610a48ec57b71ff2bcde5a99580930ab6b70184b24172
+size 445758
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_006/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e266a71299472cd0b075a7ecf4d9c12d48f395b0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d990ee4542d5288d5a37aa4f434c9dba710fbb839381db244b9a79ad8d4b0cb4
+size 518052
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..744360e36b279622d1e57c5983a1990033d4587c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35e0aaddc55279c4b404b145d647d125385f860fef8f364d3c36daeb9f40f557
+size 408708
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_007/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..80fd66dfb2954a195bd9da8276461cc5332008aa
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c47ca612076deccf47495cdedda25e4270e63604fde540ffa089f626d16f8377
+size 331103
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c34b544c34c149657aeeca7f024b7c9783ad561b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b89e58f6d83333af652628d5eb0692461e56c2e29e5f3ebef87302e2ff41e6f0
+size 198493
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_008/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cf7cc50eadaaa09e436fadcb478417c8a1256bbd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:190c1ba20df772e81ea0f50b119c9f03a29c377a0a45d98cf015bde6b31692af
+size 452817
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f8d093052b016d2f58c9ccb7c27b1f78e03b99ef
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:629c394d2f69a7e7fc0d90702ed54d709817d0aac6e741294ecff0e645ecfb02
+size 311584
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_009/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..74574fbfe2544acb181fc91162ee2c76e65ff6d6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e12a721985607eb9885dc1caa9b5bf4565768d0f168fdca4a67da73fa730cb3
+size 759094
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c5d76e2176727090fcdb43e5b73b113af209cfdd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:814453444632ab3d2e38e3414b11a61601a5c488cbdb7b3091ee7f54bc1468e1
+size 506242
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_010/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..98c313fb7165828a5c810b17b783144404a794a2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdf5157312d6e0dbcd967b0c822a07daa1a087b9f3e29b50ab610a781f7bcf01
+size 854242
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..44cb230120cd874e54e63e1b1c4ad0cdbebc10e2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e653ebd201b74236b8cb0ecb81001f0136a035edb428a52c7970c4e8164481b2
+size 489955
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_011/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f0ba41a185473ac1cace6c79c1f54935cf9a1bf5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1131265554c45cec51da0b16537f7490f860fd4bb94708d88b76121ec19aa370
+size 463203
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..73d6e682df16c0f3c8e2ebf5bd681a0381269eff
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cdabcf93e06d57edd5e7c5f59987158dbd166d7fdca9f2b267ff6e998ae9e8f
+size 345969
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_012/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a46c78cfa0befb2793002733da04e1afa73eb7f7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:095128a23df146ff48dd3914d351592577a20ccaeebda149eae6b25264062a52
+size 522496
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6f1b68c1c3cc6338d8941d73154169858540f5a3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbeee7c723e3b5245b421be46f55259a2a754dc8ac2253a38eeed2ec3530b4e5
+size 361467
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_013/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9eaabba0fa0b16a5a8956691c6c1b8cef751a748
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1836700d85182cf035450629c9360a23c83b425e269e0ddb73d1b5e77d5b2dd3
+size 321627
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..98d8a865aba8d362bb887d348c829ff76416725b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce8150d2c29b50bc1f489fad7e5733bedb08ac1c1318efbf806a947585f0eed4
+size 281103
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_014/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2f011eb8ba22e088c378e070f3af365723df566e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8e6eac3a0c164e4048c98481f5b96d4e3dd564475a6491a3ab230e910bc65d4
+size 756365
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..294bfeb7944a7fc974bdacae63a136c865a668b2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0966e83706e2d50163c3a56c78b7e3ef72cd91cd2499d9540adcb7f79a40c3dc
+size 449238
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_015/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..60eff973cdaa0e2ffa3bc5a698a201cf503d686b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43ba9cb88bfd75dbd656f58e7e4f9c21bfef8fbcde963e83deac61f9affa3c2a
+size 452607
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..87c6e272c60dc18825e2fa2f5bb590ba7ab188cc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92458866be523b9dfc73f59b5e533f5c2a422455f1ae8b0ee27986d6a0ca1a1f
+size 315355
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_016/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ab733da0fd6acb117b49a9bba48850dcbe5bdd4f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:423fa5630512c42df5c92988bffc3d989c8585e8bffdbeffced76d741619ba25
+size 568481
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f551ec7153bdb0992cc25145d075272d9665b79
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b01_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7291f89a8b94c4582d2dfe6c5c02f3058a61ea8e7a5d022598b4e4d05359b8a
+size 434653
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_001/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4e7f452b668ad6a4730faa8de6b6a16f7a7fb531
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83ac368164827b69d00a79b9bbb3fba3d6d5b1bba32c447d417f805025bbeafb
+size 747332
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd0dc40c45d510d0b5bee88ce561ad133ffd0430
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa88a1d59ec191415ca2566af716d01b35c97aa643b71d225f3671df8007e409
+size 489338
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_002/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c676e3211748c675d2dc20c1f07bc8824ba51d04
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b186395321d665f8990c462c33227b2feefd65402dd6bd0ea660069864d3b080
+size 824734
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..51ad7ea7dfb83f18821c18152bc35aba8771822b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74bde931f7a987be3c3821888afb26fe016ae5f0380e87d58579adf8625b1641
+size 489557
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_003/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..db7355cc9f03cde12dff9b6025768df8dace8dff
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6fd278c7d8e983251c8411cb3954aa82f27b616153872dafcd4bc1b55e75fe5
+size 551891
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..47339cf444c3bb666b6c2008b9bf2dd544f1b8f7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de409ab773ba826737789e56cb429c8682bb3d27668c198dfcf7cf7dd0602850
+size 416682
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_004/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b989a9ef899e9507d177c9ddfc0065a6f556324f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3938e114fed551aec0ba004fbfcf742de44d00c2eafc06974835d3195ae3bb15
+size 704502
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ef1ab848199e107f9f54b0b9f501b7e4cd5b24c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f95ec5f80a223ca6ac2ee292607acae6eb48c9d029c0c8a19bab5af47ead0805
+size 534626
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_005/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..93b44c33d9aa6a2fe2f7c3eaa972d2f2b8b996fb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5fd444e37b74bb0dae619d6da6c8da01e1d483da54158a22be41855ad03f970
+size 533656
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1a753ccf79df4929a8800e65ffa6723ada768f53
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f398cbe955db537bc601c00df8e57ffbae0ed9eb3391447e3575bde7e6b5caca
+size 349805
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_006/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0070508aad857297e85cf1ed1a3ceefb1609c49d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4457f0be0daad4a38e84f4c9b2480be001de579edb6380453da9df7a859300b1
+size 510731
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e3cb1e32092cea43e732edda9c40fb15f7cfcd4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70730d58aa0c9a99df48ed34c92263d3854eb0660201657f9138418af8765755
+size 371039
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_007/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9bc490907973dd9de0901bd5cfa0de30825ad8a8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d97de2a7d6b1389d46bc7c614406599db2b9ccc3dfd27300bf880661dd836953
+size 774381
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e994f2e3e2013cf3fffd9d7f0fb2ca33b627084f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a35ca17fe302a14eec06e5eefb272faeeddca9e89e6a0bcb036ba8537b41916
+size 553005
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_008/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7e27cc7b43c4c056aad1a955358af3c1c2e49fa7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a4bc1c73499c1969aa9fe16c8d3cfbfb7fa6c86f63d45f35ac8b057bf023640
+size 526121
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c2d69730ae741159fa42c4bc0d4a3d0327b77dd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25f3e0593edf8b17cdc8a5461c24de5ca7cc3d08a9068e44ea63631eb25717c5
+size 315117
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_009/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7a60bc4cc52bccdf42ecd93632df49f0b67e9f20
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:212a9602473c58287459de12137f1c22c3c2964ca8e1047d7adb199c2dcf04fc
+size 304713
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c99a1eb72040180313e80383e4b2daf141af681
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2e3a6249e6b253a88811c7e9d5c99185005270f0cc3d65045aa20efdf888bbe
+size 251595
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_010/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6e3496ad0a17072785b6be439c233a5fd2a02d23
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c1a87812d59f5164db2fd14a73faa8b730f70e1b3f6f11ebc689b79e33a87f7
+size 538349
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a2d18b7d691f14bdbb8b7a55c0ff377687aefed7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26661652e5c903f338fe0778a53febc3cd4b4bc90ca0870118024bfed8c487cf
+size 415096
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_011/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5327d97b63617c376c4619f43604e2609be61803
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf959c2082a0adc5f81142c59497f93ba42440c101347ba02fdceb3fe8f010ec
+size 433231
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..54b9eeea7a7cc3f83941f462cd497dcc4499a187
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb508aea5f36d6f4b01ad5638d9aeba64fbd959394a9ac635047ca9a6b89fdaf
+size 319435
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_012/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..22cf98e67501a72af0ef4d866ead0f0e2eed1452
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01ad6194df88c4a901a49ead6cafd8c8dba86e405f30bddc2dde2df9a7b678e4
+size 473827
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..539aea9f50d1619ab8b01cf305e01955855c1d7a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea208ba964e159568be227db9ff64f84130c0d2e3a5b5541e6856524adeb63d6
+size 316524
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_013/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..46f6274523caf577e6a65e56c20382d76404df4d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:794c20049c5c77ade886b52840546d12395833bc9d0108b0371cf9fba7ddfccb
+size 551959
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f731b59308b0c24e04b9ee52a68a1760c0b8550f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66d5ecd46754d756892fe5c4903becb200c489807aafe5a1b619c95d3414af32
+size 431055
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_014/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5db0442876e6d22f183e2e55010340f5dd7a0fb7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57be9610ff2695795653edd36d79f948fffb467733fdd8fea42b289cfbc9191f
+size 447147
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..379dfe42db7bd7c1978b9a795431fb07f5273eae
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19900bbca1acff8deb0e8dbbc26b4d1c8d5fb05890c819041e5466d38539df0d
+size 289087
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_015/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9c253998dadbede48cbd689cae7eb8d2f65ac95d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c6d9ac90c9a84965788c23055c8cecd86cf6bd639539bbb7fae3a684e8149b0
+size 392476
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e1e390e1233e376377e61647667aa7c8fbb3de36
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf2333a9d57337f0d4732ab159b0d9a38cd444c80a529ab306254955b5007572
+size 321847
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_016/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..83bddd8dd01bb2e67d423cecdf77ee440f911c4e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96d4e7b193b9d3170bd743840a277726b96d4b42b96f1c88b8975735af7e71a2
+size 602971
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b78b42ee02f8364891b7f9b27e88ba1fbf64aed
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b02_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe6bfc7ce133e52c0aafb785cec40267c23401a077e19b752e36e624f066f0de
+size 387005
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_001/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..83cf5373f40a86c44c53a0f279f9a42121af2297
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:daf056f51f7cb760dca3cde49e3e1787fd3322b961505a30105afc9a78d2e6b1
+size 442794
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..fc0a2ef4dd5b4f2e4da56d55c0462f1214ed380a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59b0f73825dcc43464485c416db457959986defdd1c4a9e541fd998ed38946c9
+size 304887
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_002/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..650a493f305db6f36e3fe9ef67e38453e34713ce
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61c3b56ea537f715ad591499a3ec61b19e262bd657715bfa0f3d3e9f56725c62
+size 621352
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f3afa75d929c6c5cb1c925af28a338bef224662b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f6099c979cb61f86bb0fc21a746ab0869bf756078b4c4f960054f99b679fdca
+size 450564
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_003/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..33ff4c1074360ef09ebacd8dc3cb60663eab7f22
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd6b360ba210f44ecc90a32e083c494e258241739940c74f52007b69c3abed1b
+size 724010
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6035cb60c8fd5705c94c075b896cfbb96a0b4314
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28072964c14f0b5a499208042af3471b181a000a2508a75c742ce1a795e63a52
+size 442570
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_004/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9a7531c1430866ee2a31910b0b50d5b5d8dea4f4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc7ce2d1a192b6eca06352b4cb0c8713cb63c1393ac3123e81e1e2549b23656c
+size 397735
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a69af1efe01bcf6e586eafc64f055c671f0424ad
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a22dd6f7ba71aa905eb42d0edd9667436608b230cde35d50b7fdcbc50b68fe7
+size 283827
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_005/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..03e636dc5faad4c942af10363bac83a8958f8f05
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b530215162af7581c5d6b32171f648c39c1711d8e75fbea7571767265855f4a
+size 480360
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e20424c3f97d547a29b0c841e5874c3428433960
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f095f4c977b7308d137d9a1c26613103333d55625192d535364916b38121d98
+size 399078
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_006/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3aef0be7b7af273f6b9e530cb2436b0e9eb2a15a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b680c7ae57bd4c998f9ebf0c0b030cd40b5cbe7f7e47056ddf06db410607c27
+size 583744
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..48bd96f4319f6973af210958cadcf39ab29f2228
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8782b1e39065fc0b924c11a852e2ad44263195b083cfe0fd6b5f9356515de026
+size 444446
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_007/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4723687bed9de610fa1677ebd985969018151d86
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:585280c2550b98d2ba42ac67135dec4591be243b3fded9377e475412fafef05f
+size 706890
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..123f37b6fe7d45378b7a79f6f33f15732e9734fb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8dcdc37ea42f2b0e146ffc065f407fecbe38d658c34828f3bf925597ed315f8
+size 455157
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_008/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..27d70ad0c5dd20ef1fff88f63687674b04fb5b05
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b53edc3053b742451be25fa8b9c67d50c9e647e38a770dd25eb66a2afcba741
+size 445643
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2fae76c609c5627ac9510828e6c718b58a0f8ec5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e611820648b67fecfbf4dd74a848cb2eb6fe8f91394072b42d99da2ff1c1adbd
+size 250554
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_009/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b873f1f9650428a74aa25235ab1ff83d13102e9c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51a7e28cb3dd3385276fa90607a9ade2d5bf07ae0729fffa30891edb43f60f7f
+size 695029
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9900cdbaccadcd88de0871c1a2f53ec9906ffce7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e705a9219eef7a01cef34087b4fc6f86d2df25c8107e0dd40e5c4425ddde48bc
+size 489484
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_010/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7078e0971faa45d538e7f34a978dd8cec4fd1f0d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fcda954f872d5aac8d8789883f86e13038d6412a67bb27c0e8ad7238908fa02
+size 618936
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..339a502722c0d20c68a4c7c4dbb43abbdab0b232
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1cb8f446b8a52011d02d0cb1341f977ca823dfe59f2f742a92d96ad2336ac5f
+size 445781
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_011/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..dd658a7e7ffdaca298c29e50186962ae9c133be5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:906e7e7c4ad488bf0b23aba4e137cea9c3b420cfcb5dcb73410b46be59842618
+size 565773
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3cf387dd545f1b21d4bfae50df35004a9c62547a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8548221099ce92a25f130583fe5a1961a67b1ded92fdd24a651d8b19a7cd450
+size 401037
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_012/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a799b277c44a792fac63e0ea033ecf9b81013052
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfcd58f7e7b377bbbe2e97af3c1984ec2a280d92b434b0b7ca6e9acdcf95910a
+size 494418
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..814d14846f25714ccac0bb535b13af571ce8fd77
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea2bd4030df1fdb69bda4e29d601b0c69c4c3ac84a96104a77610d20d55b0eea
+size 372269
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_013/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a2835c6b21046a84d39412060b9bf560871b7d80
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b62b9690a7456e98f57154e549ba185db07ffb6132f5dfc9257ca92094f7982
+size 711275
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5daf7a5a2af7f525a802a78c5f1c6dce45ab7167
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f2e71c9f13b0efdf7bb09658030603f3742a15837f66689c39134a0ddc1c3bf
+size 459474
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_014/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0f595c113e9ff7c358599c743e87c1f797ea8ede
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d131c38e896c818d6a8461fe12f33c02191e9c8ccb4fae2c784a66dfce8cea04
+size 550685
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7454df3402fe03c33ace3098c90822090f3325cf
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2373089a6b4033abfd5a56959d83a4b6f7dc53722ad1f14e91ebff27b9bad155
+size 423846
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_015/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8c04fea9f368c867f6aad501f4eed326b919ca64
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d56c59e4fcb09bdc331ba448c5b17316daa057c3e3d3f42ed933b6a78f269efd
+size 554644
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d2411d9188e651a6fdc211e834e39d99495226ec
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:294f8052b23969768fe2fd61aff008e48d70f5dbf97c8357028f246bf6262f78
+size 445614
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_016/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ef1df1feee5529c1737a811908fa2b6efcb5ff51
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb51fb44aa4f55b95842b2748b95063c2b7f4856499efffcca47a9f7bafd22b0
+size 662199
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..18dc6a9761f12302035e66f676beca1e02ce31df
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000708/scene_b04_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5dc0e709f1fa566960716071e720d5fa76886637b510f7a2a868952632723ab
+size 430645
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_002/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..52c6d701e2dd5ee816aea933ff5147b85f3e61d8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9190a925a845dd28387b30f12645487bcf5f93c658f0a008ffc18ef334c908d3
+size 514450
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d9dc4f437245c01b583e555e61c7303a27363672
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af86d8cdaf548131c87593f60473c8a1b3768d12ee771b7d2abb55bf65cddcee
+size 443407
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_003/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..dbdabbe16a87eac0e162e0d36b1ec28df4a9f124
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15ce154c2546a431f2392c634ad07697fd6b500cfa498b2816ce7be74d903606
+size 580571
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c931e22629a4ef5c82f86fe89c20161de7fbe9ef
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e178b76a5ef2ee70135d8e01ebfac0c80f003e644b9af9aff164e07e9dc000f3
+size 444065
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_004/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ce04d9487785b107b0c177633d743799cb0b5423
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a586f871acc92fad85b007d5cfd4c661844bcf0052dde52c3597dc1b7e89aefb
+size 636851
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e93a614a583435cdd6909ae99d84499764fd8fc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e3f4e98077c5e2a266fa23f23d5dfb2ec2d2df4fb7ad33a22a3fe1f92117ec1
+size 440124
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_005/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7022a7b25a75bc6186864df581338baeb1932497
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fc50df2f4a2d11acd89fef58606ed008335799457f8fc674073721d34133b60
+size 393388
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..dcf62c7d09264b2b4557b3e47a9d0941e278b8c3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f73dae30a52df4c3cb183b38518fb8af407715d430948532550cc5a01dd60eab
+size 279764
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_006/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..235f443a2fb8f886a558623959a52cb814f5775d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e836dfa017f6d747aecdf133e2e0a1daeda859215be16fedabd7c089c01b10b2
+size 500544
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f63a64119e5fcdf66e7f1547537bed43e65bb8ab
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e10cd6b7d55fd6c38bf43199f659ad296c61f53630b96cce0ca79dc6baa9364
+size 359022
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_007/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..43da777690c05179efbc8e0391f0b68340b69cc9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8512a0d88533163145825ef08b3f086fe3263b1ad587515a08e894bf757b316a
+size 470177
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..bb0bd9f54a3849b3a1365243c1896b2da524b510
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5ab0431c66bcb09cf1914a173f1e1319a4fcc735bb9e13aed00be62cc33b78a
+size 326143
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_008/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..204dd793408aec35ea02e0d3f0b69db22cd4b4a5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:074502e12521aa6d1526493894239803348574a0cd98c2b2cad9f7428f0ab8a2
+size 259701
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..28233084e8d15c00a12f3a1951690f6715e2f212
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:073b7fff0c0b404bbde594bee3fad07e0ffbd403f1ff8ae1a9b3972487163c66
+size 209487
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_009/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d03725c9d9dd92115276086935ad9f3507feaf72
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17f447a4d962976927567e568762af1f57e49fa64b28767827f152e60def6488
+size 598188
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7890b80ee92a7d51ed2536330fa0e56f1035134c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef927ffb903b5d402046913dfa7e1c96de8bc7bfee9f6a7d4d0e3b4f121738ff
+size 450911
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_010/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1d21b43d127eac0273909a1c4455b9fd07242a4b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cd80efa2fe6b5b7e8dac90bc7746022403c8cc25077243299bd90fb349d07ce
+size 586091
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5483e297e4862f6c346f5f247e49ec761c144032
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0417f1723a24709e3ad539dbed8e4a128d2eac754ffa6961df2e458a460196ea
+size 419091
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_011/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7c1409c6a830db7c84d6d4adeb12787ce809129a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f21df6aff1bfa872dc880f00aba697524f08b41e089e0ec84224586de54edfea
+size 571231
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3847a0e1d06ea448dfbe8d10b15f137e63a6b3cd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afd400c5a1a6b116530f13fa2141fb8a0c724c8266f62165d6d5f9dc7b355fb6
+size 437771
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_012/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6e261194771092b8d3971df902627ef7e7d592b2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a06574465cfdf85cdb34740d6d1442697be6608ba90c323faa1904568691d0e5
+size 604375
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3e13c1695bd2a44bbc4b68dd809d3e2a82dba84e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d79a9cd3506a65fda537df6af28970878340762c1482b775aedde3633f098aef
+size 389132
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_013/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..af660d3152da550fcbd867d1218fd7f002e7186e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:417c5ac10baccf15247ff35b28efc39c960746f07c23267f745ca0fded34df6a
+size 577694
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e8dc5f0a991bac9dadef4758120bad6812d95eb5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71a83b3d4cdbbb228fa24ce165f5aa83ad23d1184a4a79b7f6b226df1a9cb426
+size 389587
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_014/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..313321ee2d321217b5efa6a18f6bf60f0f1e4271
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:342315e7fb0d73fbff9c861cc7d9acb57911ae9e1ddfa031de45a03f7d721fc9
+size 300259
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..09bf67d7fae9fd53d9295331c7d47c8a291e8571
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13c5b254de1e15887774a26a51f44affb8cb62afdc866a8628a33612253fce23
+size 206658
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_015/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..41bd6338e6ab963104f5665431621ccd30d37d63
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4262b3fd137346b5cc70e6add844338231a4b1a353bfe60a83f89838330bca1
+size 320617
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e9ebbe95f68c1909f59d091f6956b3d6ed7ca48d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e472fe00901b91771e09e93ab14578db7db3f26d832c51a9d05e4a41e8202a00
+size 233000
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_016/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..981ea0ffd1b77fb1e2ae25dc5db5c1a40f098fb0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14f68f7dd3c1608979241be2d0c4ae169099b80aa84ddc28ef7b97bafbb40f66
+size 462406
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c6426cdb9eb11d04393b91db02bd4518bbd072a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07d2709f5fa1878ae15cc85d2da9577bb7b06b374cf125921f406052144e002a
+size 300781
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_001/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c708fbfd03b7d8cd2a6850ff164b6ae16a08eccf
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a0d5282f8a158cdce27094926cc2e523d78d75ed9eb6bd7f6f7c509cf67b290
+size 350212
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..307a72e5b231fbd1880419911e9eb4d4e4be963b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba7ee87ad421ebe20d9060b07a7ac83ac1a3974613bee46d343bf99998cbaf76
+size 262426
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_002/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ebe68ccfa36ccdc6ee9054130367e3afc0eaf0f5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2adb4dbc58194ec87b3504c54f5b9dc83f32ebf1c6c6b0d4f1e40c5d4342af12
+size 248441
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..994933f9e56b44f0c9b37608c381547c802d7c27
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d28ab94eb080fa4357fe8bbdcc69a66ec250b42d81cf6473576f3bd0cfd30fa5
+size 187296
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_003/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3cd9ce15ac80c751ee538a16e2c83a6d36d9d198
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cef5fff22fe3ccc4a826aaa5568c7405c734614aef5bd4a79a3b33848d04809
+size 211410
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3fc025e5e19f3473e19d2853a3446ce05eb245d4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c6303879786e319af6c2b8e868ddebcb9dde5b3837bb7f84034c1cf1adafa6a
+size 153623
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_004/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1addae46b1a6a70e015860daee41b78ed1e88bde
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a4781f5c3708e50ddedfd03f318ce341d3854909c8425ca8a9d90caaaa1f7b3
+size 597813
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b094de42df860456e8bc49435e62643dbb43a97
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fbf43c2cca955f159f9702cca4d88858b005699a710fee04967103a53897d53
+size 414935
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_005/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5abfe379fa00d036dd342034f169687f29b709ec
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b927bfeabe2e59caf1c1bbaba132ed90e037997f0ae95b1c8750de5c0d958ba
+size 633639
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ce8e0784bf3a1ffeef168c61e1058f393aba04e2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a5324615aa5139ce29a8bc21e56525a73b750e9977e2e5d6ec83aed7f78c968
+size 396430
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_006/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0820f83287614abc95ee984b9caedbd4c24877e4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b957d65bc2fed412bd15d8e57203b52cb5508e735e73cd8ab34309a98258f64
+size 369350
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..96af716df7ea74673c24e61d417b72978f970203
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3b191463fb21ec68653e9d448a43ecbbff04ef842c7e79eeba563159b68131f
+size 260983
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_007/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7dbe914d48f4821ac211c24e144d60ff2a2e5697
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ffcb77e81053c77c3dae30d7c66fff4ff38244049d95c0a3519dd5365cc8a9a
+size 556720
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e8224d3f8cfe85a89fb82a2eef1fd93892e82a65
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4532e2317068223461f1f1ad89ff173bf88d0572aebce799b0b1239989b98326
+size 444412
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_008/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c3b0d0950f7f46970312ca4365aa8af548eca53e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:668d23f3165e619b108cb2e120ed161eabd6912a77d329fc23d17dc5d995e09d
+size 600792
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc8f2d186eba8c57e50dc330cc0af2bc56ff6292
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8feb82d7a1559b8fdbda34430ac71087fda32390b88e91c932b9e89646c4fabf
+size 392414
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_009/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..909e7cdd3f4e8cfa4bf48a5aa907bda0d95d4136
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30bb974bb7a72249d81d9916106537d436859bf66bc4602334d8294ead6638bc
+size 202691
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb7f81d7374b853e6cb4e8fedbb5cd2adea325f9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6f2b3c8102249982ced150333d2e2229ec2c89504547fe2f499a1440abb7195
+size 146300
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_010/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..67d853c409966cacd790b67966338f6c68cc07dc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a706e9e7d00610dd551e915e730e4650ca207a44951cc6b1f51c6eff7b2863aa
+size 232393
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f0e958be8cec33659019814b7afd42e95c289ef
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf6c913ba5a15f842215f511ec94840e910fefa2ba9456f7cae09aa9f902c9bf
+size 188535
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_011/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..364528fb8342075ca2928bcb908e28f184c57252
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ff2ecc30610655ab4374d6cb5587021e7e10285152ae8a3cd8408e6e5354266
+size 449662
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..855d145f32526c68edea27cd65af5764215065f2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e331bfea4a54a1bc44b274aef4863174c0ddf2749c45a384b9b2974f96cbdca
+size 337156
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_012/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..32566505757630daaeceabc00a67b9cb294fb9b4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42edd702a708294ecdb431e7d548d340f9db2a0a7d8696b5c4824da4c83847d0
+size 296402
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c25dfa2cee664930dedb8aec95cf2c80e9e241de
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:814029edf972baba96359e295991cdd5b3eadb8e41043832acc703696a8011d7
+size 229698
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_013/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..641b1717a66b43faf769120bde4b1072d3229e3e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6332566e483b9f1675e258161f350b5ff04f3b784d0af32f2fdcd802ce0295d7
+size 524655
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef2f59c7334767550e734632c60ed8522b177d55
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4738140d6d551214ecbc04b9a3abdb284d2927707508d34620bd6dea50a7b04
+size 375171
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_014/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f56c59ee9b6672903cfd516ab73322e493233fc2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:459bcca6edf6ea4b4bbcd812c8757a0461a5179217ce686d44471be5e5a0d709
+size 723087
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..90c5ab104d7b00954f69e501ec7744580712796a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73e93f7baace3e56fa28dd34db69c9c62c5e9afc6183d5abd3f8e427e8648af2
+size 457801
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_015/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e61b7a5d10340c00b103b88430cfa0273307fed0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15960dbd43c80603aebf5178c14e2fe1ab4d860c411e3ed6eb48013f7ac76de3
+size 504097
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3ab457a6f83b6c698e1c3cc82fbe1ef618620be0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fba0b00b624424fb7d70dc84122d1d209b34a8fa85ad370d3714e20c2d6dd34
+size 393523
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_016/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..426fcd169911f96b4eed445fa8c340ecbe75dca9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8039a49cab3e3348e51eedf87207cec4f02a87df572828addeb27f122f6697f
+size 409884
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c5ff6cf65ccabf601dead5e21931946fb4466bf
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b01_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb653e99982eeeb7afcfa791fe9eaee2979a2a504e7994dda1988e322a4b4060
+size 324265
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_001/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..99c06ec90b0702336b9a128c01df37bf62783c26
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28f69d12eeac9f7ae2011b4882af576d6d3f39cfa154ed2fb61103676b968a9a
+size 521037
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..82ca89dae95addb0b5b3f8c2046b11193409be40
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6aa8906bb1f51e0f01ea2fc748723e4df72584aa2d9f422ae92870cebb89eed5
+size 384247
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_002/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..80a3b14c46e3446635da4d6e54baa245284a3d8a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6792854e1c849d29d6424c01896e606f63960dfd38be144291a74dbce27bf78c
+size 403880
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..452bbe5d726894b57edb5e4ea91548b94c5266af
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25111898180af10057476d17b0c5617afa610fd7b74c48807c0ea4359f4b0d0f
+size 300954
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_003/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..534ea988efeb63fbb94836264a2ecc60ff0c52d0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bd41b0af675a0d836c202f2e3a0ccc66f3d15aeaa04c22279b749cfd060d7cb
+size 339415
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..38d7b01ef51ecb96f71f2bd85786fd5f364d8327
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:943e13f52c3631d8427f13105f81b6c0fb2f15b7dfd495bc43e0c80ec6514226
+size 232193
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_004/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..eaf52fb036253aee0d5c1fa412a34e60c16366b9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf76218cbdfe9e71c203f10ea33a489e09692b0fc16ce7f607e53d1576aa792e
+size 490553
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd3076fadcec5a92fa826ba5b9c06cfd1f760669
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d07ebf8f958458bd3a801f888efdaa23324ee7d24b63d4c431ce706de2a56c1a
+size 368013
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_005/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ea9d74bc6503499e8964200cc68e1291191b311f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5bc9993458f2ab1683c82a35df5cf95ddb6692314ad06b1b4c3d39b2f2a0dbf
+size 378390
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7be34d2761191f07f39a25d1bbfa2926b70c634e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25255eecfe551972fffccefc48db2db18b0e82bd9df8bcff9a4dafa45c047ec1
+size 246958
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_006/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3c19e995bd8136e5174715b5c009c4ca94a68dd2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c23f7575234d1d6ebc0350acb77ceec7fe7ef5ebd1113a05403cd20ad88d844
+size 489551
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..dbdb9ed88b98c6a4b5fd412e2b8bd520c87aaafa
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c35bccfe80be2e50bdcc2d33aeaa77be2897dd52721d2eb7ca9bad9d0cb698f
+size 319472
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_008/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..08a51c3732dc8363ed889fcfe0bd379273eed12a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d95dcd637002102a11b12208d43d79fa800322541b0a6a187ef9d6af14493888
+size 181291
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2279da73bb4c0af81f26c8e8ea67abb8dc655503
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdc33c5fb09c519ccbbff6ac42f214bca3ff225f370d04ba699237fbed3c6fa9
+size 172237
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_009/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1e98ed15c51cf3c0af2983ee4b91a4f422cae9e5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed4bd91d6396db7405e163cf4342f6a4dea355cd67e53d3dd834c2f33eaba010
+size 157406
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..27d82def4b68a7cf3fc128c45ca8342bf5cb067f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:479057317e2b3fa6ec63eac88ac3963d40506e267cffe0b0afee5446dc309e2c
+size 146630
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_010/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e50579046bc13e01b8c53bc133e2b8c4a5ee33f5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:777e184d7471e486b3cff0ea9356998e70f0cc8c03e0319afad3ab5c98c0a5c4
+size 499456
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ba4d4a336fef27a162e1c2eade78df3b9d07b098
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cee83c85242e8ce6545ef4c34c8010b6472dcace1b7d5a31fa926673f105c74
+size 335063
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_011/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..957a7d831ce21c8495c8d61c429a2431a9a96b29
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:407b3f567f043537d87615481fd56dbaf630e549db02a1457c4227007a4085ee
+size 265633
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..27b77d8ddadff939d120c8835bdd5bef44866572
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:657a0adbc9b231a61cf2ec5c2a936c84fff0f49280cc28821c2f02994db7ba02
+size 167935
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_012/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5bc6e6f1396334784e61ba5e627d1d865e9f2a9c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80555b27a4f6ad617b1b2eb449565a5bcc4de9fa1fb2566c24a58d2274ef3ccb
+size 180066
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..07ebb5e1879fd93a9319362d5a51155e7e93a5f9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b3e7e4bc214fc109058c6d5482aade5182b4b63a103ac22f34bdf8c82b67706
+size 165826
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_013/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bc8bbddc5c6ce09974485019c5094b0f34c41244
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8559742378e57098883003c399127fc4a5be09c42e1e1e63ef51a3b3b5acb36b
+size 550499
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b8d5427b98ce562cfef4e29dc505fed7bca5ce11
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:874d8d10ec58e39777bec3ad0073bb5a6e37ce462bc5bbbefa0bbc470702f979
+size 363239
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_014/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b98a275a3a0540ffd8ab123c3d69d6ddad435d25
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7168d6e778675258fcc0a3564b1ffe81aef4037d3d18c3471f6723d3f853a253
+size 239733
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..67f3882c6909d6168ab98d30cacaea391959a986
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:447b6e298fd9aeb300ec10d822ae8c5cbcc90ce6205328049a0f508399cd7040
+size 204672
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_015/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d16e2cea28897beff76ab201b405c3f927730881
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d023b89c408b4a3cb6873b4c67a1d9b31c48a3ffe7a09213b47373fc2978b89c
+size 357681
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cbeaf53cc210a40e455c15c179f72ec9383cea18
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:486d298644b7ec99dcbfcb225f363b4af5425736076c6e53b073665ae6091fe3
+size 264660
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8eceda9de1663a6da4c06d5d03d249a949041d80
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de66df0d362bdec6af9343648740935e4872f5bd7593a1c79d11706ef68086e5
+size 333554
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a436035103f1d969ee7b9f7bb3bef1df7880eae2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22262174c1a0c83292f6a60741c1dc29a43c9bfaf31e5e0c60c3276443980ff4
+size 253624
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b20ec2d141f61731368bad1f7b7866d965cd7f49
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e099a5e48a4e8452cc59b0ebc8cd4420d1cc492e2643ed89c74bea6e5c5ec0f6
+size 132783
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d8e0b491f2fef759f6346decfd7a6c7464d9373a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e536832df8921ce9684c1c554f6b88a5687d512528b92477baa0399dbba600a
+size 64560
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..96aa75a38ba245a699ac4139323550f07e65f46c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9790d2f6117872d0a54787b2c366b4382bcb3e7f508f59832e366c948f114a45
+size 439019
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e151b5e77435110d6fa2829bf81440c2375d1cbd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:703a96384e5f70162cb14860da3abc9a0dcfa8ead014c7834a09185c879198d5
+size 339148
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1b9ded97d9fa99d5fa5ba657b388a58bbf5032fd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6346ef266d057f64c4a2a6f84c081e50f000635d7716f24cf04ae7fe78df81d3
+size 440403
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..271bfafb71a8273e755925224b4e7214ea502e51
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb5439c5f84a5d0d66f189e21a764842fe02e0d5c80a9f7a4a90df37570a069c
+size 246945
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a909009ae9fafecabaa8fdf6f5d026f79a924f30
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73264ae9371d6fff4c9ccbb13d2d2241d3ca79b213cc904df79ee312e3fa6181
+size 296553
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..65055ecf59bd8dab56658a7d788cab9e71595a5c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de3106ce06429700dfdf38ba45bd4f633c4b9018193487a430ec24c2bf1d0e2f
+size 192538
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..66e4976e3cae79104d181bc297d813258f9f5dcb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e57cf6112c26b0838cb02ccdcdcc5581c29ba9f31b3d799b5d1f7604188174a
+size 319528
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..700c0de37fa119ff1c712d57e1aca9e746edfa41
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:547ccc73b83b6fd6da411d2425b677e19b2768ad9b29b918bae2f4e26063e861
+size 158313
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5f13479aafa9181ae8fb88d2feb889f787e6cb13
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b294cd54fb9dc99c0d99baf61bcefb0f48f1cc34b802cdc5bb293d77ac8c6c5
+size 485985
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6a6926bdd83d8469ff98ad752fe039c19904206b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5dc2f1388e4be80803c5a12ffa31444b1deb5f399e308093097d3fa6f527000
+size 374455
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..31db1a60b4cbb30ab8a497bdbf5b34aa4c5c5a31
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bf5d995feffc77df8ab53a0f7f32a11c9325392808c3f97aa6392a52c5b3068
+size 183897
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..283d6b061206d87406a8e1596cbe6153a9eeb06b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c5a38da9ec49e699d92d66e56cacd322580304dd46a62b8fff088c0bdfa3777
+size 83960
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..63460e8fd70dce85e2d7086944eda6be6bc45609
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f9639de272918451616a85b429c4c621850147db59a15a781794c113500abb8
+size 532538
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3811e488bc0350983eff7e42f3d77112902938b8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3caf52e79383aabaa5ed758e9628d4ce531bffa298bd9eb0fa76efc4d47708b2
+size 343966
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6eb31c27bc6abf2b2e2d514f05be2b66b4093886
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ee05e1f9f107c96d337406e8051249aebe004e21de3a9ce164e2f75e10de8a1
+size 447834
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d79dda9696881db5338c3ec0d389577683d438d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c08fa0cab5692ed56707278deaba6f66dfe6b090e24b556bb1bdb1c91406f4cc
+size 324019
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7b0a31e37aa329f961bec17e293310152398fbbf
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e00353422e3a17f3db0a64838c40b226185fe1d419a567dd5768f951ae7889d
+size 304273
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d63e2a7eab8e6179e01c3edb8f26b28e387c7011
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d68c44f3d7404e5c8722f42cfe8d7ddaf607d0f33c17ae554b984b69365e188
+size 243107
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..288b6f8978511ff24ba95a2420fda8453c74327a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f12dd7020c0b9dc26a388c11d31b0aa031f9f93f65649d66b610d20c7bca1c1c
+size 308687
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9113b646fc9db77f1834b7d0e1ff6325a1dc16f9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c1d0777cdf2cb64c7818b5d19374579675fa4a0af7ac0d38769e9d128aed9f1
+size 249667
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1eeb63e8d8d4229e36c1128877de3633009949e5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:110782c2b47dda46a2ff31ee115f5128bd0d76c62dd77dbad1cce3b3cf561770
+size 330173
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7485b8ce9107e808cfb7514a529035e08b33ccd0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7371b8d4a774c005aa3752f42bc83a1c053b8c4cfd5574eafca08ca646448423
+size 285140
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4571de98957e9dd8d62b77d4fafc051e650a9dd7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff0ff3fd82294c626a768119c6f6116b87619ec6c2c4b570164a3c97b4c92b24
+size 257666
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec6d317b0bf078a002c6815c430482562d2b94d5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee26faec7b48028f1f5ff0dab291f14c276a4f82114ba1a708b279b964582eb9
+size 140734
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f40bbaa712b0dd78704feb46e7590f75e31a462f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:025e65112db568a63f4374d1d6c8c00dfbbea238dfecb6d819b6bd5aa6aa7a56
+size 212776
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5984bd3c4de8d52576bedf360f40bf57e436c2d3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd41fed657f7f53606ca8d4d4f2bf5e0c817bf9ffd0a87c938d63cd136f0a76b
+size 126856
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0fd0becd8647d929909aca8d532f8ba72b16ec4c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e84da8661347517ada92a3cf84cfe869f63913cddeea9b4331112f1cb4dc7eb9
+size 503310
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0cd41e395cdc65309c52ab648a9676c8e518b9e1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ee8217dedc142f9833746d5e292f87bac60af4980180a779bee8cdc059c2518
+size 331152
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c2bdf8ee182b9a956ca60978cb4aefb7341b3397
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5622aeb78a1b940e4140b5f606acd25b4f24f43666bcd63cc636d546a6b7c2b7
+size 270827
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9449a89201b19b24ab4d6f39562fcaed9c541cc7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5b0b051e2f204da953de0a37c6e8c24b39fffcac832a753443e3ee1cc5578bb
+size 154421
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f6a7c8433506a9aa6bf1c695c4aadf05020ab789
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bae32ba484145988ef1e890b81fa9833cdc55f49f71d27b08f00418b0ba44bb
+size 439572
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a242e17e4e903b0052283084c1a3b774b4fae25e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:456d680b5b2aa984bfc20691acd035bc817136768ba1cdb78f2510541cabde10
+size 348911
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0dc29ec5e67d241c87c5b528d2924821f546abe0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b9996bd0d43cc173b7f14a5b84b4a1e9a8b05a98f834f68ed54ecf93aab8c82
+size 349706
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2589c2f524635d8aa79f1b42c483612afe79655b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b79c464743914044c485102f9dda713b17d791f364086ae699c23141ba100d5
+size 244053
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..91dd72c6684163dddf44c833fce7e319079e79f0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac84fd68b6101945fc896bf25d2439c548698d7b42e0d55001e2cedcc78c2fa3
+size 462082
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ae86639d14eaab733c670a2757bf4e3fc0ff0344
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:590f67e2ce807ce7fdfac2f9fefa9c88133314eccd193d3814e3c203764991b0
+size 331485
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5b5150b06f8f0630c5a6427d34857cee113d9777
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b46c1f0d2ff02ee51cee7233ad2cd54799633b299468d59d668da000fa1cf92a
+size 379994
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a46c6ef3a8e6515e8fbea6ed0cab7f61d1e3d93
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:037531186208ae8c358433d2357f92d34308c6e70310a220ee18117a4424271d
+size 249562
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b94240f21247ea8e596532315ab4cf55dceb2f84
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2620e1167a5fa7eae90ae23108be078b9b08825568b3af664acd81b99d98390b
+size 433165
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e53988ae24cc323008a7685043f5c845c07d0419
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d83448c7240bae0cb55af6a92e7a483f1d7b50abb9d4bb1801f97301a1216c1e
+size 302546
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8ff11892363a13f4c2ac6dea2e92d90572b871dc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da774ae75fab5a4e6bff7af5bbc559841b5c662e05d6ca20c93a344e4def8245
+size 316488
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7f88d1a5dc38b538be2a64703e5fb7035e6a1c04
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aff1b284f0f208aa0855d04dbd775b1c14a6ee6e6a6ed629f2f3c86d9e42f350
+size 233080
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..06509a7de69f33e8c5c825090ac232c58e52c605
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed1e3adcd3d08334f0ff439aaa419c26780826d444561f8de8bfa164fc561936
+size 529805
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e6b6bb0c691b1478218fe72e6e4eb0681b61f79d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e46a31415a9c49921141f05f98694494cc7df30f2f002653d5082c98dbe32fff
+size 388938
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6114bbe7777650372af914314a61818f1878a8c5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a81edd42b089ac977136839afc9f84a926717f0641a91f4ff79f335a7e95e12c
+size 333921
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5542d8f8478f7ed342ca3a6b4ec14501ce176ac2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0089f73b52a44b4b5e3614244990bd74d7035d405174971621abb095e3dbab22
+size 210237
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b00c332d8f9cee8c4634bc76b6ab1cc51d580382
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc7a395701e39c243f3dbdea1e98d4be1890d49c1c9db970447d45b7dd878922
+size 374622
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..664807b08bab55762f1a11c1e1b94b30822866f1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c936d718fd183e4582aa8061ad295afb0070f10130f292b04e77709ed083c2b7
+size 307791
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b5368a1d0a657952908bbefc3bfdb85c64202dee
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2db107beae1d1c6b91b678c3b33db3888d265e6365cb2878b7f892ee24728b5c
+size 329159
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..530bb36a5ec1f925c7a91122b00d1d38e382820d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b4e074c77af192c33b3ffdb18e841908c0dada154b892845c53f6a84f74eea6
+size 240362
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ce5140274903665299269b01817644958cd452f8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:496c446dbda6e2612028436e4579871ad7f1f9c0b6a61633a8df05e0b952ebe5
+size 426102
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7ab41a301cd02970d13d67359e8490c131886130
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81e891ddeeef7807bf13538b4d3eaa49895086d124365a0ab98c7442c786ed73
+size 289128
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..25ee85a68b46105b76faec3f876738cb9315d26a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7e6eee9954dfb92db01f6faf9750c613a234e24133ea97051fd8ead1287be57
+size 255940
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3269f41f2556bc0d53a16af793ec15ea665627ce
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1eb965181aaf57d840f3039c83f0b57c26996e04240bfd55b9adc95220ac75b9
+size 142887
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..89ce1914785cb58e4bce0cc43adef9d034035322
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5abaf950ef7fa00b1874051fb8826884a52830b6531a9d44b216e5dfed98c6f2
+size 424379
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe7e485a324be12bcb0ae508cd73dd1acd5fd482
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:682266fae2b20b874f5b93fbdfbd7186ea4dff3f6bd27ae6269490b89b428d43
+size 308088
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1bf235637e65ce4c99157273f15add164d564d5b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b15924718a4e21d3bd4701901b62f9efb0c2470106ad4401b7b518f2bf397e2b
+size 331554
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..39cbb0e60e798b26bc8127735b9b63b4b02e4f10
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c438a4828353856ba15fb4cf536309e37d3315a4a1663b7838d6d1a29b715b6
+size 203472
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e19e005a83de06df0a1a6a2d2ddf904d7809c2f4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03afad76358e373d5af83d349719fc85f8a1f51a6ed67402e57410ba5181c354
+size 476256
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a9106bb5bd24f111f178acc6a27c7c4dba4bf0ce
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d93d914c8d2660958f9828335940ed6908c0067a799fd5a622e3241142a8f0b1
+size 352255
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..553701c933489ee31fc0cdfed805cef034acc837
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3aa7082e579f55c55aea8f77c2ad88a68019fda0a26dce99b3bc77c5f9dbdfed
+size 366784
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ac8f6bd8ad8d45411d503e1638d58ade3221f14
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b60f90f5544d00ceddaadc2d7444d2b9ee88520008d71ce3bfda701a828ea6f6
+size 336321
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cf99bd673dd2581464033f499db2bc2aaad1f150
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb477d718f34c1ce4a5e050efaf74bc74d9d3cd04523fca893a5a22a4e05fae7
+size 351150
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c4938a30f200c55b6fa152cfc31575536284792
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39fd95d62ccaa865769e6f6b1aeda4dcf4f98818472aaf0eb5914717aa154fff
+size 323793
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..48212521f947184b1e4eeafea3c213f5b5a22124
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7791114b4a2e0d0a26663394745d55815750e02292d30c3bfd7998cfe19edd41
+size 362059
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c03e978545716ad59649de9488190eb991e27a06
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1128965203598fd9edf5ad80342e348cdb775f79590453620c003682f7cae86c
+size 257132
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2afc2dace2d8550804c553f60b343f7f018c7a5f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83622566ee038d6e89ddbb6aba479ce058f568cc1f650b2d4f4311246c4f83bd
+size 470238
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5c66627c4b6dd49682a8532d49172cfe27a13712
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a13b4e821a7fa2483a4116887ab345b027f962594bab7243724ed6e7fc23ba36
+size 311951
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..24574b02361becb6538ab32b124a35ffd895715c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a20cd53d8ba7a6d34dbc731ff71cc7d9352ac32de0fd2bbdcdba963317776245
+size 421849
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c3570036a8cf68e1558e91a57c4b4431cd46e699
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d7f212567d5b618d58d701e8d1c902f023e5538b9da8534c7de5e2dc8f07f77
+size 304247
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f145b4990d3e8ec9fe40a3e6fdbdd906a380a87e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffa2122b83361ce21fc752d630862d6920ce24c556899e72f6724097779188b8
+size 336382
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d18c892d73a77a44c7a9329cebd7035b88e38d74
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77ef2d1a94fca0d0c714f8fe95ecade53fc1a6134be4734b84973f111ad3f7dd
+size 297235
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..76bb12b326830ba425ea1d8b62acaa73e398821b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3534296dfc5e4e206433adfe8686d0f368b66b2c72f876c1809a7fdb5eac49cc
+size 197579
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..58bc7b409cfe79b6500d5a85cda06d7332d508c6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0a05b339701ca5a22a602dbf371af273edf5b85e3c1b4ea00be0a87f318e431
+size 111015
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9c9a0a2d40c1f7dbc73c3b1aad8dd53a0f4a9440
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c8a58d08a1eab20af8bea48dbab09238e73ed2f459aab5389fbe8bdd0a3ff9c
+size 410389
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8191715fcd296a056c665357d4262a5507c62244
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c0a072863d33d53c61760df85ffe7b1c82c9a022149a6becfee7786fb752ba5
+size 275441
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..aeb91fa72251782ce1b0da2d6e69a0ff2127279b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45a00cfcfd8dde4d8837f57a4def31a415131fea586f88aa534a6209a6b1ca5a
+size 453787
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..991eb79bf00d6e55556e0a3a8fca9fd0702c8e1a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18dba2ee260732a00c7fdb6ebbded5bc98b16ca3fdcd1b67573be5fba8ee6d25
+size 289747
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..93ae53a72f4323eff664a79ff7ef78bd37f6d777
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6f1a48c9b1eafeb7e4095140074ff81d0da26c01ff8c88837476cce39260d61
+size 390017
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0dad7c4e58f3f8bca704dba1d0d4b7a4564fc738
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef6675b3b275a8498a3834aaf76a996c1d0a06c9ee112e95a8ecf35d29da3d47
+size 327726
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8894c51b307ab0741b52531caeaff1649653a056
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e88403a1491fd3061e66f25f0f7e44a66487db49025f8c4d28835ebf07bee6ef
+size 513605
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d70abcec7b6ede2b58b736607c1461fe97bed222
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18f9bd8134facba3657a5e34a1040a109b8c32cc11d45eca5f7c8b2eb4493237
+size 241708
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1c156b4f754d2de9ad4e53031aa95bce53753c5c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edc2cbe993388d4daf8b11360ed96c69fdae7b4e673a41433c2a63e891858090
+size 450410
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..892ede30a05527328613e43f08ae3eeba96386b9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e008c64464cbac3de109faaf1992e27b9c5867f9a921a612a3538d742beb7bcb
+size 322626
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..51d5cd48ef8f7180235672fd67db59c4f547162f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97739a1b15311edba8c685d174bc0799065b9b880359303e840d0047bf3c9161
+size 469185
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..06c1a80d832eb73313d60b54d6145db0aa1d6de4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:259a4464632711f2b16606f6960818adc579649789e0b117e1a2131c502cdc74
+size 281966
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cd215c06e4945e550c74ed66fcfa98b8ff4210da
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8639f8cc94de95bcd02ff9338620ea1ad12a90bf06ac954e69502733a44a02ef
+size 304643
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8991a560615a04462f470f53770a778cd14463b8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2fa5707397808e0d93f606f981c25aea55b308a2e87264b493ea95939660477
+size 239972
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7bf472826c97c2388ed7e2aabb503b0c51e1e1b6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e340d216bc43c9298cdbaf9d5ed391b7dead2dc2c34012f0b9368ff164b04de
+size 353865
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a59096859289163f3f7143419f84f3b2e19cd97c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2b87b42ded84dc220aacaf2867ec814fff26986f739f3cf7c6154f11266f0a6
+size 308392
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f49436ee4be3f01b85922cd9a2771d974929bb27
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:264c77c858635fa7d507418e4c828f25833c1b94808148f588f67129bae66664
+size 271189
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ad419384c1c890881ae9264812a3f9b7f0fe391f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0366a268442da7381a91d172f973634e7a3dc9fbf40f002f3c06458873c748f8
+size 187022
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d30ada47ed69da988d218bfbaea666658d0fa640
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55994e3d6daf431e365f03b40c12d7d92af5bbdee73521eaf3adeffdcb21ed76
+size 270904
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c6c5e1fcde439ca660b6007d25a6ed39f6e2215a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60784beee9a908b70e082f34ab6556bc6532ba02ffc51ee3299052549b617e9a
+size 178977
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6335f226022ce9d897daa0529eacfd359d608e9b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbcc8fcaed8ef215b26dcc7e3a5d4b4877c60aa29f2bc423e9d2cad23f9e5e82
+size 277077
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0b87b1f996eab7f2d56e61dc5858d555bb475bc2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3724b4b3eaf1bbd9bd9f7cdd2fcd2ce395b6f60b2f1d48a95b9682310afa2be1
+size 137230
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..372116cc2156459250a9ba2c9b714bc7be8fedcd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18f515436d026952591028eeb5c8e6d7326ab12cfa2a60787372ff8974991792
+size 250294
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5c70297f13b499ee1eb45de0e0b647cc473fd39e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e99fd6bc96c37ce47e138f0bb821b8ffcbb70e477da63e541f6933fa705b5003
+size 141036
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..072a70800005a5d7275dca309176f226b1abba7d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93098f7980d9e1ba800a0f45027f8a2d70619458f39120e2506d7957f5c080d2
+size 478477
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2460395d6d469acb1ca1553781d8d20bf340877a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1691de5d1540d247f1ff92e8b260ab4964f1cd1f23d12ee98530a5f8a4879bb
+size 267220
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..15294a6ef2adffb9bbf6d6ec2728a4570fd73963
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb89bd7cc9da2e1c0f10833a49220732ccb286c6c849a923687c577d804b5fdf
+size 259159
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..48f0e468c6d2bb725abab9594080006f985f8e3c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:555ee824ca481d719e0bda6214990ca9b54a4619108606201f324224ac3d96e6
+size 136374
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..47da93d97f15ccba9b7b1ca4ee0d0bb9b0f635ef
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f70ed864205bb5041ab965bc687b9d3c7099f788d66c67a928e5755e6dca5c07
+size 207983
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d927cf6cf50c621cf536dd968861a65dd40f116a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3ab125f5c654b55be52e52ddc2b9b24f7a4d0008ff706888ef5999f81cf88ab
+size 121182
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ee532f5ca438550a9d89974c8fb18a5f35ebe57c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74e98aeaeceb3ed32752183ccebb3da3da6c78974a6e530c8daccd780f1a1be6
+size 402752
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..dadda3789d505589910fb97649f930799f382315
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a98b9cd4ed76ecbc7216eb0a3ff50454974db3a1e9bcf96cf0b7679c67c7f6ea
+size 253137
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3433b97bd68e583ce48140b61bbc4f216fce91df
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2bd92de2fbd4d4c92ffcd223e00f78291d80e38dc7af01a91423b18ae8e73a7
+size 497449
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..477cb34b3de9be66c2562c19ced1cda2c099f22f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdf32a29878690f313ba31da1c6f8141fd885f0d3b64a821a0821461c7d520db
+size 296715
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2aa647f218aa27a89fbb606a877c94ad4665f93d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecc3d5549ebe45a8f835cec5867b31a493ae8141a457886fbf051e99f9907a2e
+size 198973
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..839b967562a5576bee805094383b7c5bcc061484
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:821738ebc34f3eabf1cf7c9b8c881c79d44e5088742c7df0868e951e05488b40
+size 105325
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ae360c3b497fb9e6f8d66c218961aa9dd6c73e8d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d803bad4908404c529f224f5d2f2d6f540a421be69d66dbe41a1f288c356fb1f
+size 256919
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..848bdb29f4b14378a8e4de290ff6cecc097300cb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a559da03dd73555e6714351de884ac3a1c729356ecf89ebbbfa7a3b82deeff82
+size 174045
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0874d846e173ee22ad3117dc7ca019e3c182f8c6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb94698adc70908cf862d42a5c0852f4957290e01811ebd6f37342b0362c147b
+size 408468
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..650941f2d51d3b916bd567d98bba97ac0aaa3322
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee726e879fcd98d079a59f89ee93951f3ae7660808e8b7dad3f3a24b2bfc602c
+size 276764
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..64c1f492e59eacd11212304a57b978f715afc64a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cbe0512b7c6c5c87a2a8261aedd5b426e29ee08ecfde1519877f78797fe902a
+size 213807
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2d2f5739aaca69b2deb87287acaa7754a05f0e2f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e13a7029664733c033249195368e1ede1f4ff13617010e66c11a8561f252f81
+size 151185
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4889b8c2ec8ca77ecd53a2d295b0cc41c7b6f570
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff74f59fa125ebfa5a8e7f8f5ed6f39ee8be575457187122d1c1ef46ca6d91e0
+size 80328
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..21f594b62b0295e44d156cee16a901cc17ca8f17
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f92d2a8efacda5e244e62a2f16c649eb6da3d0be31fce4abcbdb5a912e9db7b8
+size 33746
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a095fca03003fb1eeb747224ccad027eaf642486
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb6e8486d7dd142dd78a1a598696b3d82ff119ba380c8266ea3e60ce2294e4a1
+size 371309
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d970a9f433d97bd6c2a3d4556e50e33b2048bb6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97caf1b7b48a631e5aa11213c7cc7f650a639f48ea3f002412c0e50c883ad322
+size 219786
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..da1e62a8f508eb9b53e247b0b9fbfc3662d99c17
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d4a0587e7e346b3660a72fe7d99a837c0d987ec83640299ccd337c10d2f231e
+size 262085
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f6aa54d9f7af36cf4b4622ff0ea6f415dd4111d6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6e5ba6970d678788be6facc3068e1c4a5be1552d89f28d3f474898c9c34b0c9
+size 160149
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1061f6761cdb37c2a9896fb3b5d8c351505cbc9c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d792786474feccc07b40528487b0a3414d62ec572ca6b051e05d8d90e475107
+size 308138
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..300681dc4771519a1ee87c321a1f78a3187a8931
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b00_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd6c1ca0a13a4e9b6aa123f5b1e95b8695b2f6cee71f8185558b59aa9cd9f03b
+size 164796
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9f49a45a4ed4f61d5a79bb7e07e0c25bd7199f11
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e39a1c36a66fa02652de7dd73c4cce839ae92814f6bd8726affeb36ac550360
+size 269269
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..438d340a4d48ad02c286e4480d4e29d4b2a07661
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a59cb1b4618e3d89341d8c296d18920991f2474ae92998cc7e854eef6cd139f1
+size 143486
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4918a766c3c21755dabdc38e5ebe0d44d4dd9849
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:631dce10aeaf7271e3f999a52faa8d7df46d6028e582c66d22b2fd3c31b13a8f
+size 327475
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d62015b4e2759b5153c7f7eacf8ba55254c65d0a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:258831340f08c40a3aed6d36d5ba385ca028837c400eba0218bf5c0e735fbf9c
+size 150056
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..28ef1c3ccc6a65ce3689a63ec61b1c3cf82767ef
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c42f6becb4382bb68da2695b60aca0f7a1cd769788d609e0eb8390aaef65ca2b
+size 405957
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b631cb1e0bcb763bb52d04f4f4d85be2d4d2b48c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbdac7dd2a21a6662f21984d7c60b88ccd71eab0ee26b8a7b9a781aff5f90791
+size 247735
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1c730a7708b8403c3545cd99f633d395564f07d5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a51a6a6f61bdd50ce50aae56827d5f7889a16be6fccaf69c18469b158585e1e
+size 306150
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f58726b8d8af53b62ab6bf3633561de0112771b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4564f21a7a31e6cf92194dd81303c5df4de989f04f2e067fb976de1806994f18
+size 216432
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b5ae5ea781455c446a442cb4173e07fb83d8111d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f44ce851dc98c42af30cfc4cc7eb67b2d313dac1cc30762f41e235d93197242f
+size 401822
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f1f49d916ddc383dc6a9ecab9e6f5d1b76dff706
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e9b39a053392b460cc542260c5eeeab8eff3a5c153e48b0e683c3e84df1f037
+size 275737
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..02e8fc5e2062e6ffdd36db5fbea632a21e967760
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12b509e457c7007b69c358cac4ccb8d29b5aebe7bb2183a1b36f9914a8344516
+size 285733
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ce250d83004670f5312ad6edc5789e9b6ec677f8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3c835d9ddeee5826ce0821615c1ec8f6d7e9810a6f4202582b8dde458585703
+size 222834
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1e118bbd99caf43991f9ba4b09099bb5c4dc9397
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f001dcf5aa2d98159333036570f65153b1f6ee14b284eddd7046440b3bd8d9b
+size 309699
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d363a4ff54d3be7103a21f592b04e7728927df06
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebfa832c541f6b7759e3dfe1aa594c16578b0ca6a9f75faa7443babdbb0f7fe2
+size 154028
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0a589660cbc4356dd1e19917dca78fbdee5f4426
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0123ec484516608746f543cd0fd569ec3eb8a14eb735161defcbe7bec5705c88
+size 325240
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..382c10dc5de5fb147f1c91e76808cc0680cddf2d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f742cfcceb08a9fc9ed3bc5eac85e5f3200f05079b82f46453bf54f1f7d444fd
+size 150744
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e45621071561b1ff0954b4879a0cb3c17618a484
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:840234eea3cb875a17ff726aa31c3b79da547577b8b343740ef0c7fb3c48ee17
+size 330648
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..25b18c0d0213257ab75d22db86fc884ce6bcf890
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f38fc0c0f1cca791faa853d443232dd83f6e9e48ddf0f8b77795c8b387e90973
+size 249169
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..caa8d0591ee83e87a54d9e963ca6e56a187be5fa
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f6b8492d2e9af0778f40df50c4aebd1a3679e15dd275db50e106da76990aa66
+size 284741
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d0e46feb204f606fff239e7789392854eae8af99
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:876d02870bfe10090c8e428396d52919188a079e27016b97b1933beff71afb7f
+size 149216
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..53d9c81baea48adff75f5004fc7dc897e90e9810
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:795a29eaf360fbb02c597214828e8a784c579b1f30fccef6c672376af92c3086
+size 327382
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d5bceea56dd52773ba8a2a75d4a8a1543b8963bd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7d5552beb363e7ff13e56b80a8a818dce146d90d67a76e9779475968689a321
+size 235540
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b93bbfe5e5ae3be6135a85607a5ab3f6336cca27
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:712a4af4c4a10eec5cd16bb40083a9a46d21d08b93aa7d222e365455d3f978af
+size 184697
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8b50813f915dd3ea2872f51055206f8de05691c5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82df06fddb098742787d6709041ec845e8fc236419471ac7497ab66ac1d59679
+size 95864
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..44fc6d9ceeac9afa9008be631de9671dd1c919bd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35721399a1a4cd8283cb73e9272317191a9d49db1769510562fb000de3769db7
+size 344827
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5de467626c33c26dda07440d95fd90d9849cdcb5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e85663c263032381f39af7afeec0cf39674bf50cf6f01681bfebfb6dbacf26b
+size 164765
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..99b46cdd831641d335f21397d025234381ed3cb9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa4d3dc0bafcf77ae33c332485b25a46be39ab055b81b5f6f546a97f16b15c8e
+size 429353
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d0133849e632e7980d766c4c9164997be26b44f4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8457b040c09f74051145f4e92d73d9ab3c41fb79d606d2d19188aeb1526aba52
+size 284827
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0c26804e1657acff74749a6f34bdbc277140099d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c607148d667e9f05d3661acc63a4bb31ebe60393c6ba409b322bedc0ec26834
+size 408114
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e2c16a0675cedfd332f5027e64181cb4d5e340aa
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64000a31a2b4661983b4777147c168f905c1ede2042aa38ff4c7bf93524bc8e6
+size 183820
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9a5138dd2d32304ff83236b4683bf244f4d46508
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e83782ccb21c72b83828e9a4bf6391247a2590e5763ca81a7d82f06a2dc0830
+size 358272
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a6f1851bb4700bca593f6487f0cf1a96728f969d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b01_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbd932d641a226bd000364d51dbd0077363c020a602917e99fed1f64a74e7830
+size 179277
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e88bdb145128983203aac9903b5362727b024b60
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:089aaee04a0e728ef166b17935015aac8d48f0ccb94e40bf59f82d535871a5b6
+size 329091
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e3966d4c9894dbb7db7dee2f6ec319ab27bbda80
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f368caf1f7aff52271e4f972c4e392af9b464ddcbddbeafbafe8f0a1c8855a3d
+size 222076
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b290da8aeca2224eacf6d6a012a4cf88ccc4eab2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:baa3ffd42d9a43c6c04849199180125bb9ac0fdc74429dc4f0252e47e428233d
+size 188981
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b42b20b9017c6e338cac91f4bae2d9333411aa9a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abdd04e30a45812b4ad2b64d487916b9d462e3f1f1831e599d179198ee0e682a
+size 91783
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c01b66d6c74c4f26e86bc2c4c2a8610b098aa50d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42fdc6870203e0c42a6327f470153f44ba3060ad9717a69bc8913baed42245ce
+size 397221
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3f7f7e8fae1675f2816c587d45bfcfd384cbcd0d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:412d471a517a119c3e8c97e3e177b0b250d0c9b8dc3eb2e3e527b8106570fd2c
+size 240617
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e1ec3ceb9bae7824a78a89ff3f5d563f1b123d5b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18f275cf64da8ae155590a8771d5b8f5507479ce2533a0a934c288db8d57f684
+size 159202
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6ebaeafa69eba223f3bae61f1199413969800bf9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8fbb1e6490bf528581d674434d2201722747e371aa096b684fc14f08706fabe
+size 85538
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b313a7398af07a1d9d4b02b06d73a838ef351022
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:966616946c57fbb24cc9897357c6f286a51609fa1fb09c8703698a0acd3428e0
+size 480750
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9dca1a9ff75547be758d345a95e2950e1efd16ae
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6af25d67e84bb69487b6bbd46c937ba164af0e15cd51ad5cfcbdc9f7d029ac7b
+size 169254
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c6d26ceaf9894564312a2ab1f34fa4cbe62ab0fd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e421464c45342e28619ab78084e95165db16e96b7d2f4bc259db256fe511e80
+size 431381
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7c15213dbb0efa8be4f41641ff03ae0d5a43d3f7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4d655b2ff7dc2efa3863be5e4253b5dd8843cc4c2aee71bb6b1d4ddac8dcc8b
+size 218095
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..20fc62d2c33249704cfc4998b954a9ae098e8d2a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6705325d63ee3505e3c93c498f3756b064253ec13b846113ca12e74fd374985a
+size 311575
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a7ae9504c014ad00865dba779c01b14aae3f2fd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc8801c83bed03b0b91b131d4afce00e455e44ee8e4850ac6575d4f48a3c7118
+size 168853
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1f4765871d44dde8115e431eb241439e83097e5f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46ef7e449ea40a0515cd9b053dc49d02359123babb024f17d1c7f04f87753a59
+size 368860
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..059843ae52dfe386db19992128858a28000b4024
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd761bd6c8f2e26498dfd8ef391e2c58eb8dbf1bd039b1b25b7055f7ca1f04ba
+size 224768
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d689d2bd1c8bbd7eb809bd9deba9e207055295b4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b16c1c295c1121a0cc39e56f7746ed8666300ffa2d3e86b2917815b6d3730d4
+size 469684
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7ac3c324a47261ed17756a4a6d82d70c13447908
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbfcb17761fbba58da52ba788edeae16fee955e6670515c9c08079801537eb30
+size 233651
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8cc2108638352256524286e0e3bcf627e17f6839
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbe19c845d775166b470a794897d31297f2e4045dccf80da983913a846a21581
+size 293818
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e0b6d86e101ff465dbb819a928e1ba1b55234f9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f38be76680997183362d9a73799938166e5e2054a44336711a7675a7171af687
+size 173354
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..86b3585f421a47df52b515debedeca55cada6146
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01e35138c3d53c7babeb5014ae3ac174e4456efc2f2696a1c3ed7d3e7316243e
+size 387930
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8c64c94ba38bec4253241e9afb444737e23bdc17
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f301aabb48903a693a908391c8fd3b5b50b15e3a8453090db6827e61e053d356
+size 211584
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..133abd0959ef39c511145e1029b39070531bdfb7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:216f1315aadd2b3f67ca6fa535fcaa60a082d1a03b75234b3fadb0304fed658e
+size 290329
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5ec8eb160e2f31cd70da6a0d042b1a8c7e9d5a73
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c57f19613238b3de642e9c08e4a297ee519372ffe8c36a430840a31b9cb1f20
+size 217701
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ab9532403cb00bcb290510d88dea6a3e4b97dee5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd012c0e388ded06207c167567f457ee68e4caa71d03942d893f8ee64b7441e7
+size 385125
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2370780014762bbbd4e4a896ffbb689f0db84567
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:661d17ddc9c1a4b117441d77485ed7bbfab0e5c5ad31fcfe6a2bb0d6925c4d94
+size 228974
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1fb2076e9a7cb0d60b73b5f1cf4fc458c9f95ac6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1574776ad61f2ccf9670a47806dc705dde9e75fe6d3234848cb454476d4c334a
+size 309347
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..72cd6f1d6e0f6c9b5d6b52c06e5fa0f15a3ec2cd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d26035573a7bf11ad4ef27161e9fd9a44deec91bbd618c71e4cb6b1b31216383
+size 165964
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a46be4e5415ba9cafbdcd379642e8961c38f6e82
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba40a76c1b8bbac848a7c93dac6aea24b57e139023caf42685ace47e28157d6b
+size 345062
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f29b385d90b62be173889aebc7e27fac1115c42
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0efe3b7a2231965b27def6129742da25217fe3af333a4cdc58cef837f6a0f68b
+size 191252
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..54d3a4c562a0b10193c8bb49f3d5babeb49b70d6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf0a52b2c9903efe772367baba8103d23325c5fddd77ba1bb1c1f5b4bd69eac6
+size 201026
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e24deb10d451c8c075e22fb497f386764ad4436
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000042/scene_b03_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66164dc3745f9f0fe2ab25cc3760c38d32d5c7bcc79dcfb4fc6fb5f564a814f3
+size 116771
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b00_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b00_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3b0537fb5900b220954c1c82a6ea21f77e349599
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b00_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf322ebfd3b940cde19855982067a4e8992bc3d3383eeb90805ae258340d7daf
+size 338097
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b00_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b00_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..97b559bd1268dc7a07c06b2a84ba113663161d58
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b00_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea84c508687bd7073554ae10e0ac93ed40b13812de7a5a2548dd6dee13f4d8bc
+size 219839
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b00_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b00_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b101ca5854668050c0e8714a62cdd84d4928bcf7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b00_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12b7c5e2e0b30d391005e584de8222164119662686d684db529c586ce993a0a4
+size 312245
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b00_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b00_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6ce32395dc0d84817195cb4612e1ec9f9a658b3b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b00_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ef045e5f58ce087faaf329130f8946f8f239e9be9958763b5de9e71a3e77def
+size 231318
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b00_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b00_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..17496b6906eb621d04c9303e0f5164b21ed7ac6e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b00_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0a89e4435a738455e4e04a4e5b895937f8425f52490d9f94ecd2688eb3a8ef7
+size 251160
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b00_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b00_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7fe0b75a6dac4c13259d3f9577d87a76373e649c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b00_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:216c1e82072b849694a9cbcfb3773f4a6e7dab26b09fc24c3eef6cf55079fe78
+size 172889
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b00_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b00_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..dfc4ae57c8c5f2c8ea3fbc40a86c1fb44596f306
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b00_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70959542bfb5e2e37bb5c493b99144625d689a56470caa5b6f1c5d4696d765d0
+size 586157
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b00_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b00_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d0751348b0dcbf94b943cfe41044c96ce14c4d6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b00_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ae76979ea1efe14062e9dacd11ed19e6d079c9c43a09cbd9d0546e453fee61c
+size 422083
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b00_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b00_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..59f82a2814beb6c0584b17a3e76b2e2a9d6ca2e9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b00_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c6d8634a1bcc27aa60909a8e8723e3ff373cf2743166d6bdda816b04d5c4595
+size 326372
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b00_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b00_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4dcb6ccbdcd2e3d7127d81ab32be5b29dd009df9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b00_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f75793bd1c1e5695d4d22defbba7a556b928e84f0cbdc82b1ee759753809333
+size 245078
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b00_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b00_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2f95ec38e8f4ba741782673119b7548d7f103dab
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b00_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a978ff50ea0cbf31dc3e9bf3d0a35fda81d52927c33945a69c881f5f0eddc97
+size 527177
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b00_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b00_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..593d0f9baf28c0d02d274619e18708fc3c8f3e4b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b00_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:897e8a1a1ba7ab34630414e9302fefa4bc26031f2575098e83050a24de20db94
+size 387912
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9f0583a88289b1fe31208835fa1c8b063246ec33
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91cfe5b2dc186c067890d950d5b1a332047e0da7caef61c86272ea84f15efa72
+size 506339
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3864d28f4247dfdf3029e6b2848a7344d3a2e20a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e83ac4b8ec2af6c29284f9e43a91a1615b2093502585286e85168b0e7c56a2dc
+size 267889
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c2037f54990d6f0ee51d194f8330b38d969df0b0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:489653b5d6ce58ee4476f59054deef7410adaeb39f22007b873f08f7b696619c
+size 537391
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4654f11329235ef13e6fe0f6558b31fe2c321563
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45e772c8ee3d182291188fab100cb343376248ea4a7eff113875678a9e385d4a
+size 362800
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bdd54b3e3a5b1001dba479303eb9edb710764373
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65bbbff50cd9614e8896e4d761fefbaa6b5aa766d19e4f33247a0603fef8acb8
+size 385279
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3e06ddcb81f8568594845b2c191dee193aa256d0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9d94e43d83ce37564e11644a5589d3afb5fffeb8e92763097e8acba73379bea
+size 261701
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e1bfe11b903630e86d740db59a4b775ab9859bf4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f005bb049879c31d2e0fc22ba06034177249622d7ed5334f7b469ec2b3d53af3
+size 450637
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f1b0ba1201a4e21c864d443dd6b7af7b7113ac05
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8de6e6f4900bbe235c06bcda79dffd6a4642bacf2965afc19966d4531446d302
+size 275875
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f7ac32b7a1d30c9744df3a43106db7d22049d3d2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c7943463e1093f807b4d0298e74bd90e6c227cdfcf7a2d411c42a9e9a3ad92e
+size 647739
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5968e2f2c22e318654931bd447a34ab4fd018bb2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22d7ac01d78f22463682fa33ec6770c065b5384f4b4f85571a2f769b8faca639
+size 394765
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d79534fa3064807a4f1f5454c132744688cddde5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdee0b41cda6c0b72caae6e85d31e0304a1cae47f48233154986e29307719f30
+size 311773
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..87398baff5a3718b91d1f0f4ebea1add68bc2624
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d053cc3dfd12a27b3e4344a5259487100fc100a6bc1482eb379cdee551be043f
+size 206719
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d80cde6a6ad61e8ca6aac151abfa560b61f80f57
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acc1dd5b09adff1cba547b1862bea3b4785cc93825639ab24a95a52f8f82ab22
+size 313553
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..621f723729d9c94fc0cda3fa6259f17c5456f016
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8adc0033008c753af5c76ff7d54d74fb26d7e09a623c66212d06fcd145d33605
+size 217313
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6f0afeee1139ad500f003105871a729c137c2e1c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bb6fc5de88fe390aab45a24a78ab9d56936d19018d28adce93f491e3e8c7807
+size 563793
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d0b7de72fa85ad67ed1d7b8c1d3ef1e5bcaab12
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b01_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7580dc0ffa4e435a06115a04fcb3d2866fe4a3cc669f841c48775c604b85685
+size 386728
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b02_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b02_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5aa9afcb267446d875bb3964dfb3c390b222a595
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b02_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9611eb7888cf9ca1385f1a5fe640355b58ca6b5b47cf851dcbdf60e76a48efec
+size 430262
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b02_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b02_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2d5b1834bc436af507786ff25a2059b4b86bf2bb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b02_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c975ff659f17e06afe20eb9fe95a2bd156297d4ef65305290ea156e03f8462f1
+size 283825
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b02_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b02_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..75115f59d3ec8cc6317dbd335fbcc04064a1afd3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b02_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:675aa9c7d97afc0b067891eff11cb1ae63af4b316c1db76cc81ab0c9109a46a4
+size 487697
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b02_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b02_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..458cb9b4a2aba4605c982489273092034fc57081
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b02_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bfced2995945d55a17ab8633d70983613e1f93f0306ec7d15fd50ae9e980608
+size 303930
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b02_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b02_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bec2441b8a0fd3ca61c72350711338da127fca1b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b02_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d17af1b53bd43f57c643d4d7547e878d6f545841d13b8d63760e7f307d1a0409
+size 471290
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b02_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b02_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b1ed686842ee4e74ade2637c8dbbaea696c6b2d3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b02_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26510056d27b9a7c5905aeedae703db037f97edbd17eab9c1eb64be8b83425de
+size 270731
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b02_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b02_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..908e995482b9e26c76450192b2fc8d85ab99438e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b02_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3539f6bbd83f86ef677b5aef010f04c5964fa12ccec4d57d9ec8815704a87e2
+size 603171
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b02_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b02_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..45cf53a41643bfde0ecf1b0ae080d6634c67b2e9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b02_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3b1bd1ac02e85889883f206c035773e0d195c17caa03ee4863994c209f51ada
+size 344925
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b02_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b02_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..163f491f6cbf4e08035d5b20d1da6e55c4fb40cd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b02_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76d75252f9c8ae916d1c5ba02cb9d2b7ac837e24b362f40ca806ce5c923c08cb
+size 487022
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b02_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b02_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d42ca16bc11f953c656b2a85320e94bb0d865497
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000051/scene_b02_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:088cb5fc4dae3eb57c57561d9406013d3a2c49b1b92eedfb2566bae97c3e9849
+size 210642
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8aa6ecf0bc21d835dd92032b811414a9cc6a8a29
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9ab3786d6710c27536acdd57a9f54826849a514b3e1fc26f74e454928b50bbe
+size 400397
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7e53bbef339c23599d23fe84ebdd83bee33f78c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:597d8f5293bb2c33e4c5a074d17f993f49adf12efadee1b4fb4ac45142487d14
+size 246604
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9d14609eba7657d187484471a7d527106474f4a2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6770af5a9ba47b3b68216f74bc2a43e6e0ea887662911d83099ff5227c5fb86
+size 461882
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea770fd94bedd1d778e1dbd19200e5cca0d9fbdc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9218e1a31b9f26a27f92a4d7d467a5ba6cdfcf4f3dae9247b5314e234984fd9b
+size 265768
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1479543ec9e04207767d9d5da73e3897a79f4114
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae321a0c683854b1a1a893de2cdfaf84381b2c72fddfcb699fc51f6def779625
+size 357253
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9332ad422e3ecafd59606d631ce21d3cc54507c0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11bc7eea953628418417fc7da7b47d15af9e0906b2e5e30c701debfd8ce299ab
+size 267920
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1f3110cbd124a3bbd0a471a75c4c902bba100dfa
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfb9ba1f8432ccacad453335ce7b8cf8148071ba0bd903c0798a93b14993ac60
+size 337600
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..80db8e37202941ef8120527708a3164660c71f2c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fc31edb1ecb5b63f5ea011aa58fdd940069269c608972d47b0f7e76492f570b
+size 138579
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d286a2a3c25f2c79cd5eaf32f3775f405ef151eb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43f75397983e30cebfba4246174892114e1dfe373f46af8416075c25546853c9
+size 284468
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d9d4d3edce566a65ec15e3c3acb6f3791e069844
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd45e3851f07d8e1e4fb97c9e1e7d882397935c0cc9c45248611b82daf9bb0c2
+size 221431
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2dad7484116549f2d72ad67ac84fd8844f6cae07
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fcf87ea8f6f189ba676b0e9887cb6c73302e13752e9803a4c07faa55a71b0a8
+size 335088
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9fc8e893fbb5cd3173d39f21ff2e3af317d3756c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9eefc20f391d12111e3dc5ec74be1575e9bf4ae9e1c94eabcc47254fc4a4fe63
+size 219281
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3a45be289a8d9b309899429f6c1b978dabf43ec7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2353647c594a0ac5d09cd297394180c51d40d039b491edd0ec7d9064ed339fc8
+size 448519
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..27460b490c309318bef6e568850a87a75418bcd3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96b3d4ae2b75aea7bcb4686cb91e784c7c47208578f740dc88da6688a0ff6f73
+size 179526
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a33d99f5b8f15e80f4e20209569a2b3d05584d36
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cea6e181716f9172e95de7071af2d57af821119e6a41835c462f073a6017d03f
+size 377990
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..bad91a2ee4cc82f94569436464a155bc8e32f640
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba0137736a81780dbaded54993c6d489ba7dbbde67490136768fa98ed15fead9
+size 220514
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bc3a76918cbc18ace5633a4c89ff99b79c1206e3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e754fc457e47fd0889e9fc4a75083466a9928faa12d45c3c1e4106506a6e42a
+size 288837
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..23f5b4f62511bcf8188ab423769065824070be29
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:610dbad9f3773516a7ed7addf066a775778c3c68b0b392a765d21f0e9859fa14
+size 179140
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2c44dab0543f318d9301d56c0ee52404a117b83b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb8e5bac400c7c1316f5dbea455446e15de3f92e7b8855642df559941d94d15c
+size 353075
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..96d8a99dc9aca97ed21d6fd0630b77b35b16e0e5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d633bf1f6c5914f0bb2aaa861fe5f578314ee652021beb1390f932716b2fd9bf
+size 237065
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c65aae8e16282d5bd6c6202dbee3f46b51083f74
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af1a8a3a5360494df6f1be5e655c52b55eec127200480b901404a094e676367f
+size 336667
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1acff7db32d7da0980f49f1d4ba2c8a8289631a8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6697bb1620b603ccaa9845c8b5eb5240ae01532b84dff31bd40b8860f4ef134
+size 198536
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..95941acc76663b9542e2157b5632d901871774ba
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9068db1c405fc10473d936a5f5a03be3c0945228385103e156341bee89ee46f
+size 368666
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cba3bdda625455a1325614106be72293bd6b88b2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:133376ea219796aae53364e0f3db7d27f0dec08c3e1a4fbe7234f425e542be2c
+size 260556
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7246fc99909223675cc9afef12f089914d722134
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74c8b2b17bb19e69d290ba177a25e8bc39369ed70c6a7c12e083410a4d88281d
+size 219025
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2de318a7f09b460314c5439ab499091f7dcef9fa
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c57c62cea3e9c6142fae95703a992ae3318d2bf56fde3554b08e0cdc24ee8069
+size 92391
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b92da596c7e8e921e6d48249a5fd1ba5c5642440
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab2e95f4cf0a402a1a06cd08ed0e879ad2a99d2485df771d522ca1d4527db319
+size 443338
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c1e086dc21e4c1c21036c0fcedf37cb671ba3ed6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b00_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8789f135e1dbfbfea61dc6030e635542194ec494e54beaf97bb40a2989d8c947
+size 278393
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..556b50e71e5d77bb25fbf9f201019c847647b6e1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07a0db0169834dc45db5c0ea4a4c50950a5fc79878c59c650038bcaceb5f2c5d
+size 356363
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2859518aa49fc88ac8c84e72566b204baabc1cd9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edaa026ed491056b2e27c32c4194427d7c89accfce2778ea7259dd7655590bb3
+size 187089
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e12e3051557fc4e748f92bb42cd79f7570392a07
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93e92c8e74f52b023ff09eb09b36adfd4d4430508f7d2dc4086ac054284aa654
+size 261824
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6e1e95b9b87a024a6debf2c2be72dbf05db1f3aa
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1e0c03e81d6d303873af9f32d7dc4240ce0720b9494fd549d24ef04067b3dcd
+size 119768
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fe8bf1f90372bf538b435e43b6c16597bc1de960
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcbdf3df8bc65774ca8d58ae64d80ae30212bb1ca6b526d0e27397737d124b6a
+size 297728
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..49eab3fc0ee8496b0e7b9b70b413351e705597d6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b95debd5ac6d44c2ff42d9a1a5cbe32f25741a92b227fc89a379af0e790c7c33
+size 164733
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d6948b6cd63a6d6a6b54d8139785ee125bb9835a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd6e93062636ced7e1248643513b8007be68a5ebc5271cc42864a07692c00357
+size 398710
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b3d4c676132afb342240b1b192df8a0e9144b4b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00e85064c59d2f10e11cc68dca9cb5324444cdb84b03f2a7af843a84c306cd0a
+size 151949
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d24d30bb4c321bb9fe60666ea95da394825a2556
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e28fc18968bf5d2dd266c68b901aad42285ee7fdcddbeadcd613eaeb5c6fc4cd
+size 322779
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..53b109bbcb01fd93c4c378a03d89ed6c4e174fad
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13e1b51ae899c7557bd8262cb884d8a91402f507b5b4a269790bd9347c7dac68
+size 182884
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d26bb1c8a658481d491c0ac4d2c0f67de6ae32c8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ce7ce55664a5728b8b7b81cd35ab025fe166e60237f548f34fccf1bb2bcd535
+size 410301
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..173e5f50e07feb07917f6b3deea492f9721e9e24
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:201c35fa0ca890dd6db61c55ac222490f6810e2996d874ac0a64ebdf227b31a2
+size 255140
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3eff2e03420042fcd3ec350c55bfe1fd90d6f46f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b3bd6d546d051e6e32752bc0a9c88d2ac3e24df5f44a7791c15adeb59236629
+size 336203
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a4499f2d25df80df9333c82f4a9e30f73f97656
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6aaf54a8ccaebc8505c088477f413667cd096140a40b37931d55e78e6e70d5fb
+size 172726
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c12c5c96ad57d7ff12f05cdb5f78ff9a6960ab90
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3b543fb4009eb5ceb15573438d73db443a11ca4699ad6373f69b55178a2ea8d
+size 237001
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b0fb2da98b356a4ddcd9ddc896e478069bb4a21d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78dd691c12f7fbb397b8e39e6e14ede1371fc8c56032e6ec392d816d2c45f44e
+size 168731
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..23ef5f3c2f3a070f653f87f36bfff9a3916da92d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f80b3b2f0787f132780fb4e9e4433fe2486234826d6eb3c473f49aa324bc9f85
+size 293215
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2489b4765558478695ece9aa0df8ad23f8123a8b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b01_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8beb3dcb06f49e60aa69c52420a6042692d900684a9d6c445e7587752f776b21
+size 227410
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3e50c0205b0e471e7d90a08e4b5e03980ec1e972
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bd8031e6209b3301d65da791a4000e3c623face0146449326e7677b25edc2b1
+size 462944
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6aedc09030f6ed9bd11a0e2fd35012518f0376bb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fca1847b0bbf4df2d8c21f3624877fbc6ffb1be30951e985a72bcddf19dd0ea
+size 307470
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..730792e1f7384631a46daf627780be5a4e5dad0d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00bc6652ebbf28f108e54790d7ccb46bd0cb3c871573c897a16cb3a6b7afbcce
+size 358736
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cde6588e89f4095377d95a81012306a7aabbca14
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8244e9f91ca1a3fdc9a8ec65cd7a61779884b318493da7fcfcec745cb422494a
+size 225202
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1d2928642a671079a400abfb8ff770282c8349f2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5841500c44819b6066a45166d6027353e575ffdd30b8e4423fe791857f1f2c42
+size 352677
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a8eba02ffcc557f8fef013eac10f94cf7203f5f4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9946182e0ee44530fa8a35e8da56279bc718ed8350bef9d02c4021178193963
+size 222404
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..281311a773caa1eca33f112f31fdead9907f04d7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c82b0cc29f1b7a006fbc30a3f88f7974f4ba9af010a61b53a77b1af9ace899b6
+size 411792
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..abb89173f7d411fc767c61208b6fac8d4e2a1e46
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6ea6ddcb88dcfab71861690225d026745de9455df4a6bcd2a4e789759b8ae99
+size 256565
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4ef8678000897db1b2f8739e17d04c54163a9017
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fef3b3e9480fa886bae50c97324d7420234f2b9dc22d7c558aec7e50d9f24d86
+size 331988
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5cc81109635d71c22fd04996481d8a6531f97af1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a02a65792f88d225376e37aa5bc6d724d4fe089b684661b8bd34cc7010eb408b
+size 223651
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..651e68283fb41c5ffe4c933c14c4e4b30bcd4598
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e50896bbfebe70fd92e6ef72744a6be1da3e68803abe91debf52cb86917b4bec
+size 335764
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f187b6c9997bcd06d116e7fa09aa671cdc990eb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56288919656625e758c5014f52d25cf99154f3b7275f2f3fa4a9289003c6e260
+size 228362
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a68d105fa1371e965c6cbef5851815207eb7567b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91bd8178eaa4ee710aac27a8fe134f1d092440e86bdbca8d7b206f13ea80794b
+size 324157
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d2b5a38995aead6ab36417e2bebe603d5b3a48ef
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c78175eabeac2ea38ac28dad6f3274cd820ac4db2f567ee4e95a530d80e4c07e
+size 172894
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9c7cd251ba1ebeff7ad189e920b7dbda4e65bc85
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fd6397b4b97cc31869df33f9894cd9729f01f77715f5cd7a793e805c8539b96
+size 401815
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..279c566208ad7714d769eb99ca0ce1cafe27a275
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67385b94f41d45bf51bfdaf64679c56080a10932c681e6f10f9c5a449d713a28
+size 244150
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..99e936266d98b9931257ba40ca8ceff79579d2a8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03446ae611a7e60ed6a702c723e9799bb44751b309cbd067c44b7be5e0bb3cb8
+size 229551
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7476fcda65807916344e7d5ab4355d65531fdb32
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:964eb712f5cdbe8c27973f9c655b24a9d0fe92a2427aa1eb807d24499633e736
+size 134881
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0a012640f244c67311ac13b49199d617bc051ac3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d420227a6fbc7d111f84fff01c2c6db9d9db02b7d9f8af04d5353024abdf489
+size 333480
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..753bf2b6eb43073b017acefc6962e21fa169139f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000074/scene_b02_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e063aaa46824da09f8226f742837ea971381026953ab8310230903dd7c61a003
+size 265371
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..913c71f326a8942f93ea2ab346e92b4dd57a08ff
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38d3f4ecfa48a7eba1fccd91dad3a68a645cfb7d0182f482983ee85c32324c54
+size 374417
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ae77d329b91722b3dd51daed207d8d27ad61f8f8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b2d3c40c220d5abc58a684c196334a84babe8ef13f7246ae91f13a7b3b4ae31
+size 224105
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..05a2f524ab1820fb96f357efbe6f240d26db6c12
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51ded5021e59916667be278f116b1cbc4d4a98f7db35c9017a9d956a1748c563
+size 211309
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a7e0a1fe9e12a341381e4dd67b13dbc3ddab3627
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ebcf52e305052e0fd053657102ea53f9fd69853a7cc34ff159b40b9a3e6ce35
+size 127696
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..16e20c11453734735c65c1b87bb829cdc38b540c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d608234a83ad0acc9f665878d3c3ee06fd6ff3768089a0d05066e57a90798c42
+size 401548
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..82f4dd175ef05bd515ec4f260fa532d3ce7aafaa
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1eea63ef5e6ea568dedf136d662b6eb6173cfe43e3ade92c126e69d543d3edf4
+size 240520
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..84952e31b1e2884e874e0387ad1684949e3d95c8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07f453d974003f0044fd560d1f909cfe38fb7cbdf5617bb87d8c00d3ef9a555a
+size 311665
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ca925f80420e4ddee22b797dce87f05f0f51f6b5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29f4d090ff690e8dd180ace8e09b4f3ae2ea673218afd7157148ffc913c87766
+size 160643
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a62c22c63e0ebf279ed63e34bdc064083d10375e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b14f5821606666a026ba2643e7792dd2ba8403c67a41a355e0385c2d1cd3a60
+size 345032
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a59026e585f901891e756435c967301f88fb9275
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:095e2d78b6174f133ed8de0962996e8f7b8e8906d505ef58139312e8f5e23c66
+size 236583
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fc75139ce464f1ea7b1392fabe7fbf4c727b916a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00fb73537bf2d9b7ea92dca986200c7bacbad9a39ee75cc1c87c5c3114abec89
+size 357534
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b1b3950c608cf301531674bfa6bb690fa3a407d0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0dd11a00515da2ce366fbf043fac1b63bad822d1ce2e55a63f1a3f54b904467d
+size 239228
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f2590143bba09585a457958f33877aa906a850f9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c45d782f7ee6e145616fc0a649003cc238cad2dfdfc00793932aadb829777cb6
+size 283250
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..38f0405da03d756fd9a72dadc0fe885e24d9dfba
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6471fb31c6f493033cb27e140289ce69c9871049844cc24d0c7554746d0b8bb8
+size 152075
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c106637452da5c7025be4672393f4bd72b10338d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:205f70349d081c74d440fe9274361079e51964bdc845748850ae41110af09fc9
+size 212885
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..51a45591ff8a1bded17eed8c0a739535ba9f1acd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75c7d67a5c63a122f3644652f9777cafd2a3ad209d4896b9c3ad0d05c2fd72a1
+size 142068
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f7ff23b68d51a81ef8804e93dab77f14892c75a5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f67d8b3b2a219f1b0dfd3f33c633673afb6bc92b93007ad37e7219826d617d23
+size 430859
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b7792489095a55cb5da4fd4406d0ef14e7f01aaa
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:655688c063147b3750d33c9ed7c7d50a10d8474bd94bb4d6438ff3f1da837618
+size 225121
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2a728bb920bf51dea237411b9176ab8f03f7e99e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d7863e705c69b3d5ee704bf9fa04e0a663dc297b9074daac3f32c65d2f195c3
+size 420814
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c320521195bd64593a2e1cb51c451e7f575a000
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:400fb186544be51401d972a526038c840725e7d199b2fe0d9aecaf29dc35c2ad
+size 230999
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ae94fb5acb30f1a7c3cb880c18cb9a4dffed14c9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f49468c7e0b5c8501fb6f9d8cf1f8ada488e2612c113b3f3629ff14752fada6
+size 351868
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d411cde34918b41c4de66b4a79d4c673f42a0ac3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bfbbf425f985ce60988d0acd1fa53bba9c2e54e5164ef855e5007295a08e397
+size 188098
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f7c2bb9dc96c4ecf45c351d36ca0caaac7569c52
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e44ac10fce0f94abe1f7ac31cd5a96ca350824f7272dc53cf6316819d524ca8
+size 361447
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a64764057a3fff48a2c08cf27757114f4fca7227
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eab13d4dc7d65d2f9aafa158900fdca846470554e2232581f4f15472c12693ab
+size 171690
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5edaac83cb2abf2aefa256c9cd924f35fffc5e2d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8edcd7dd755d07e6d364e7e43a0530caf6be1c0f2cfa87f9493f2f288071ad04
+size 484985
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..25b920cd9f57acdce3bdb765c34818b120c22f82
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b7244aaa70150a47dc928ec9a94d5bf37be23c04e72fc5f01c7a33343036b43
+size 267339
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fd294f1f231b634e2a3011c2fd0ee4389ced3ad0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6968f8861d0384d2f4ca875597c6887abf3932a9174c79f78c217bc2bf682657
+size 210015
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2fc13e49b9a0bca358f4f0082bd659a5a9895de9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:559b88734e378711b58866c9b6da2dce5aaa05448275cdf4c43b64a295b4d818
+size 90869
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..da388192a4abaeee824d8a16a6065e524037b245
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:343c97f37168986f7ad2acadb0dbf3cb9185d4275a67806b016d56be99757e65
+size 416494
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a8bac78c330656eac6a846e6acfc129c28d255cb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef3b0cf63da4af568ba485a75e8ebc51d02f8e742dfe86cd037fa2c3404fd5cd
+size 232855
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0e559c4d8ccc41a2091a0d7021b1cd0328725657
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cd5a0cfba2f4e3428852e9967b109581fefc06b96a68f25d8cf9049c3b727df
+size 182890
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ddac7d09785a4ce9665e57162e27a36b0cd26f96
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000077/scene_b00_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90845c038696202fab2390e53b707080e35189c482f00dd8fb987bc2491b6c5d
+size 92181
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..43314c6ca84d866ea1a35ca4647141e241f0ed6d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df4aff3c4ca2c1f9522f7695d1843f4f7b977c81dfc7b89db847f788487aa305
+size 406281
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c27ba75fb13067ea80d15b56756fd6d1ecc0994a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b00_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2da99cc622ef9aea55481e71024ceef36f1d0ed23e067d7d65f9d72a98ce659
+size 321595
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..532cab291b1a881465e54506ec569aeaba8ca8c5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:caa3a1e28bc92f81634dcfdb3febc88c65eaac5dccff1eca566e97b0b33b6d8d
+size 359883
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..284b0d9abdc0799370d8ebe35e802af291c36239
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4b57a88f02c71b656c477332d6ee11ffbb74515f49267e6b2bfe2651edcf04f
+size 316316
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0b8fc3321e0968d33a0f97016815b3dedea8cb57
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a99ae5c735dc452ae933e5d34474dbb261b112d72798e858235727e7a5a69e85
+size 519664
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f4e6928136957d8f048fc16faab437d645c87158
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000079/scene_b02_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a59064ac3db8d3fd47c35cc892b4537c34a886a014dc3ffcefade70f571b4f7
+size 335843
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..07bce4aa25f8fbbd138ac21a3639fc9893626eef
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:663f484afe91ddcaab1aef04a824ba014dc66649b1be3e07000027507f597023
+size 261438
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..bb4f12ff7c1880444b3c37b9c4e8b5935beac8f0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcde865cc78e3a8df6a98bea11e8883823d7cd7f56d8e72090ef418c35a909de
+size 234508
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..54de2d52dc73da826b93aaa293d86207c5aa4129
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a0b1494959ca31c234bdc04d65bae953daf8de3e720f8b397c0cb44ab4b1635
+size 395966
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c3d2b1962732687fb2957e3fb0c31a272678f617
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ccb490e7cb76bc1711e0e4be992568fe0b37175f15058226b4c64b8af5aef8b
+size 338493
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9a67979f42759a109bcd36e37b4ce398b86edc1b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a77ac723468d08ea12c248e7f43edba0f080e2d31876bde1ed6d3fe86e0e10b
+size 584533
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ce8b217a0896fd0057b734ffcb21a30375044141
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8992f21165de19546748af8bdb397c966fc56955e0ab613a4df07ffef8f2775f
+size 367001
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4845c92dbd0d5380231bf3f64181a1043a00d7c7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f75e8474afb7a1a83c77963818f35a0361657aa4782ce9df757506c69e09e41
+size 391679
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..deb4753bccb6b477bac97764ff23abe094a96a4d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd33bb15fe0e6943b5c289403de80d749d7e820ccd365d6f807d7a015eeaa0b3
+size 235972
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5058b875af41676f1c32b7185cf55c01bc614bd1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64fcf0910133b10a9182ac9b36242284946ca620a4cc22c99870a8115ff51a41
+size 218387
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c51f84645c04f6c816e258ada9afd81310dc9d1f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:257b1899f3a1a0e3722e2eef4902cbd611a88691d9ae3e2c3a530b782d68d01e
+size 197093
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5a5cf0505825bdadc0e8d6b06d4a8fd7b9efe6ea
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23246fe12cba966121abf2ff98cb796ccfa5e07732f112f5fe644d3bfe8980f7
+size 276883
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..608fa297c73b8b13af2335bc533ab5b42ea11f7a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:851d71e47a61ea8af74aba45a4fd5b8e2472c70db834fc8ddf7872f7d7319760
+size 246849
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f1552fd4787ba0a3a70e37116fd5bbd21b263c90
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e08e0d590e810d30cf491c65d9fe0013d255562456957732330dfca3ff44fc4
+size 505952
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..83ab8cada6613f3a5265c605920364d233ca4ceb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cd3d939564200693f9f4737c95e5a86869c0969aa1de3f6a83976a2d5ca451e
+size 400025
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000099/scene_b01_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000099/scene_b01_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..40ea7ba3c74e3f84fb80903b4f4656644a211093
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000099/scene_b01_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2416348e7212c59b1891bcd2fc4fa838149ed4f76ae4e8d4225d277bd8a1fb2
+size 70959
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000099/scene_b01_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000099/scene_b01_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd11c842e56d8a6c46f69480e39deaae24e08b8e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000099/scene_b01_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8562ba7e73a2d0c27f9f3712ca26fa45965aa12540e731ee83ea7d2cefa52b37
+size 27354
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9ecde6011e421a9354ce065dea6365e6b320a891
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9b14bedaf6a5cdd7369d1599a9900e76fe1bf2b67d63aec22c38a127ee4d1a4
+size 383221
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb085b8d15d0c687f23bfa876369bdba70e92491
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0c611eadd7e5b4b8c6cbcb3c8d6123d79d7c4fad769c2e32173bbddd14bfe03
+size 227421
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..efd469faefb69c7981792918220ba381aed6d9ee
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21687939e31799b1fbf00f37cfe2ddd83b90fadf83de753bf2d102bc02faa939
+size 291980
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..243e92764d66f09b2bb473d58ca28e3be294af7f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c7742c9e12f79c288b98926d4881974cdaec86875e36a5961bf250c5435f380
+size 107040
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bc72966eceaecb8b3b8add9e69f4b4b7707e184a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8078a8534874930970a7bb7d81acbea21a5b6c80370872f100d59189a4e9a823
+size 258586
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..132a2dc980a7cfdd0a9f22ec7f0c9c0ddeb75045
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aaeb9acc7d92c6fcc44e57b8a0ce67bce1660bc424b3bb242f0c4c0ee9f07073
+size 172904
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..aa59e916b33499b412c4ee34026a39f1118a8e6a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2eac41c8b5cc15f14bf4c699523d61c35dd9b84d3c69f9d7e8a0dee53d458278
+size 372717
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..af905ad1154950c35022041fa580bdd6d0f023d1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b767e7d5a91755f9620a153727a404db02b63efe254ff1fc217afe0d5b83e31
+size 243927
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2dcf1639e3f0d8ec8518c2d8d6771b5c1f95b4f5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e174758b945c51806018cc9efd8e06c3c2e64479965f0710ddd9b5fd9842594
+size 309154
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..daddd309db819ad77402a8cf7a1a7773eac18a0f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:829455dbbf58613b5782590e9ed699688f761b57b24dbf686a759326b8719ef7
+size 232838
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6dabfa6214e0cf23219fda06a2821dad62a805a4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59db161f8e087cb799ddd2c6cf4054ba096e1e5fec94167ae0fb432b237cdea5
+size 313097
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f743b1361c0f9af6d727b00f942b0eaa0e2a08cc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28e492720e2068924135360df4521f40b8b384ef4294e1033b413d1254b23dab
+size 169450
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..06e57be53c308356313a2a725b3b334caf90c87a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e163ef3b9bacd2620764d35b33c4cbdaa045d0bfef51e22ecfffa9a1eb98ea7
+size 387117
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c4287f026e522555771d499bb9d399d229c2e71
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bcd4c7ab38ca63a8419d7cc03e6121cbe561ea95f08bbbe878efcbc72205f77
+size 237986
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ab96c8abbba920364fd0c38dd445d02bc04bd0e3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5df757ac08c9b5e4a7a54ac93e89c2fc575126b60666a91e39f4ac67e1d258a4
+size 294002
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..90e73286a4dded99b9b07c4b9775913ff0ab1748
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:322c3db18179d8264a70329589e280631c68fdba53e8283e6714ddb895126d7e
+size 180942
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2f99284bdfed2f98b4fc2e5ae4fe0525045489ba
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57e6e34fc6c5227ad560e9da53e5bf38f196494b53dfa3b4f3369c9189b1db2c
+size 271246
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c88c49b556695f7516be9bc83eb8c884e913c6e6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c195816b0e949c565b27a3c71472e124db0999ca67bf87a4a6fb28a5f6dde98
+size 168195
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..42ff135a1827a8e7f4e219fb261a38fcc36ef8d6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be07d3870866d9f945d131f943d8b607ca0ff23977c469d627e1aa87b21a5619
+size 324492
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3372869ba5c3269ae8903716f4b10084f5c7eef5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:458b1d8b638fcbbb99dcf43e5a7d320140a68723d8a3a09d1055a64d00b8f423
+size 230777
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b816461d6c1ac0786f701c77469d0adf636acf0d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da15cec33321b98c0f00f1391b4fbdd3d49bb0a67875c22ac0a48680fc76d08b
+size 350059
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..15ecda4bcfc77f3d7ae4f2e7c17f2c1ff13cd804
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1247adaf132fcfb4899d3d28fe16abbfe6a01b52ab20b80a21c11ed651541977
+size 182294
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..49af3f5e96df3ad98f132ba2cdbde883d7fc27f4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:465bf9c0041ca776b9e853b97d40751bb32ca24cd39d0de10c8bce63048a2748
+size 429459
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..871d9eb632169fc17e573128256f5642dbd3b1a4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c899c7442d1c706084d70d9847c5c44f4f93ae70c55d83d6a684a1b84ab25657
+size 257870
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a6440caf3da2d355162402be7db33f5f8334faba
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bda863a17dbe846a00fa110ebf5542fd8189faf1441c533033a08960fa4efbd
+size 346530
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d7dd63480488a73e6bda7ca590418062ffbf2c9e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14ffc48e28879a14cb21854795f118a8e9dfeeb65d0e4d3bf58f255d12842963
+size 233138
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6246627446c82b9954a166a29665ec5ec7fe0e61
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6b58c38d22517038b452c08abfab6d9b550d0acef395448980db9c9fdd9aa0e
+size 252063
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7714338893b41302730896fee7d727937753a15a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23f7eb168765ba46af9f9e2d6e02a28f9e43915471a6c2e97dfbafd2cabd8a25
+size 261239
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9b3ccd1646e9358ea92a22c7b1a9b4163754b1a2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85bb8281b3941a575eeebe697a65aa064b9524d7a65f5da169f3b6e50ffb1bc4
+size 368151
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e545f59fe3c8e6964584cc056098b4e79c71218d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b00_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8b1b9827299d24329203c042b48f35e0cdbbe30a077e2404b67f30451d2e66a
+size 186838
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3015bbe0edd256abd8ffb3510818647c4a520bbf
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c9e5cebd99a2b8b515aab4ae59f69a4c7b079da61b750f8f3db2e515652b0a1
+size 390657
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..494eba134daddeec417f88dede73e4a137c1c216
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92bdadc0942558176096821fd4de5ff17bb9e8124c69c2897cc720d7b277a98e
+size 168158
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b43c5d99724d6442fc938696120dd039654bf0b5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1ee42ee06b09e0e6d7e8c237623653fdd45f3e4c2e1971635aeac236127e11c
+size 269870
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f8506f7a5e54c2ca147e7e466524ab5aa7d63117
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5dd5648af22767850011939649b1b1c7b29ca19b80a305cf6cd357ddf869d746
+size 132944
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..dd30196ca469b5c3f84d6378281076355f3c52fc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f94ec74394744ed63efbe6eab905bdb54ef300a0f126cac50782d60bed65178d
+size 396819
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c156a0dac481b6fb401a7916f6e24ad1b03ab3f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc526a7ae96111ab821014160d9949e35c4e09a41e7cfe7001f5edfb1a2267dc
+size 218264
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..dc25cdcdc97b1b3ca20d3b911503bd65e6cf3d5a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f2abff4b682d33d6b532f05758309ca5140788cf055e36787e75083d56951fb
+size 400112
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7bd08b209c42c00c1202fadbe1948395ae131a0b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b0340825664e459cffb8ab87a217b02f4b4f86d08582a440a7f59df4adc4b0d
+size 250528
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fc3e372387e9212b6795024e1688c8609e385373
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dce7da56ba856fc461321ffe5f1a3699f90f8a4da9b4994cd0f1ad36c0a846c4
+size 329093
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4386a270d04d282cad7ef67db3cc2b4e0165fd2c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f05b1c0a5971deef38d46cabcb90865280e4170637b1a49063429710c60a45c3
+size 163955
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..26f8f518219750e8b4853a684f0d2e0dcbf04e77
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3de362ef0cdd36519851c2a01ef216c1d78d8e310218cf7fef5c3b329b6059d8
+size 347331
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9471e02864ad60523c8e11beaa688df979e621fa
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bea83afb10094c714f1edfc9931adfda55c97105a4569adec76dee16c44a942d
+size 223591
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..07b4221ccd2ada2c4e67e6be8c7302edb92a5003
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7054edd3547997563119635d5475d00135d706707f08541fd671c70c2fb272ba
+size 417632
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d82677165415ec1e2b8c71eb00fc38b7002bec8e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ead0b35a35fb9d35b50b28a5463b1869c3c718b398172fa3a0a5e1fe0cfb8a1
+size 247996
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e4a42da9f763f7f01701872de44d9d98b85a769f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb7ac9c805a34025bb5e87be8ad84af86b7812dd8a2df6a3aa00abc625deee96
+size 344404
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cbc1d2b779591d93b719715be788f45f8bbfc424
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06035c42f88eb81cf23b9804f312d247ea5aabd3689bfea003a45de83d288e4a
+size 159846
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e87045917d6652dcdfedd4b371d6570423a6ffa9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a92eb93e38ad92d6fddac2e3e858ae02a1237a7f0914b4b7248d305be46f2542
+size 275531
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0fa7c7e74b6d9b1e84ea25d65dd57264a346fc55
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6fab31bca2610f9b707fad665b19aa2f2c7da05ebc7ba3b501d38780c85c910
+size 161991
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..02e08b9343f8ac3c1d17c50139cb6c9f0731f25e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b510914e2effff932290344179ea0342c7be056f65a41e0d0082d0a6fa3f1bc4
+size 309183
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf6597076a0926a73d194d32243d21a0bb90dbdf
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d125ffe21257a0fbeda24a84c106661eeb426fc0b2b4eea61cb7298eb7ead840
+size 207503
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7d316962b4c4baf385440847470c765e816d46a8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c84e4d5bdac766d22ca9c2ea6d9c9cb24be5fb0e45e2d04e7113de27d12f9ee
+size 234420
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4daf90e8ba690cb78a8ee3395c307afae4081fc6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0c2664b2fa5e4af306e776e73feaa8e33ec4a7ca6a53e08551d9b725dea2b53
+size 103675
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f8f2023e38308cb9544ad9c41fe9e16983443d3f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31184c291741f9ea5807066a1325ae2ef6b2cd363fdf389c577dcea7a071cd7c
+size 328224
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..98a38887abdc047282d86b1c60e13f66dec7fde3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71aab6328ff12a0b55f47ad4f888387a6ab1a1bd57b409d2462f1e547177e7a2
+size 164804
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3e4fbf4f2d5e959f2fa0d3ab8043ec04cb3773e0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a403aed1f05fcc1357a715272d6c7d02f01c7fcc48288eeb71822463859b500d
+size 389387
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..52ae3f38c8106eef8875895df538200d1c15c19b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c4fc5471224ccc58b78f0ba3d7314dbf1f803414a062b7f0febd7520acd2ee2
+size 191582
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1c166473917b7e0478ff84a65479cb309c8f2dfb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30abf9f415ab5e4eed40795570e8da2b4c9f8e726f98c97dd970c4f328296fcd
+size 252125
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..93b15d702725944c32d0899a648f58dbfd964961
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98364584b187ad1980dfb16849f561f5c2e5d83f82ceaec8e1fa83ad944a24f5
+size 99644
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cfac46ef530132dd23f4d7d0be1fc6ef9762a678
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5049f1b3e68bb9ab82e6aeb77f0d0cbea6d575f566e0721db7ee367ee1d7b9de
+size 265740
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..818c049e4d76f94fbbf2c12d4fe7ef83109d1134
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bff86b683fbd5115727678ca38045dcde710f02ba16851e0a06fa62a925529d
+size 173871
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9b11b1b90f74c329894c07e607de4d6c23c632db
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d024069df61636f13f9d5adc9d15f19acde755f1ee16c2f5da3d99576fa1f208
+size 410843
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..eff7a0e5ea438ad9bee2a4f0e8e865a0417f11a4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b01_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8171b027fd8bf71795c47cc75aade9e95a36efb778f1a1570dbbde6cc014bc67
+size 201331
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6fb4c6c1b471a7ee9ee96b80b9cd2ad088420613
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:909eced5e5cb403cbb14a9d47a07540cffbb617a1a91ea666d01c330cda8f8b5
+size 302981
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a8a16c70d4c5433e4b1f8e37a5c0286ae890153f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dd09f4f069ff206724abb331e997c91d60a29524fd84ac46ab43818059a055a
+size 171692
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0be52a09623c4a4ae9dae386e9a2cb51709a2a2b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31c3248372ade67c399daa80d4e18755e0efa2678a7321d8c255d453ef8df952
+size 381192
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0aafe30982e99fbbe750c6d4ae997403f6f2cec5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3824a281261bb9d5dbdd0e455bf247638f788346e93d99e435c0b13c734e7736
+size 241518
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2999b792f353502848b4d32d39f74c33e0f00b5e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:477f402524126530d90396ae9cee39da48898a8fe4d115fe35e2def3da8ae2e7
+size 307958
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d6be44943c8aca920631274edda71c4c42e3e9f8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f41820a877a8e103ce654feb381464badf34f42be4565dd65c2ef8fddd26aedc
+size 95144
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..984da434d7d3cf2e7890848649e3620f0fd79ff2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e06185b1aa942444a68642108c4dd73f7714eb2c9e91fbfd65500bd06e159ca7
+size 345587
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f0d71bfd3f2879c5ede5430f6353303e8ee856e5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e63e48e0a813311fb9b19299ca2332048c1a3cfb0897cac33e6102bbfad6a59
+size 251849
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3277b05cafd3d69cb749e03e21d7fb08ad30f590
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28daeeb614e225bf11970b76505158e24eb62cd32d1e486c5e17acf52d0dc8bf
+size 240509
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a913f2a2e6d5609b3b33d12a9bf7900ca2fb63d4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22be57605d9c7953e331800f7834ad097d57469abcffd6295b27aedc553dc20b
+size 184595
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..edf400827723d74dbbdfadedea8ac2bfad219183
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8249a99cf6210fcd34ffc76e9e9a0db6e1da11ef10e2694532695bc5e2de7d4f
+size 330477
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b712be20f7b86171c8a4a97c676f1f26dcc4eb66
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b6abb59bc0734ae5c578b1e22a97bb0f4ac5d9712db9572e0bb93f9197352f8
+size 241921
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..df40d08cf1d36ef0605702885e6f7eb12d088a9e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c907bcad3904503f0e9639fcb44937cfb8ba6edf83f1795776de1b0fa00b1f57
+size 334728
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9f2b3b00b4f6bf7a1a2eeb9309916fe65bd3f0af
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18b6baeafa3ceeab5976b9061d8c33e18784f2cce6652e914fb86473f866fba4
+size 164005
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c674f3b9655026fa51e0594791bba9a46797bf3c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd244e7fcc98ac1dd4ffbe64d1388cfd22d736e08cc2cbf25dee21df1e9c45ad
+size 257530
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab0bae0fd6a90f00ef2238dc64103bfc4fa5d7ae
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de543d4f5ca902ce7701423b47adb1af6920a10ad92c8036cabc0ac085c913fd
+size 166840
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e9267b94ab182f38199852a375f09086afc70d40
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f28a1edf40066193cae52d14e62f53d4582bda7e78e85e33b768679a534feec
+size 276308
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..80f4fd887dabade2324fe0c5e9746b62958d5f9c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e8cf5f4fd05489065ed83d1b7539b360d3874932b07d8c9d6c1bcf7c9da2a15
+size 206065
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b988d62221614a492ac685e4f2a5347e5bc1e8b2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9abcca31196eaebfc2dd6b1321abc4f6f52fb1bec6b06acda9e83d3ca5f445d2
+size 378244
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0671b7d85dadae6f56fca7cb6392b0baf4bc62c2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b9789cdf0b35df8fe7b6daeb23a7f3adfd6d82a01c1f78e3ad8a9cccac7b401
+size 238421
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c8b3861c952dc43192b05e560bc05f091a2252a8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae1e1356aa802cf1cdc5a5905a0f5fa9a7cf094c426ae48708e62fbe0d786165
+size 239300
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7d8f766853a3d9fe00310e71d248022e474b2830
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41631229435d6aa6d2aa0aadb66b5dd5ac1f988e4d7d299e0cbb480e1984949a
+size 73945
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f09e2cf7d2f27b22bb571bb24cec2c1f2064fde2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f92ce07b115104be89f67aff84254b14cd31d2cb732840f3531d1de7dc934ce
+size 290666
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2cdf73b6177b06f7bfbe9c78ff6cb1fcab23faeb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63539db1246d6c73de836cf6b9bd8d95eb799cd5b450fb7d66543028001233ff
+size 206084
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ae3c3738b33d26e7cc3e99c2394bbfebf695c27e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:755480e5c1d983d1b8c58c7456e8937d2b810298d8a1c78781c930b3a1ec68b3
+size 302063
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ce3f474cd904a6c0cbc4b617e2092def087c820e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4735eaeb0897d1950386968418285bf0e97d7c3d1b586c72583e6e8ee7530bae
+size 254358
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..64b490e8c25cb05d3c82d97e5ec994dca6d7330a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:786e5762847f1741a346aa2f8318925a80bfbbf6e653b52176790547f6f8d156
+size 225459
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b4764ac47804a363d65ae8b72c2c66fc28c22efd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b02_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b4ec98db655e1b64d4fe35d2b7e2ef2f97938d0f0cf758652349eb72b310f32
+size 137135
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..46ade8757dcd6fb27cc57c797e9ff54e8cc8b56b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2f543e0da5bf8ef40ed8e5e26404abfe58f3d70c3fc0d4801b2634ae0979c64
+size 356840
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..edcc65c8f7791b035948a4b2ad5eba087a163fbc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20adbd094fe325244c74e471b9d6ff572bc3396aecd6691ddf6e8119e99e197f
+size 315055
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ae020e3fd0263a4eebc5adbbfb8e20d4f8d065b0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb953cbcbafc0b71503c58e9cf55448f1ff10625d4da6be37dda3e1fc032b079
+size 306501
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf937a9fdc6fc89a6b1d0781d25cf19044b6831e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8876eec6127679a87d0bab6bd8b5ce4c44c7af75d3563e6a58547dc79bdb7972
+size 204070
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9eb6b5419ed99fe5b566d56b7e23098f11546f11
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10414c50e56913149098e9dd325c86c98a5886fa0e9e2abb76304849d22c2bba
+size 344438
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ffe91f3e1a0f602b8e2fa7abe830c9ae33333bc0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f4821915afe9d63c845ce317c507a20c20bf8c5f4597afe9f2ee2ad81d73bde
+size 253305
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4c9a21163291c5f8dbb475ec0a6cd76074510428
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e72a33e9be49db0e9a3d5971234e9e404994515637c5607e06c6bf9eff9e436
+size 382845
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..02f0b40a2da4b3f405260199f55c1894783b3186
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8a287c2998869de37ad8c45a1fe8f0bb51fc3c9e5a1a102c023feb64fcb7abe
+size 204863
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d5bca085f0963f9b9edeb59865c282c74ff69cf4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25f933f938a856372b7f3158b9d19ad38b0c6c93dde9aec3356063f6c0313de0
+size 388136
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5de75cdc12890b449fb4286657e085b95dcde610
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5828b217ad1ddf0842651acbec65733523cf9e5518f38a81ba1a156c578c8a4a
+size 179997
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2a8b50e1c644254f6dbd68ba3cee8c0e0d16c7cf
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0176f8966774eb8388f624f4d2e6622e0a972af36f866e8814d73870ab839d81
+size 298697
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a946900c012ae81b32d4341b4a22efe9360a9812
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ab163de23f91b5059db0bdfe3ce51560df053785801a279f31af92e286e3d51
+size 257083
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..88abf6449c9fb7f732f8dc7cdc5a82b8a81ec798
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7728a430647a3ac8e3ad27299b2e871ca40a151a1138dbc49b8e4ecd178780e
+size 368362
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4cc5f624c5bc73258a70007409f40dfa8babc4e4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1172c63ae2e1484ef2d44480e6fcd2002e0d6527b7a411f1e22214c77689a45f
+size 265583
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1ff78e321fe56c5c030ce2c4b62b14f38fdb7a5b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aad574f94ce5e3c29d2f59290ee38969909471b6cc820f7354a9ce9a08e98219
+size 329568
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7c2868cfe4a1ba0a9fa28f5db3d2b9ef5a20b5b8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:287ef35dd4237c13edfd854edb4c90f4941245ea40c5377f830416acfc4a17f3
+size 141754
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8bfc629b737feb6c37d9390a678141ce23ef3480
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ffe4ad538dedf1b236338099177cc9993d999591930138d731c988e9311c2ee
+size 289369
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..990daaef170c1ac938135a00d18fa8fd1c5ff025
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ba9b09be7a77995566c8416cacb0e7a553228f2742b44f9d376d6f78f19248e
+size 199862
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8cc60af0ad6a88d2462f44758d0bec3957497395
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6bb02f2c76dd8daccc85089e4b7886f6859ba3dc30f59be4e91d1de77a6a7d0
+size 227099
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c51fdd2340c23321a1b4a1693f1cacf03759717
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:783dd9dac828a2fd4fde69ac0f80d0494bacaf478d4d9c30bcea57c197ec6e88
+size 114239
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cc34d7b78902eca3549077211a0da2e6ea41f014
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:128db9fef446ed2bfef71b715a436214911c56177d051ae0f6e21de35d808a78
+size 254955
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..235bc43c52295250ec7728e10989f34e8db569cb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8da1b47e7a9378683310ff8548fc6ab254d30715fed4ba05a447783755a24c0e
+size 146647
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b3805e8dfd38bdc9cbebd634efc68fac3865e244
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97d6ed09c797efbe3f0751498e16c261abf195dd123d8fcb4a6f2927144e7766
+size 363117
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f3cbd1ba92597b22ea8a10f1ade59c04877b1b4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cdd69baf29eb4e003c2c9ce00bfb8c6a1edbf09f031fd04b1b03341f379b41c
+size 156966
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..be3e6e446b1faa0cf7308d4a4acb5f2543fcc252
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c9d91cd4f94e60f47593528b92396e0d843310618bbb142815b799116437076
+size 350715
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a0b2379f238c685947b5a0c274c5796b0116a15a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a9ddda345172066d6ea0e3a39f6db996ebd071749c91bc9d652d24ee19df5ad
+size 106995
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b7309bc17d3584c7df013086fb9ab81bf65bee3a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a916439fffce9be36b49f3885e1ebc30ac4e2ae503f781844fadb7e189715ca
+size 226149
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d627a2df518bf1f2ffea931f100830e7418112aa
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc5d26e88a085f7117df20a2903584ac89b103f3db9c229e3ae00ae8fb917802
+size 147184
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ff77acda39d66b9939783cede27e79a5b50e39f4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4a9143ccdf8b8167d41eea40d8ac675ce4b1eb46375fe17afefcafe9084894f
+size 243875
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6fc504fdcb8039fec6ac82747a7eba8ae16bcd88
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000107/scene_b04_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7d6a3bd125f7542c8ed4e057ebf4a22147626242f8f22df21b1ecb44314defc
+size 197005
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a4b02fc6a3997c70c7e31d12278157fce8d329ce
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b1a27d84eade8f109e3768c78c66ae7f8a9dca1c792f2587193a430bccf53ce
+size 653932
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ddb7fca213c26ceef3197563bc1638a2afb3bfd8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18c3bf80b3680e8e3bc6db2e5038b1bc4d7197f0aeeef1de4e56ce7a96cb0784
+size 377893
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0e127bbba2391ad4a46853da98e2a03e23486e7f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1eb99aa804742e4be16642638afdff460447fe674f7db86c232a7c30dc58a08e
+size 182118
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c6446057c4bd0cbc4166207ab84809c7c339d4d0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0557f3ca21419e689d0a2905441eb34942ee88d1aafc77bd9514f88268e7801
+size 107170
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..783f79f49bb5407c7517c8d6120aef9410258e8d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:200cffeff8ac6ca0356dd6ed3e0856c1e5de2b5bd0992c81269990b1a93c9118
+size 532009
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a1b3d452e3182e505235004b840b108eeebb9cd4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e63d213a2d32f6a5fa5248f5bdda81dfa67265e196db3550de9f03de5bd26d3
+size 331398
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..094371f06a5d797d3ed3933a54c03d937f428a9a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42e1a3851a6238de2337a2e9c7d2b4f8b6b29c2f95c9b1f92b8276fe7f7ce62e
+size 292093
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..de62cf96655b8590e6f46b3b09c007e96670f611
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de6e97b9d4373e8fc2d7a5c89542c7dae43c4090ee02a696912a43e27a344f12
+size 248639
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a7c8cd93d097624d5d1058cc0bd1aa6f3d331073
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6878415142664cf286c425cea1617d53c52ce07e112ca4c141c33eb0a099a6b9
+size 566681
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3eee8b1fd222a42086ee581405c33683355ba58b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f6c486f8bc2eb7eb95b52221df881212eaec545c0ed096236c6b2b8cac9b921
+size 443361
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1583877c1d5297e36a5fd52c6dcf66cc4d21244e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a70b2af9a8fae595705d0ca7013c69814891c2a3da8f04fd638b7426ddfa35b
+size 611726
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d0b6d09c61f60475f41ac32fbe807384c23a7b90
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90d1b38153f91ce3515b581e49e67c3c01eda1ad02123fda611a67e684118fd3
+size 468908
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8c18b06fe043dcc6cf3488cd2e7fc9ee79f06faf
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd15988d37f30658472fe03d787249e5409d7635cb3e7642625bd9c813ce11d9
+size 132269
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..adf7e6f39102fa200a6dbefeef1a8812ed214378
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d652bddb6c1e225277b8e4621d55e37636475087ca93b55a71229503b03f2b18
+size 70115
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f7bbca3df72bd071311c5aad4a328941480c34e9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:793544413b3e8cda4252f9d5533a9df8c86f41551241ca6a7471d4cc14de4466
+size 437333
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..bf4ea9ae4ec7dd883db900c03a76a362f8f4f62e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25316a4916f673624db2447d2218098969a783f0ca5ac71ab3576bda74354992
+size 316158
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2592739275cb2d82171c3331ba2aec6fa8c7e4d7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4dc5b06fa1fbbd368d5161f26477a88044ae1b4beb786dbfd54691619924264
+size 103412
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a9ffd33470f3e99d32cda334f1c3350d34df134
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:592b8ad011250c448fb228881ebd8ac654be3155c0403d4b2f1f91c39fc55db2
+size 43754
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5a780a4db1d2a940554af3507e2ac1ac94f06f57
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99e1810426e60bbeb90b5569fc5292cc99c564303b29965029a782d150b08e27
+size 228293
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ae6d107b59654e9cb1f1e0e3098ca521d992ea95
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0365029dc9999779e69e42af33419d8966be54bf3f344b87d1935c1ba68353ba
+size 133289
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7f2e5ba5144774fed04e79b9d64bc8df99662187
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:737fb3e6c85cedb2289fbf7c3574668133d03c2273c113b9d6d7dfac26ce34c2
+size 350244
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d6f9c1a264b6318812e7acba4b49e501d378c6c9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:939507f228b1da85ae9eb7683e0b4d55b699cbe3a634918aa7490ca174215b53
+size 228874
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4eec9f2566092a0eee246f3ceac2fb328f7e19a4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e623c1f4015c925a4f8c500fe7580ab0174b8dc8a560e6ca33a1d777d14dc74
+size 363979
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6eed32dfbc0dcf4341e4982e8b246b455a728aed
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98c25f6038fa2142440f122e9b5a79b9074fdf44d18edec85e0723a50a603360
+size 229553
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0ff0bcd904c5a7451a8c9e2afb194534f954f9ef
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb5f4a9df6ab18643ab7f3d4060384e37aa484ba1d4b395b35e4b4f52e83d819
+size 286831
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..587eca2b78f8139ec8590f82bf372bc52374c602
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f3e010bf1d7890da818820c0dbd8e4a649801170863ed6e96e7dd9bbb545074
+size 152789
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..744766e1ce74b4dd755d79dc664a0aa3c7d78ccd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed984c266770f3169107c6330b941e3ccfa0a6396a868e6cf1d4f1c10f1ad2f7
+size 192392
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0534939efdc3327daa22b79b2eaec6e78d34ce34
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a1978ca167ab678a1d0ac8cd27333c0031744db7796efa4d29722f7d1d4ad9a
+size 103304
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4438c664bec37fb6b122f59b5ee1edaf3f33d042
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c237dfa1e80692268c9cf34f0b45011af808287cf611537bdaf4942933db172
+size 434683
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7cad120607e896d3e874d21550b7331cd01adb5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a94393f6338121583ac83c34a777808bb5e5ca183f0d141c9c6f9cdf3876d57b
+size 273412
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..09d3ac13f53047283e536903fde8c83cb177d423
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d29bf3af4cef4e463dae5126d94827ade7cce6b33c6afd8814fba9abfa2968c
+size 649026
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e51d55342d260c9fdda87cf678b6d9da71e9baf7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b00_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2df6c77b5ff50f8116d18cfe33736253d5b4ffe88d26ca539fcad0c60355f4b
+size 408757
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7d4c6bb15dace0d6b05f9099c1c8cd082a1814e2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3679edd290ef7ccd9e944539914f78ce7163095c9f825367aef83c52e9955d3
+size 270615
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd0f05203e9b7496e94b741e2a2134566486605b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f4f80072318db1486a81fc7363bff8bef7a3d216e1bc8ca0bc502cf0064dd0b
+size 195833
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bed2dfe3e091210c6207820384eff6dda8f3bd03
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96193f464d22a2083927a3b6fab8359ace8fdaca6d72abfc46b3e1009c2a0977
+size 338641
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..02161f86497861e2d4312d8c7ef3d175a7052774
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82544509c9725ad1b20437844178a54bfd399680518d7688cf3cfb141f57d865
+size 272325
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..813455252b3a9790ea338970531195192d1613f5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c2ee6ae352bd1d9f366acfc35994fa0fc8736c15d323ea61bc2395775e6bcca
+size 498307
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..918e0fcc94599f1846e90238c8a7f76430f7f83f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17667ac869881be23a55c44536f8397d90a3ec8f558f1291962b069e816cbf87
+size 380513
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2fafb7960adc504a7962ae7976b40c89550d7057
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:875dd55c8f32ce781e2e12fb2fb1066f31cbe6e0eb2a598ccb42e7a3fec4796f
+size 377903
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f42a3f8310eed5ba74b329161066ea5afb39390f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30c90509076068367a7921509f5216c5729686f9e0abdfc9d1a1756b3ee28fd3
+size 207024
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..49a4c5ae6e45151313255e0ca4fcb8ef311b8802
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01483774cba9ee647718ba9e336570c4db35ddd48168edfc400440dd4b4ad1ab
+size 161562
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..10867fbf9b2cf62e3b419a955b5e4dbe5ee53636
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e28c06d44099dd64bfd27ccabca8760fd40f8ada3efa8673b7a4efc2e17537d
+size 106520
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9b4f34f4bd0cc4270d1224a85e4afa78104cb71b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f226ba7a72e9e2f98af32b27434d990947717ea8f4cbc85276ccafeb605950e
+size 644014
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c6c30978f9a9ee61d684a936228a838749e0248a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e724498adbe90015075fbad3a2fab773f0898f954085e435506e4ccd6d7368b
+size 385490
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..799b90aa35d80b308a01dad1046fca26e21694dd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fbb4e05015935b5b703e9e382c4fd7f83c274e8552930fbaee5943389d7e2fc
+size 549379
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..df5104e31c1f6fa91fe373ab470af76f19fd465b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e7aa5bd24bd47f77471489e0b1cd046dd84d43662ae810fe7415e11e030c1fb
+size 404216
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..dd985f23eaf10ebb91b105648dbf2db479f26133
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb57e3feb3d9611f417fa2d9c104c1c0f32427a28fe97ee6e134a7d03067f2be
+size 192526
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9289a503894347015c2a0d948053e60e2b6379b1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42eae444965ac4883f167fe9b6205d47604dfbcf912926b356c4c44a4cb2ff47
+size 146301
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b6565d0624ba697180f607e3ee0a9c8fda5472a1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3fac518fefb598c1c3ab58ed68869d93ac521d7fec8b6ce8b707ffa2e3247db
+size 477255
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..047924b94941f059c2378729e714c25ae44bffea
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d34b82e4c66037a68f51633a988f589aa1551632ca216380f728873329f0df05
+size 372005
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..71488c6b8915b22ec313ba1b5ae1d82ca7879ca5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf243dcd67d03e88074cce45d0f332bcb39a31485eed0f37bf002903f0cb13db
+size 385982
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..868dceb03c4b217dc33d60479c4bef7c2f9eb495
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1e24cbd92aa8483bb89c76336f59aafd85d9e9c8ea98e3e5be8d73b8bbe6ced
+size 177550
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..472c7bb06c401f8adbbeb6e0153cab46d24926e1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db65bb6f660248422b907d6de5b6fa33b7c27739e77f402184e7beee615be578
+size 233699
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..89d269ff6d6b1f5f0e26136108fec3e8fa014a70
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebd22024954aa6eaaa9b651496ad8203260960a2f5743f14b9b82473901b4fef
+size 170643
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..31926b04d79e67d761293047af90822fad460747
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b65245052f7bd4d2efe0092b4cf7deeb8a5410bb95e18bfd1d5168dced0a1636
+size 699502
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9ef41f4c5680fc0a0ff2c8129acca261cceb9c35
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:559101ffbc550d5a10e92b78d6b52ad72033e8c490e7a67576046a711830b774
+size 415081
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..11ac28b9c22eb6582b9b687ff667638bec7142c4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b22647131d75c9053c6273c0e54c0faecf94116ec36ab1f46af37e2091d11bea
+size 316861
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..382ca10c04ce00488dc6324d64280b325e27b2d6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b500cbda43732757bbb58a5102c8b1545c6af45115b0209bf6c81e928e7ac623
+size 274731
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1b362676db60f639fa7e73740f6cf4f1603fe75c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c94c771d7f1bacae68877d3e2dba309bef018d65352c8bb9224d5bf92a57af7a
+size 566171
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3906a2e5f2d7464a4b89ae327581c59b68143636
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01c6ac9c9b95ac8729fe17f00796dae5d3c59d029b628a8b82de15b73b7032b8
+size 448843
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bb7216e377fb8f7268a34085c11e28bb439d2088
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6838641626690a13a91a12f2e1602730238375a59623c56c8da82db3b2d88c3f
+size 463105
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f5c41886739457d4a91e154f664707cdb05708e4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a20466882e4c944c18827bf6765550bd4c388dd2bad3b1f236aef504e1ec210d
+size 234375
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3818653a50eddc97b12a0b7912f54b2bb482aab8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a49750e46b77d6c87cbbde5d44441fcad772ef0f373658cc86b6f3f699a281b5
+size 538000
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..baed9cfe9107e1c072c6832f1c4088b1ce1cb478
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b01_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f48c6b7750611cabf8a808838261a3865f95207a1734495e8b6e4767e8e70f6
+size 364560
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e8dbd19fbdd4556cf8b2b1e184b39a9d4418a3dc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff2462cdc68685289b8ab45c3e86a4b39046ecc75927bd312199e0bd906f6ed3
+size 451402
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..666380b7baf5524ea79d8c8e2b4b6ae68368c49f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ea9154ebbc8a56abc312e7fbcd821b1256856e792da693ae3b5e974d5449df0
+size 369976
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e215e87d57dfeadbf05e987aca515ee424fb0be3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41eecd032cab7b73e71e8737204052368450fe54ec71831dd197aaa342135695
+size 262525
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e3429ebd9b7eb7ffddafb2774d7a8e2c9ca5bb39
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1684884ed79b2d87e0bd0d6dcd52e462c6cca269657e2d6da7ae787ac59f9681
+size 164609
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..51e770e73e4dfc0f614ff1f5c35da34a7360c8bf
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e1d6620e6b7bed63bbc83d057e508289af0cd738a5b304ac4109d7148dd046d
+size 280296
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d067dc30a480a9e44afae9ae35a4dbf79a99194f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a35ab928d22e1a7d648315ff257740a792c392f707e0c21320c3ccff89ad8b7
+size 266521
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..624bb3394d4570279c1eaeca6ff61bac847288f8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa3d04f5a2bfcd4a5794a67342b0a76dd981ecd05879bd68e21b5879e3fc4cd2
+size 728124
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..90f182adbd243ffe066848d529983c3e04c16ccc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc5eb2846a552666fbc9326ed664cdfb98d9a801e8486e2032016d3cb433a145
+size 426560
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..29a125b5ac6268c831ee327068094c2d5b9939ef
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89238b2fb44054db518f0d9801989029dd39e10fd0b5ee39fa3bccb9b192894a
+size 356842
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f8f8817e8da14cc8f0dc158edc684923e891fb67
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fb065d2ed7f2f3f34c6abb6a2eabe4afc101942dd46cc25aba00b6196b82c20
+size 334273
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..76492c04698df2e5ec9aedda8fb6c05e409c7775
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a21a6fca43fad065e1b5874230f16ea3f1c5e01e0246bb7b165b596e71295aef
+size 433532
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..80ee72b6e95cd18d86e1e66c8f2929e35d4bb9d4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4febc9035799a0bee023e0b55dda107717bf4a1c30ee5eceac99e774073c951
+size 180050
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..896442a8ea6e5f997e1569340364011b2c4557cd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52e55f3b8dd9c04bc2e3e9c09dcc69ba118667028d1a488965be659ee393af13
+size 369641
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..79dc11493f0f3a4a009de0b510ce277378fa2f05
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33449f24944c565f0ea36f88ffff79794ab47ad176216ee3065f23c2b47b5a52
+size 324299
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..dd13ac0d3d40aa90bdf1d4f8871783de077dee50
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:747b0272c166ea2b8a2e4eb184d53bd40b9acf3bc94e35e807235f8877ec4999
+size 572745
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab3129863930b91df8065677cc162f1b1bef8f5d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8e54f57368b9c4b321fde7b5abb73eefcf0df4a22168d116d0468d201003d5e
+size 450109
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9dc2be5e57113f5951ae799a85c86600493c2182
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7ed4bfb487cc4a797501fc69fcdab784a97f12d9a71fb5d083dae282d4e7cd9
+size 410975
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2ee1b0a0e2ee8d7e691972816827f812edd3bec6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f231f1ff0cd1782a22ff83125c0c94e112749d0b8dbb9f18907fd70fb635924d
+size 359562
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b9da76830665e262e57887af2801341e31ac4839
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ddd7c5293817f13c683fb82d327285d5b4c3980faf0204e7631f9ecff5234da
+size 356772
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2072457a23366f4475454452f804a172d810ffb7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72b924209a909babe80e8ed617788e87a9037126c474ea7b9751f6791907eb3d
+size 319961
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4a4c5f63092146dd5ce317537f29ba63e23e592d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf87f7f911e34b73201a7bd56de397ba99eb397010820857503f3ee71c387493
+size 653070
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ae0f9cc15567b6c2c9a58160da0672317a2077b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64541b01afd07d8e653cb9b11e8b1e9c641bac7ad0dd1dc88d419ffce68bc02a
+size 518483
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ba7e31d8c3d41bed0df0ccf6f664b0de664caaf2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b32e083c42cfd977f9affcc13a94f1568ac5ebda1dc393a8c91f4fce35d1c382
+size 153100
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..140a305b1868074b63729e481ce0f624d6ec0e15
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6e01487438437b4f6bd3b45ed4a160048d761f8c6e7ef6281ce20413efe080c
+size 84777
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bdfa46c46f11d7e89c13da5e9f640ccb6f317ad4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab366fa4deae5638177584606a524368fcf655fe65ad77c7771941501871ef71
+size 577599
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e79169d72a43a4a2748108a5fc4b083a6a80f547
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6d51ef19b8ce2a1a28d9b0f3ccd93c223fe7272f4b8d9e560b4482301753318
+size 337722
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7b1079300023477459192ecaaf2ccfc9dbd2bfb2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bed2f50e7cfd1ae5c2954ae89b1983b36fdf4ab64b9f06f65300284f484af6d
+size 309782
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..522dca35c7f39b29dc4f5353e4a316581f754cc0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef99cfc4a13ac50c5d676f71898c4a99adf4d3c266eeef74f1a2f3f73bfb0326
+size 182814
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9790d7cba387d47f005471f023bc4d365bb5dcbf
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1347cc56c9d643c0289b2ca0e394bea9e4d63933775e7834c95fdec732ffba46
+size 476293
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..63c09d4d50e23dc798533102fbcd8424ff4c6d3d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d47cbf4fbf86ae511a548eab42d396ad9736988648ec244352b92a72226d3f7f
+size 380282
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..97c0774de877327c3d92c04938face9d6abde942
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48eaf845cf0ea090fe01ce54cf99ea70a47b55affda9e0a55f4fe62fb349eb3a
+size 443843
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5269f8f0ae61e679feb9cd27fff947dc92d81295
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b02_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:883292797770cd6468a1628de7cb6a6f3d489bc72887790af7a1e7b7a47f398d
+size 417118
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b9a9fa80ef4afb1f76bd3a60b3d7116d809cfd4b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:566a587a24bd41d29f803d31074fbb29e590d62d12a0a700de40f990d832bcf1
+size 527086
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6e46429eb92117b81bb9f5435853e4803ee8bf33
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d391b6b6c4a41b78bf1f4bada5fdf2b351aed48cfeb529d8582ac046dba7571
+size 428921
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2f50819a6f62d767a0bf4dc3994a4ce71cf4c822
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82c5c7a215b20500698e68561107b510957f0bfb26d32f5460c05a4b1a38ae76
+size 533233
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..53b9e7afb5058ced51af8864e07850e16c19dd01
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:305455a53b109b77dbda08782b264885c696e021a795c31be13f036f1dd3a52a
+size 282892
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..eda75099897eab0f010699c9a8b4a859a91d58f6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a59f163fdc4cea96327be8a7aafb8368a16a10d3ca13f55d5d304ff935bd97c
+size 534826
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ad29b79f44f3a53f87aef1a209b0b70ab00d0a6a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b25874b1b42f040e0c729dbfddea3592c3043f933b3caf5f25db9a8b5512003
+size 340914
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..05ed312d795ce2f5e249f5f6cae570c243f491da
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c962d9661b5970d189a70b67aba8427d9be2cdf84dbbef1b1c9038228e2824bb
+size 357895
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a29ad0c95e259b54d79d33ab00ccc1737a044462
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09196bdf3a855f34341f7fa29826966251656bf1736549db5904b04b28ba95fd
+size 342012
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..61ea0f3df4956873e1366183d54a6f9d9d05545a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c32bb00b8bf930c817fbb97610a5cee74f28bd427312c893cc9e4ccdab08b03
+size 210756
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e098987e98a48f55f8efdf6a94865d42f27ceb6e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eacb18e3daad51a91bb6b277bd1a4b66d00cc377e181e48244c8ef2ee73e86e4
+size 120526
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d7452c92f688b88113e0b4f32170c9f2a25d33fa
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d714d318609a9b9271011f99af7f351ca977c80fb715df056aeae04a03c214f4
+size 514259
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a051058545db9a487c323abda6e69a65c3b445c8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a7c82e1b8e6679e5c62374f6bb9d0a6f250de555f653ca70cb295267c8542df
+size 365080
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..142966f71fc64791d3bb64babf5ef8510b1cd0a8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:454d2077664f92f1a6528805504c3a1eadbeb02fdb7d8185d24de3a954464afe
+size 504600
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..76bdf1c28aa720d2e3a5efaf6ee46a9de76faf8a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9a27087113db9caff79adeb4515ba2628b4755c78439807417808964b3cf337
+size 320405
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..774d32985de6424d0d18afb7f2f32ffd291c42d0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:622d36ddbac9df2fe36e4fb95d78cef0401f33541bb5ceeaf226bcdbfdb0bf92
+size 680531
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c07c31031ddf9a7d855a2a55956da46c41351429
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1d0f7af9d29a8669dd1210a6a38839c83b4405e2b3a8c5405d6284e066b7a1d
+size 373773
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3787d8a54fed03b46fc1e876001f93fdcc940473
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3efe9cef75c23dde2575dc152d9de366ce9e3a6d01d27c22c43bb427f52a24d8
+size 584262
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f889481b2ced7d659214851bdfd660b70c1aadef
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf486463c797d6a6a060b8155e117323a0334c305464c48d6cf78296a44b240a
+size 387910
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0407cefb2c268f629a12d980568ce8d1c9c17bfb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11e293806dacbce73f3a346e7cc0400556d9c3e2dd8e1cc9fd90f7291ba63e3e
+size 344373
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2837c0ab5f59448ab616b879b2844023935b8d47
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1959920a56aac505eac7f629319da3640466d98cad927d5a73d7bd320e02358
+size 308793
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3bf133f518bde4c4ac5872a7dab6fa9dcf26e982
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1906121cff64a5f0e4c1f225471b56dcb574f15cbfd3ae6cc593f0efc8d3f41
+size 302071
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd31b616adcad1370809ee559691edcfb8c50788
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cbc51fbd8664c383fe3c1a9bc980a7844045f8b1640e1ba7414e70da6099b98
+size 282815
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5a81a3600b75db105dd5aed0616e3e245e1d0084
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1c8f1ff86cc5277aee1537b668f558df20ed34b0e8cee7fbf2e83698d6c86d2
+size 513014
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..10d419e3b7e097635c00e03faf9b81d66d8e87d4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19d1c9060e2edf60f6cc0402db2ca6a4b7e9a4a2a51509c9d43804640d9c9a49
+size 343424
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fe980c1c008de9782023b7791981b914a3869af0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31b90c16e8b0fa42c3dc1d308620601927d56c577ec2b28d462c64b66bcdd4d9
+size 497097
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8774879a4b54cd2356fd9b387dcb1121209249d9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e72c8d43c017682a8d152adc568b810f59dbb76425bb899a03b8c5ce81f72061
+size 385314
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0c6a9e27985e8fed6985161ae30309bb71d18bcd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:868cc79851fffbd9cb8f99f0197ce3a64305feadfbe7689876f57c65786f3fe8
+size 637848
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f73a2b88cdfa0198dd9df99d41ceabb16178ccc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92483661e09ee4680f30fffed5a5a3e2d5cdd68e0c65556f852fe913df1fc944
+size 446247
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5b2971d0de088800a947d7813a006b777eae7b85
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d4d27877f6a2f5130713d1a2a7375b89c65f325dd0e4a84fd0e09678d8cbd4b
+size 289204
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f90b70a95c765d6fb9f038cd7cf4c43b83bc0657
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adcef905f0a0a7c895608836c4dd5f889037c8fa1a2a70b2768d7739a8b06ca5
+size 145930
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..85d593998226950bdf9525cab6d8ca56fad20763
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55e5fcca41dbb1fdd68dba1170209ee2ee8c104c6b071a147120c4ac32054269
+size 390724
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..058285fbebba39b61fb2779ee8c728e5b0ad0638
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000114/scene_b03_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4efa861d3eeff755e53e7262c60ee6f9054c330c5180bea21358115b632ade86
+size 231922
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4261c6e61aee7704b4824df6172b758ab9ee29db
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71d726db87320d6c6b35d5b2080db3b64d9e22f48d3587b0fe7b16e21c4b6e78
+size 363431
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9757f6e0be873d7dc1de7951144c0ca5ca66eafb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97368a461ec2ec22bf48d3e800c4c8df36953f8355d614e2c4d227e9c68512a9
+size 179977
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8833d1d556968f800a142762681a81f6e0c6b9b4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93136b40f467c0c3c848c3a50900d930e24ad93cc7cb657a9ff7a11e80741238
+size 369630
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee0a7bf49b57e081be50c1f268379cf445f7b655
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d667a481c799f1df87e8d882f613c86084d78381300d5f195c30c70037e1fcca
+size 244014
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0a493a6bbc55e66e7352372422be8a6fe76fb690
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:927b5d87e99df2516ca2e8dd5f132b380e1a559db2b5682fa98ab9eee6a1e576
+size 383186
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..45eb2cc6aea36e5adb58078944e34ae1c8606c3c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cd97bb0969da2d5dfbd9cfc77e7df9a98f0fb78344f6e8c26b0efe5da12f35e
+size 289270
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0ed3e2a6d6ca8354de7dd8058f4500cadfd24737
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56c12ea0f0e165f1676e5b9f281ade3d6be177f0da69362e5bdfc40077c2b8b5
+size 495752
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7430cb628fd7db1f5e851e6775ff223f33df2f79
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99c072a69279a39d4bb970981358381e80aa29c76d5707ffb84b29f9d48e25aa
+size 307474
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5b882878ec9ba242dca75b22f564ddf83712c2f2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b154a858a60ac778cf2fc6dc2367feea2478633788df6a3bd949ec7264f36957
+size 311373
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..84bd67a7734194b469f58262e68aa3a603521029
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01a3655d7103804282dc0af9a323814e4fe67f52712f8a1288ce6e134f90f7b0
+size 178494
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4c316cda123c16bac704fedc0262598ba65b2faf
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9f5f7f564fcaa238e0702caff59ae38d1468148fa5509ed066cf892ae11e436
+size 389098
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..052275351ee2e2b51ae6a8ffe1078a7136a9de82
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36d9339d7d2941bd3fcbfcbde7f5c847becced3c4cb8beb665b94e56ffb76718
+size 263316
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ed8f3c45be7f70b29054b9c2e6c54fbb525bea4f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca89dbe1150d490133e997756ee229c50e34e87047055457f9e10fa1f8d8d084
+size 369912
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..69ba558ee79d78d9d9de390f066e4b4ae6fdd365
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bc776b15bd12fe17c0bfd42cd3a8d9ee29068ea3dd1fd3eb545cac5427a1277
+size 308233
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0e53ace56cce43149950ef1fed03b7c936216190
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0811542f2b5ebb12ff2e8abe4485d48d3b1674004eb8687d8cbc5abfb7a9b99a
+size 513500
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..bad28e951bfda10494dba44916a74513b50dc753
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f60a89877df21107d52c51ee076db5f2809c934a8c0bf1b56043281decf2aab8
+size 327904
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..547f7bd40325c4c968cc7722dbc47f02529d511b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f61b9d80f17375022dfd23fa4c00c94596fa343ecfa95245badbebad5b745a8f
+size 325653
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d3e81708566df0b05770aa61ae6aaa2462047a99
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99eede9bc5a19f6fc98f15180c2df67326d00ae5e951686a8b7fa7afc8885d74
+size 173360
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..103f4359a61cceb43af43b666a9de8237958b029
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5dbabb606e5a76fe53cca11688105e4ab5596a2a3f659c8f7e224d5343a0dc4
+size 303511
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f9a9c0ecdcbc72d5e8918e16ed81df5a54167171
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80883b000e3d0cfd79d8af8f65e2bc0361406156b2739b5c60a737c9edb6b248
+size 151038
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..22f8f67cdefe85bc1e249f3e54c3efce2153cdbd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db9e279e33e448d7b3f0f3a33983ae5e760e58f9e158d970d41163fdc8df781c
+size 408815
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..76f8a24c33712fdef03ad17741cdbc7796d6fd40
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6df40f7ff99c7dc6b404d5afaeb0ce5f19a72cc4f25efb14bac2364c3429982
+size 255343
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6dae08a2790d5fcecbab94291c0fc62833605ebd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6446e3a859c5ac634560b82529243bc4acf222e248bd7df74b1eee11ec0d7f1
+size 425888
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..888f0894c1239fd6fc17e3281861be71497cd3b0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b72eaee48f6485238d10c5a1550e01a6a5101f81e4de0c1d22b9e7c884cb2b40
+size 292805
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b00_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b00_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e251302028898cf4cc887a5db66a1ef12e684598
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b00_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c3d58c69cf2d9d24f8e4744ee6fb8acfe39439ebc66590ca91c32fd0c9170d9
+size 566986
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b00_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b00_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe4b73cf2b75907fb99fbe1e1b6bdca5d1866a5d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b00_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68c20e7e4daabb0bec5c70fb2925cfe57fb0330ea40f303e1f004ddc55f87394
+size 362317
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b00_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b00_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f1488f672e61d5b724e841d110dc4617ab353bf1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b00_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea99ec47f985f0295e036c2d610143137398f0a8257aba4efe2a6d24c1a1d768
+size 409315
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b00_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b00_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b237db0d82b130f37c083313ed4071f36c720326
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b00_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0977ffa6b23258290ab401fe5d78e21c12484d7a0e7cd7136f887f5bcfb61495
+size 338229
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b00_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b00_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b4cef53d8f16c8db02780afd665782b8dfa65d9f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b00_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48576be1068816c59fbe13908d7f9e94a057f5fcd3025f9fd0c5385f8b76b8da
+size 520473
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b00_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b00_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..728a482f6ea43d91229e9892630986851d25e3c5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b00_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b4bf0fa009de90f342e16eac12d9b8b197db9ccb41359f17b48e13af238a1cb
+size 431564
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b01_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b01_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..613b80ccb4ccb4e645d1fd2fa74614475de9b532
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b01_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:948249ddaeae0f1a3c929a87f95b28166ebb601e3ddc634e5a830fbbd248d58e
+size 602145
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b01_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b01_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f1dc5588d35b0733de4719d488cc327748f61be0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b01_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f93b5d2ebe2ff47033e7df68ee32e027a3210b7105bf50aa4093ecf8758ec80
+size 355714
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b01_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b01_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..dae70e434a4e4c9c9d9fcb4c2e6ff72ec8fb91df
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b01_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb64397a3f4b890567053e045f625eac448d0159b526c9f9728362d85491522e
+size 531451
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b01_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b01_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..67a2a0ed82f7e79782ac80636185cc8172379507
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b01_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69f4de23cc8d2536f318449cde7bb2d6f8ee413bccbb82b62abb1becdbb6a2b6
+size 462320
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b02_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b02_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9e4a6f6906ce8caf01891ece8a0d4b3b955c8085
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b02_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4141b812f39d529ccd8797002d5c966e654fdd9cd29ae1eec92e8d7248383860
+size 502571
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b02_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b02_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..447d7c441c79ec47ea07342dd1433ab6c6b49cae
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b02_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97bcfbebbb532532907dfc6c06dc32213708fa7ea6b8264bcf71ad0c4702e04e
+size 406691
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b02_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b02_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cec2bf7641e6297fd9abe331c265349c4df09625
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b02_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c5c888b11cb6f86aa48a7c3cde48f91a4ea59cb1a5a38cb6b0f651a4aa46ce0
+size 823075
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b02_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b02_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a3535b073952b2790918782a4aec2f4c2934f01d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b02_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5135b8a33688129149a4c22a4a5462a9ccda6fd903ce42ba278c7c636ef345dd
+size 577929
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b02_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b02_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..62c64da2046f452828c06184288849e151c607c3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b02_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70b73a7b35e6c7bfe9271e89f60f6bab840d02d2e0550be4162f560fb6c82336
+size 441136
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b02_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b02_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ba350b11aeced0da37806af9125ab7ad7a865409
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b02_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ce5feda657b82a905d5f28ea2e5b3ec08f79a23449684965cf06c3a32421e7d
+size 339454
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b02_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b02_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3cdc9379c575476f0507c9aa6f9c8505ad7710ca
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b02_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9da50607a3fd9f5e210eb1586195eae43317c464534205186a18763aea9722f
+size 458618
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b02_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b02_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a3f54a6d13948780620ab9d28c38178ee8fc581
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b02_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e72a4a64fb90733f0db209e28c9fb9f93b34a72a8cb610665b8604f7261124b5
+size 339025
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b03_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b03_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7bee960485eb36a6e175aa0b2211ae0b56709547
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b03_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b51ad54311606b0fae64d8795c019b46bf14c8257332b95697945957bd35ec8f
+size 352738
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b03_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b03_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef103be141e9870601abf0b5242d0b5afacc279a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b03_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43c2acca4edd32ac1f65719756fde77964ad0396589a4573530607c514350748
+size 231093
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b03_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b03_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3d5de2d62a4bd2523b408a5b8f7de8d145696227
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b03_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba15748f79847dfcfd8fa3213adfd84f201c780d79093f736e51ed1ba77b827e
+size 468040
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b03_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b03_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b76aba3889ef3f9ed96b9c475bc08eeeb8cea914
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b03_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a2823e48902470eba0fc399d455ca1e78c332f81b99288260ea20bea20adf2c
+size 295620
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b03_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b03_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6b3bdc19410fbb6b32ae20b2b16dc8d4cc9c34ca
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b03_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6540496374b6d9a716841b2dbdf31fe7581fa8e27e48b87dae78da66299529f
+size 366130
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b03_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b03_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9832efa7876d7c59175bc0d220865fceca6816a1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b03_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b355b00abaefd1ac737b2536bbf648404a79384e0979a707df7ae29ac78ab105
+size 272730
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b04_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b04_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..293992e74890326a5c4356f17a1d7431423d7532
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b04_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d41e04fa25701aa719b5235bed10ac5781ffab8c5adbd5e9c067f50deab8a99
+size 417047
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b04_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b04_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..618c3939e6e119ed3dab41763bbcfc8c5245782e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000146/scene_b04_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0876538fdfec5ae4ea36ebba43ae7d056ccd7e7bfea720a48149dbce31bde6b
+size 303023
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..52a82a76d9036f02a6fe47ca4c2bc0779568cef9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36327344f91817c04dcc03f9695fcd2d78956fdf294ec2195d5ef9168f711497
+size 539445
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..31e95c5eee4279487555f406f520fce5762666b8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e4e6b243732f21eb099afc52b1540a86a0c7829c06e5c437fa6fb942ac276a5
+size 432974
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cd2ccf363b2a948814035528d2f16ccf2a7c0166
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43850ca34bbaba4301fa1d975a6d11f3ff58863ebe445bd86875c97a94aa7c11
+size 449764
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..70eeb44b31cfb6a3e85ef09c3f748e5aea944dfe
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70170ee44f932c8b147a026ff747e1dcad6cb40078ffac1949f01cbb61ac93e9
+size 292620
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..19973b6ad3daba0f437dc75f84e9b13e8e299ae4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6831ad1bb8000013ce7fb9a3d32c5ac58935e2b3ca69d4a0d1ec0ed9b2484709
+size 821408
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d36bab5b7f009e6ee2c2e421a628a0a55eeea16
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5873cd3bdf596088b6d33984cc64ddb6b05eb2388eea4ae33fbcde262949dc64
+size 539974
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f7fee66a8a6f72dec468037142c7e5012f2cc9a6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a27d9c12dfba340b8bdf2bab883c63e7ab9515edcd150bc883ba57ca354c16ef
+size 538762
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..544f4cc27a612d73688fa55ebba4cd93a400e6d8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f27835f52347b612d2565060fa350660654b8a8f505ca88de20d8d3da6febecf
+size 366008
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fe85682908da6b3795eb795f1d06cce45a412fdf
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50817810539762af7ffd7daadb37e68a318856ac29a7b094b3797ad626e8ce11
+size 549505
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..da8f49610230d247612ae09dcf8cd9d3f72201fd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88da1398dbbbedced0bf2bd4c7ccc4b56409890a87a9e12ec3d6b5a6f2390eaa
+size 410428
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d0990122307f3036a466346d7c39a23183b4cbc5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76459d420917f8b5ecb95749c0122edd1c2274370b8e53edc3f41866ea1098c4
+size 469908
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7cb6ec5722e420814fdb17f65028b46986c17e82
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b8f49e7d8ad83b1efa8f5736358e52c64f5d77c8c66d68ffd0aa1f117cf91c1
+size 268216
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0e2c825be24934aff7875cad46b5c98482f447f3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58902ef47e14329850542382f8360a4756e81ce9e2f99d3be4e996ec1a51ba9b
+size 804397
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd8027dc3803c5f89c64e145961c67166c0749a2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b64a941aaaedeeb33bcbf972f78189d65c0b3a7588b3c5b0dfb3105eb6d71d0f
+size 536926
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d2a2bf38df818c587abfa0d28988837faa3d8536
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30efe1e3f4d8b440e49ff8ee39f9ec6d3dd76549519938fc51b617d52a4d4a1e
+size 584811
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d01edae306bb45d5f8c1f0c62dfd87f1c744d2aa
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a4be3e09383aafb6a1736e5ecce9725f36146422b632e2f3767448fcaf02fac
+size 477228
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d6cd9c1599e99c0f3a44bfb63c399f158fdfe60a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d327bc1272a90244826ff9a026187bc8e93649f93cb6071fea93171f38dfe2be
+size 472465
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a5e5f63ff9f5c1ab0b16db20b89880f0f7f4b6ac
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7318997a9c4dd3372cdbf1a34d20e7c0292440ea3bca2aa451fba9be21383435
+size 340458
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b0e62311a4d7f4032ba26d6bfb4815f3f3bd4b18
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e989e43ed16f99cfa4764fcaf39a9d6c2bd211ae6cee2f34eb3865c82c7fa20
+size 411054
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9db915ea3a63131a2bc4d966aeccaaf0fecd8063
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6900360841f7a5f0e082250c66ede673557452cfa5bb3f7d747c3228219067c
+size 262182
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6fba3747847475316d6fe928c693309eac8f1a6c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b21a2b134d10c6fb9ef335235b566eb2857535febb990804554366a7cc6b9ad
+size 238397
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b08bead9add82192b570cc77c686d50b324712df
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04ef2c068bf174a688e68459f80988a7207bdcc8828e999b5824996660088d8d
+size 134102
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..18bf565299d90268c342883586c1743775b23b84
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b51211b30ddfcd7fc3031314ac3cf2ef4d8de4a5dc5112477b53713b91a77945
+size 263496
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..345416d5a8a58e70dc48724f247194cd60f33248
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3f70ff14702572ba049878af186d4bdf9fdd1bf4c409336a763739cc4cd0a41
+size 204363
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c278e8f3d5c71e15e56f07ae6119dc94684ba93f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a225cb0a4c0094bd15cd96ddf4467d55e9b1e5c4f3e0d1863a8e8f3a93eb660
+size 720139
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9edb78813ff4652906c9849565ce164e720e3f83
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc441e943856abdafdc66d3cb1df495caeabc56067d2e2c393fea964a36c2e83
+size 480046
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e1081a3c6de2f49668d55134a17b90abeec75c80
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90eafea4d1fc6605d3b0830edf029be863d172633015b30c3b54d9013744bf85
+size 528245
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e899c5ac1c112d416057896aeb7a9c948f22c38e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8213b701200b61299e4591ea77c333e63b182f6c539b93d980ab3a11268a63ed
+size 369399
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..384d8f16b03e0ed2f6fb83a5892de203d7a93fa9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0d69548e6c867dc593324190f46c35b3d8159568e9bdb3bb45b8b6ad300c50b
+size 469395
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..650849ce7d71d2d49cfdc110ba7657212cd685c1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97f4abd0b37add5d8cc55c46c52a486ac41549bfbf494c661073309c971effc4
+size 285761
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6038836dceaf9ddf230e1237392354866942a350
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:feeb3e8d252a4c5d4af18d88b024b4857058c047a4283bdc8b75428c96c65d69
+size 778751
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2bd5514513e6be599e1d3307a88667f44c5b5265
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a4a90a9accc82ab1784c6aa94d73d4a2a7a745449e1060b7054889a5f8c842b
+size 498006
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..249aafeaa3b8e61aaa288a964f799bc36a0a7d8b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd26f3798886ac7387bc233e6ce2043e1bd2c15c58afd4b47e78bbafa4b673e6
+size 615256
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ae907d96a5316dd504ba3ad0c812564c96afaf44
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b32399edd96fadb80c6e467542f094c55b281e5de454b28f38722dd5f10cb8e6
+size 448371
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ace8b75b145f5308bdbf8d62b98f3b47143de04b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fac4af98b77fc7c65692658721b2d6bdf90c1e6d11f523499c1509f226638a14
+size 495412
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8e7d97330c1523f7a74c31f05a8457195d147ab4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93abd26c4421da4dd6f3bf5b3a96b46a028f0617ca9a0b584cb66b15227f0f66
+size 427655
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..128a9bb893c5687ceb38399bc4f4dd5b58eeed22
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efc2112c98c61fee0b9d39dd860a50ab1d89d9d9a9a45adbd2f0beda66933970
+size 471947
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..124728be203a6a3e7f5a25c43de89e16c5c80e9a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fe662393f79039ee914965e94dbe8f8be233c1ea8758d5ec87a67849411c719
+size 325886
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0e02d088510c07713d89ab88db5ad58715605b32
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:faeedcf3bf919558b286f4f3b875fc38016574225b4bba741a846923e2bdf4c2
+size 510102
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ac15a6684ee963e2d898d3bc972c6dd6e907e91
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52fcb2d78fa53b5e727fa0ec22c50b3fb046d11cd0347396385f044f759893b9
+size 413472
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5f13adbdbadc16bd99c10d6dd8d89398349df3a0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4b2273baccef1e0869eeb2117249ee7c34b9e91c42340d03ba6a67e88703cac
+size 548336
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f0a673cb449ea1322bd16b89308d48de1c1ab27
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5955f68238b4f37bd635d7c87e2a5b891097393948872656949d49af5a913769
+size 489753
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4cc2110f4aeea53104205782c1af8c52d2e5ea18
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad5a1e7f074f833248fd3f6dedac17924adb747e8d002cda7530cbf00c7dc592
+size 463757
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..98c3168c215ca5a140e33d73e282dbae701a6555
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbc1ebf73f617c1d2fde41dddd93d2884f374ff11b83f7c9340c7940b40afe51
+size 297638
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9d45b985936fc2d95a79ca68fadf271a7a7e69e2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43501aa1a061867a341f0744e2077c093da48a99f06f2da8dd1c1508404af2ed
+size 693508
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..607671138ed444aa05e7214bcad242234a0490ff
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5230e916b57edd3304f92effaeee282fb5eb8649d0b3eedcb4d36dcee0e49f4d
+size 517574
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..edd02245922a5aae2204688b2212d5e2c40be1b0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf2489a6862c8eac7d4ebebc51394174531b4af9f12d14cfcde1f3514675fe7b
+size 287553
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..770a00b885f1b0f04f4ce7f54d3e3ef0954bca62
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1aea5a18502d8aab989d25e4b62501cefe7e23f3119e1d5b43491707ad531b60
+size 259379
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9f4cb5c9296b1d386df67fd9b0d7b2cc48f853af
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2036cfb5cb38ddcd9c2ed4ee97981cc03838fe22cb57aa64b3b0238d39c800e9
+size 552060
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..681431724bfbfc2a849fd31a78fa03c826eb42aa
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26090467a7c8dcedfa2a175b971be385559b56b7a61866433558ec2e68d51b7a
+size 390489
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cacb70a575855f06cd6c0b39cf127c21b66807f8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc2281ec42edf6c38c1dc9375fbb3cad5d10dc95e2a4a052d4cbffb5cef7f3f4
+size 779008
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4530ff69bfa15d10a9d248564e4951686a8c0673
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a34ff1545d7b4ddb6b9bcbca3bc7cb76c8acabee6cca3e372763ba017f6090b5
+size 467702
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..89dc70d592bd3e4c429da31ce6cdecb2df91251c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bba0e2c1f8cdd1f54cd6092e1b6b47eabe62a5e5f1558f0c633615db4ef73b10
+size 571031
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c1a7a614068bd5d7992d57c512a39a7ac6572718
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0127af1e9bf6cb808fad9715af91a8d95493dd916f4ac1807ee83be04aee424
+size 367644
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..805f11c31874d30fbf9df67b9c1c76ab9628e367
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fed7a622becf23f9bd7aed1589489123eacd9bba47c528b464b5b74abad91a3
+size 808003
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ed9d5db7cb4bd6cc6843ce3a55d565582fe5b11c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:514baff6541c3fc83e01df1dcaed09fbe66d09482bc95a72269c5e19373eb55a
+size 551793
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..04dc0483a8300933eb7c8ef3cc76aa5763eb2477
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd0779374a51a9f1267499e7b603271e72a413f7768fd0c7cc010449e9998077
+size 585498
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a6e1920c5acddac1ed62f06b8df99bf01fc6ac71
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b5eb602315b5d464784cdb15ea29acf4e44fe51a32f5dfeb9ade51be0f230dc
+size 454122
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f6653a9bc959c886b3e9399ae23d5285ecc159e3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee77dc12fc6fb77e23a7216522f0f40f346809161dacb905e2a94b5ec59314f2
+size 286602
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ed51e1b4b4d4f71dee55e2a8b109455a201f2fa1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:490b954bd666a7ba8fd01673ac7aab1fa4f7d90429eedfd48aed389df779335b
+size 245633
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..666d339443fe509b33c0a5eac7fa4ec3e32c4b16
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:302aca95e2ac82e229b32378292f0b8f31bfec8900474b13a41caffde57e6ae9
+size 618916
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6bc50dd187295af5651af8a19d39cf172a673cc1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcc6df11ba65a5104e080cae5d72fda158da7b85696663f9f364a37f6655464a
+size 517023
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..50d5f25d2ca6940ae996af9949497940dce39e19
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:829bed9e136472b694a937f736913a222ef305bc874c7f3238aa5564cd6c0b86
+size 505660
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..20fd39460439373db24c5f50b1e3351b8fc4337c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96a3098ef8d87e7e09f0bda71b894696bb76ae76bcfba65798458069b958549e
+size 384436
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_001/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..960e93c73e6b5e47f47dd49eee1e538a1a5ca52f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de2f0a9580112289634de4b90175891d497d0071cdca9417c8f8b55ce8deb987
+size 518573
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c11c670533d041458d787fa6614e348ec2689c7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a098f43db0d3b09e850520fbf3b10bef969e5995d3b6b38bb832b87101419906
+size 404388
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_002/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a93657059caf51dd96846d336417441936294f19
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d84146ddff61bd96b28fcefa46e58569344ec9a87a44372db5e5f300d51fd5d
+size 666606
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f90643effa64cbc2d6d62c42f8785e7cd904503
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f39cfabca91b8f74776fc900aff86b9d2ca59a6711001c924710fce854c4cf2
+size 443307
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_003/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7596afcc3fab45f99959bb44b4471041db512592
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0916cc65f27920df6f55f25a47e1069cb6d3f1f69da9c7e14c348fddd7209e6
+size 688233
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8c691734b8c7bc0b0cd9eb04ecfb198f7bd3c214
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8a9e00b11d144f184aade2238ec39c2c66777908c2c7e9da5543401d54cfbd0
+size 480419
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_004/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fbeeb377c48092b563e19cf40ad3973307b7651c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c873506750efdc1e4cd265d08b03a315417833e7f7a8b696d8e5818bf31badc
+size 738119
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2fa51025a1b246d83ed0ba64569784073fd80a1a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d7ab2755cd1e8129a3ae02432ec1acf811ee31b961fd005b75cf42cfeb6741c
+size 476781
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_005/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d06642ad36c35893bfc6dff4a57daef9a5a90757
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16101bf010ba7341f0372c56570dfe066e2310ff7a4c066b9b3567e6e51b2ac2
+size 628614
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..efb724a5c16017163ca4d115b0b3be74e1b6a2f6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4aac02b2472e46e214daad26792e15286505b877347b3f6b872664c0342f81a4
+size 494921
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_006/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6cf2416bee083c5cb9e2cce761accdef8bb84095
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11f0fe8e2b09193d501e587e54d489391ba6ad9f47d64990a49ca1e0fa3b2623
+size 694116
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5ad8715ad1952050617089c234f1a1df73c7ee06
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d52d0dd5152c7adca2bc2ae967e384fd164aa52ac7af57ddd90fe443a679d6a2
+size 515640
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_007/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a9f146ef61022156f309602740f483666e027084
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:349b7779193c37b018aab85b68149543d73dc585fefc8c5c5c2ff8af0068fa7f
+size 844915
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d1520e0df1a9dafafd3f3de2dbdb846799e603f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f18903a76d7e6f5d482019f2ea6d10d2f4de8b75363df0fff2e73a700d8dd98
+size 545172
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_008/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1bdf17a731c2279fbff7a2d25f696e92e79216dd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:147656452bc0723ca9059dcf0a546377806025edc93a11a89186cf2e75f322aa
+size 427248
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..fee23029f3b4a4ff9697029e7858601acd74ede0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:026953d6c1a2f9b0ca6de1c0d0abeb28614ac09b958022c999c389fa47394308
+size 303504
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_009/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4953a0c4422dadcaec4f5512cc6a135c23d1979d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e0b6b36eeb2d4b99c419b32a3bfe45244543b1cfd9fc93211cfb44e542cef50
+size 485551
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..40acc15f113126bf673654779668be3b2aee87c5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a2166e1d91834423e7d213c354a3caf19787c16191f8f81657a4ca0ec427984
+size 386533
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_010/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3ab4654eafada94c8813866aa523ae5b3cce5795
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b1ebcf82e5f30ee636de3ab24094b1a9ac0c3dbe73b466b766d577f8a5f2e44
+size 562030
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..91198bd587cc24f63a8e9f09ff5dac0c904f43a1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e1a48fdb1a6f04262a93bbd19387eb19c31e51b88d93e204ab3684dd7c93aa3
+size 431757
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_011/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7c178cc7a65d5158b935150b041d884fa070a9f1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c3653188717197f9f33a4d07b2f04e023b1e7b80ec590130a8433ceef5afed1
+size 704693
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c3434ed68d22ac1b3e7183cd582625a6b7c082ce
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8642de02aae6f2f8f79131cd5630de26fc04737142daf1f5eb1b5c039c2a3593
+size 533114
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_012/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f5f4dcc445fb559116d3ca28a88ad2d37cbb8124
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d676e82ed627daa39dc62ba147e748b3edb5032c76ad2550a97acf4377549e4e
+size 479738
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..40d795c2512c6e9254b79d36cec16931c959677b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6288f253583b157ef7a9b2f5175555cc3a8db53f06a07657e8e099b3fe50c715
+size 412232
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_013/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0290ec028944679211875ece52bf04aaa38a29e7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91d27724480e1b4530736b0fb66c29b96197e696f88d732b9ed36586769e732f
+size 538082
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b5d54c76a4f717b78f264d4e791accd3a2297f9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59251037447738a126c672c9a98993050f711c104a7b4d0d60905556869a9bc5
+size 386812
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_014/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..eb2721d4977939f22437f0ae48b08a95b18a3fa9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ba54d9317825792395278a6827cc3a8fdbf8c6cbe602ac3a98849935b54f0f6
+size 667136
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe9c689cf2abe1e5a11aa800c660b7159aa5aa88
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c875c3cd7f7037b861af09aa325b41664bf1643d4e1c22b1c4b70f8a3f94b1c
+size 501171
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_015/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3b159907f0328b0e62adbebc297cb401d65f56c7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3625437486a63a5f096ae058a691618973566a635248653392b445b4e9ff78c
+size 677437
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..65bbaf0edac0f34e7d1ade5f99638e38a13d8ce9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:868f5ba9884332522a65a9643c9de30f5a469b7528d5ca6611084eaa3f30fb3c
+size 548700
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_016/data/000000.npz b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..637faba02dc5d16d727215e001775dc59b3c2155
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e7f07c83d0619ad6c277f76c181bcd993a8d01802abd10cda0965e1173b2f0b
+size 504535
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9dd6db79387d8723eeb843cc69a81fd00a37d682
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2bdb417501438ffcb7e14164af1f8268bf0f47afcebeead876b6ae2143d4286
+size 334887