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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b00_004/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b00_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..564de27fd7bd52db4c52d3e4b8fa5b8e5dc6f190
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b00_004/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b00_005/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b00_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f16c2d2115f8345ccb6551195e39d87c8a299db
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b00_005/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b00_006/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b00_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e879be5766f98ffa75833ecb67e579e75703c0d6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b00_006/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b00_007/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b00_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b2d776b89ffc147f8beb245837e1cc53d9b5d72
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b00_007/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b00_008/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b00_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9345907d5607bef85594c58729151eaadd5ecbb2
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b00_009/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b00_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b1fca84fad6eeab52915e633b4839e22f2d7860
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b00_009/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b00_010/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b00_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fa39901b06ecd9051bbeb190d9de60fd2b787e3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b00_010/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b00_011/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b00_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..60b28ade0c7b86940b20f808c7f80c43318fd1af
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b00_011/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b00_012/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b00_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..09ff9b5255749d8f25809688d1713551684a9198
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b00_012/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b00_013/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b00_013/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba0d9a7a1c30ecd8ce541b0e0d42d777e813d509
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b00_013/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b00_014/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b00_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..82fb6294c6b53f1a4505dac903e9fa1a434f1e12
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b00_014/scene_meta.json
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new file mode 100644
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--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b00_016/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b00_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..405f9667a3d31813fc8c625f614229d18c84cbe5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b00_016/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_001/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e5157cab34acc29cdffae1dde5104c6308d61e0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_001/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_002/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c81e5fe4ce746e0e98b240ee36f632843777c99
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_002/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_003/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a54b108282a54bda93e3bca1ce15b27d3ecc552f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_003/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_004/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..70468b2e5b265e439e0ffad9cf844c5fdc7630da
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_004/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_005/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2275d73af639e1f0e79931b8963250b6c223f2f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_005/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_006/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7bc1ce23cd0f0e06eb30860b5107cbdccb8808e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_006/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_007/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..67b9bea8c2975503d02a0960ff6a556e5036fdd2
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_008/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a01a132e0c79ec73a5270a8c6f359ebfbd6c82d2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_008/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_009/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..130b9135a95b50f4e15cc47a9ee12bda8cc6bc02
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_009/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_010/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cf21348364400afd4a50047bc10ae3227a756e9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_010/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_011/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d877c1393cad9606d6b3d9b0002553013471f6b
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_012/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5e0edbb0954ab976588bfae186a055835848265
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_012/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_013/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_013/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b068bb65e46bf676a3b8642c82c358cc49932d38
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_013/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_014/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4d531f9d16c99c289e895ad6c284f22ab899031
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_014/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_015/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..424ba504435e32cffa001cc93262afcff51489dc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_015/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_016/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..01f79634599adca8a94105c9c5e9c9bb6002c668
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000001/scene_b01_016/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_001/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..328025fe544914f4781c3229724dd2755e407c6a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_001/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_002/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c47f162c9b23d79042d6b4892603da673d0b680
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_002/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_003/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b7b07cbc646a262ce88ab7ea004f7b7cd151cd9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_003/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_004/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..25b860f42960b664bb9bd78f6eeeaa6972d601ff
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_004/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_005/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dec1280d6e04acd18c32031a8adb507e6232f97
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_005/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_006/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdad1c4c116d79596180d505c5f02f5d184bad12
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_007/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c063c710c24d95a6445b28e05997a485d75d516
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_007/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_008/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..90b93e40baf4b8c3d6b2d4dc5712c63e66d4a8d7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_008/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_009/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4653e91b707692d880fe2d1c65b7c5b3e137e449
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_009/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_010/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b72bd0445f63a7df4424620458dccca17c35e14
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_011/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cbd16ce0a27c689bbdc3bdea8f0c6b92d8e6455
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_011/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_012/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cfc24f7b3220cdf76222838822c6333eb7e3939
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_012/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_013/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_013/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7d6a4ffb24da6dab9e155b8a0637c9b24e169c3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_013/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_014/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..51e13d9a68eef59824d7e2f5c423e40928b0e586
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_014/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_015/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cab20dc6a5b021b5a2f1c0aa88e6bf2ec2bce54
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_015/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_016/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0214eac441ab387b6fb87fba26f7ce9116a7848
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b00_016/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b01_001/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b01_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c2db79a1933062fb0adb41b11ac74edcb6d2e81
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b01_001/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b01_002/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b01_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b025e5ba2188b042ced3ca4565338ea892112df
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b01_002/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b01_003/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b01_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d1f4be457f308bcc55db0f3c5f1e50b85c65fdf
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b01_003/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b01_004/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b01_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5061292164cf1c653cca3e2dd01855c22d259de6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b01_004/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b01_005/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b01_005/scene_meta.json
new file mode 100644
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--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b01_006/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b01_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..885df87aeec1b5131be81cfc0550f98b61d7740c
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b01_007/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b01_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef24b27ec9f3840551272cac72b1733ece392d82
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b01_007/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b01_008/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b01_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..47277553bf053baba6f11ba663cf46ff0ad770e8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b01_008/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b01_009/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b01_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..09868d3e8d0a1ed9aaf197791268b095fc008314
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b01_009/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b01_010/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b01_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..29193c903635dc3ed302440e51f8b1dbfb2cd917
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b01_010/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b01_011/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b01_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0862298d2a2f61ff028c25ade613ebbc9c6e8de
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b01_011/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b01_012/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b01_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..23ef002c25edf954fd4a4aba6245b5ccf8d62950
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b01_013/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b01_013/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b9f6aaaee327b625f9ba4ceb9a71cecf4be6e7d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b01_013/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b01_014/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b01_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..71db09e7d5152584d916db67de8c7b25ac18020f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b01_014/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b01_015/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b01_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..91d451c1f5c6cbefa6f4e30781c5d9d0bf401fe0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b01_015/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b01_016/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b01_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7aef9e08940a7f2771892ba058b96954f392f39f
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b02_001/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b02_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3b4e416c97a6d76989d1007459719497d12b900
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b02_001/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b02_002/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b02_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7dd1409ae2b693aba938de7c303fdd550941686
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b02_002/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b02_003/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b02_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed0e1fd0bc793a1ca30683be1e9d5f65ad600f31
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b02_003/scene_meta.json
@@ -0,0 +1,199 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..4521d469d5c6228f9818a03b2bf1274e17be4cee
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b02_005/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b02_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..771a45e1a775f2ac5db0afa2dd51e0f6bfb71048
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b02_005/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b02_006/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b02_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..88448dc216a65c4bce53707a7c4987ab1585f489
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b02_006/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b02_007/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b02_007/scene_meta.json
new file mode 100644
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b02_008/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b02_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b025269df448427bf448ee7b9849980321372f76
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b02_008/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b02_009/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b02_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..58fe5fe0f20d4dfb1f0daa9f835ca39eeba57832
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b02_009/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b02_010/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b02_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bfa49e5ea5fbe530637bde2d70da6b8dce57ea0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b02_010/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b02_011/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b02_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdb5d51937ab0b5e0d1a3f90ac84cdded1cd0793
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b02_011/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b02_012/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b02_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e24e7def7e41bbf5ae9e7d6e032d07d1502e7170
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b02_012/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b02_013/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b02_013/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cafc30c0326f1948c2e8385b3fd31ffa5dfeb17
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b02_013/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b02_014/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b02_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dedf27a0d9ce10163c62b5be9c1751c0f8c4e696
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b02_014/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b02_015/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b02_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e86c39f02232433df71b4344056e5e15f270d60
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b02_016/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b02_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a02d88470827b934ca17a2c083b421554ead1da
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000006/scene_b02_016/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b00_001/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b00_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef8d23875c314536cb3bc3d4403cd261c93dbe01
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b00_001/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b00_002/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b00_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0a9fca6f7a2945aa5390a6ca8261e9cd519253a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b00_002/scene_meta.json
@@ -0,0 +1,199 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..599c305a1fa97f1c75746336b01706b240d9c419
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b00_004/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b00_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4105992660ff277031c85d96f2be0433d55ee280
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b00_005/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b00_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..904ef58dbd1511b23852405d2617164528c34f15
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b00_005/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b00_006/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b00_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ade8526480463d36c9cb98c7da013071bfc1ac07
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b00_006/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b00_007/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b00_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9eae4e51fba29388544145763a77327139ee5b1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b00_007/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b00_008/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b00_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6fe3b3a21773834d86d3b857dae07e6469dc9d4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b00_008/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b00_009/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b00_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..57b45820dd2f919ab917a3541a464bbdb83efd3c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b00_009/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b00_010/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b00_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b43484f1216dc9435b53fcce08d86379f371a670
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b00_010/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b00_011/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b00_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5aeb88d4ffd7ec5285e1581733e7e1047bb1f05c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b00_011/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b00_012/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b00_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..065bfd990c4da01dc7bc8e177796ae9cda61f15b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b00_012/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b00_013/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b00_013/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4806f91c3272e2f501cdfcd3fd084cca31ddc8ad
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b00_013/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b00_014/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b00_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f7f47ea0ad9efbf06e80764f92e7385d83d20bf
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b00_015/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b00_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b23b32afc092a6aeab099c035452af8aca093f2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b00_015/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b00_016/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b00_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7534bfa382974caadde04415cbfd1bc353bed44
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b00_016/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b01_001/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b01_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f4bd6667a6a3da83a718c756e94ebeb31349c99
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b01_001/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b01_002/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b01_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d9e60ba5bec7056d2f63a53e4337eab6b32c52b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b01_002/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b01_003/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b01_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b79a706e58aed7d49a652e943ca5a5a4813221bf
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b01_003/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b01_004/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b01_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..65d9adea15a3e32d3e76a0fd687c39cf35b0e684
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b01_004/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b01_005/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b01_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..121f14226af7e986079db80ca7d79b219f60c947
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b01_006/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b01_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..939a4cc709b96194b905e7a6efce7498135edee8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b01_006/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b01_007/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b01_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9eae09f942f350044aa77c2197cec57cb6997d07
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b01_007/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b01_008/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b01_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..470064148be3adf804f56263b78540a04a9ee994
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b01_008/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b01_009/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b01_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4b84575d202d75b9ab18f39498dcdaa300d117f
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b01_010/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b01_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cb091d1b57bc7dbc748ffe9c940a46583cfcac0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b01_010/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b01_011/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b01_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5847257adc4ded8daa9d62217950bd76bf53626a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b01_011/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b01_012/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b01_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5eaee88b8c3260d7265781ec2166c489baaf382
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b01_012/scene_meta.json
@@ -0,0 +1,199 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..20ba55744b34c33688f25fbed1db609307239149
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b01_014/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b01_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..71861fd91b02b7a0ba553e2f40191033ce4716fd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b01_014/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b01_015/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b01_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..739a49ea348ef21ccdb668df9154d6cebe894283
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b01_015/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b01_016/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b01_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..817164a7beb11ff268c1472141b129af50a20a09
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b01_016/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b02_001/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b02_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b0df5dc629009aa4683d4e13e9a440cdc0d07bd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b02_001/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b02_002/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b02_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c220640b81ea498b6c2c36a6d05576b7461a3c0b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b02_002/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b02_003/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b02_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..356b486b4b73709f16f178137cd8e136757f2808
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b02_003/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b02_004/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b02_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f8242ba15a37e427bdf068d31687255b1b6f4cf
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b02_004/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b02_005/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b02_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f14084d1f695f00dfaa633586e23060afbc457d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b02_005/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b02_006/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b02_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d555abff6e366707194238b4977147f32b9f449d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b02_006/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b02_007/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b02_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c85ae7faf44d1a14d655df531d47fb0b378b085c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b02_007/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b02_008/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b02_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6b9cd69deb480d485c17936bee111142aa8f90a
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b02_009/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b02_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea9be8d2400be745371212238f0efa70048b6645
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b02_009/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b02_010/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b02_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffe11dfb305889c1ffc88320cbb0f919859a56bc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b02_010/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b02_011/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b02_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..373dc4c47120f3893c58150cdcd8f0661411747b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b02_011/scene_meta.json
@@ -0,0 +1,199 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..310a575e58552d1330af6f50ee2c76240ef9e8b1
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b02_013/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b02_013/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..65ce8fb3afa98bc064f4d6cc84d7b4f0788a5c56
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b02_013/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b02_014/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b02_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..97d7c85bb6a66491e24aa758824293b253d69185
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b02_014/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b02_015/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b02_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..178a4c71d80fd082cee916e1481337741e31dab1
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b02_016/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b02_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..25fe97acd56e737d8916771d0cd67f295fd7af52
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b02_016/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_001/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..480ab810df29806d2a57d966bba180a794894c80
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_001/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_002/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef85345960c43ff7274075dfab10bfadc9fe7cb0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_002/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_003/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a10bd1fe0960571ce59d786d4f37a2c268deddd7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_003/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_004/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..77e389bc697b1674cbe63b3570eabdd367215102
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_004/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_005/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c06fe11762c6b172441869bbf29c80ef2c32f534
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_005/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_006/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..df54ae3a9a2a984474aba12a429adab656564303
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_006/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_007/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..10f33e46fc17fe4c123c9c9cf82eb183c033c0d9
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_008/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..30aed0a27d42df4aa937181ef7578dc24564a6e4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_008/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_009/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9df5c62fd5cf43e64e0ee8f3cac54d774f14b5c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_009/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_010/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0eca77596f7bcdec76af86912d7316895c316e75
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_010/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_011/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c16350a6a6ef77138483b55362d6c80f6df9a51
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_011/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_012/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c04505a5e03e2843100e3dbb970c4a85cbd28b8a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_012/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_013/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_013/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..08fd45ac318fef344bd3191849d5dd1864a110f3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_013/scene_meta.json
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\ No newline at end of file
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_014/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..66bc470857786dc06c99541cd9f6a30af0245b99
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_014/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_015/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b091ed116ad5455fcbd3c921c7cfa9cfc8aae6d9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_015/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_016/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e972516536fbcf2c2644505a454081d7aef8cf70
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b03_016/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_001/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4909b218d506e2ff56229f37dce45a4f614c249
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_001/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_002/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff83cc437a0b7a6788e5aaab4c4458859b512e1a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_002/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_003/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..37d26510434f17b47a2686f3a89f1ca6e087d460
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_003/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_004/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb740909dc8bc89a1e8eb04b73a3f9db022d2fe8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_004/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_005/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8a7318fdd6ff77a3e4d25175fa042c29239aee8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_005/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_006/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bf3c9b1310af2b8d92fc5340ffd630a5df993cd
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_007/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d31155430eeb6b116f80b114c9f144496552633b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_007/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_008/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bf59f79bd79d4f231713dd57db9dc53b9731467
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_008/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_009/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca8187b1b83673b53f1a9bdf307723ae9af71f7e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_009/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_010/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fffe0ae1c8e12703efe9e0425b4cdd084061aaf
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_011/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7500c537bc8fbeea3a944b9c8aabe8ff11af8e6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_011/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_012/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c75f78bcb33de8dcb2d5a32dad5eaadc3e17011b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_012/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_013/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_013/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ebd3611b82ca50368a6a7c127ce7f1dc68d2e11
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_014/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b70549a2ac436c333cf54e50ca59bcbef364fd9b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_014/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_015/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..92f6c84984d25dd7ffe9e66ed61092e57130f67c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_015/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_016/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..662dca5039139cf85b7a86af606b679bdeb793bf
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000012/scene_b04_016/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_001/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b61065a8a122c6ef927f2868ed60afaacb91d2b5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_001/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_002/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b94674b59744d100e8e514a0f0c378ea913a80d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_002/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_003/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3609ae39dea334ac947aae666b0dea783a58e3b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_003/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_004/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8e67bad3ad3e8224895429cdd594da47557a707
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_004/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_005/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf242798ff7de58ee1c1d008b4af628583ccde32
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_006/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..91920a579750a93ca5426dfbc872e4ed7a79e73c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_006/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_007/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4384dab2e86d71653b6b50061aba3302ae8981bc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_007/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_008/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5be5110831972c857e7c9e60435916a30a7518dd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_008/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_009/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f943587f5b68c8cb2a73586fb4e655f698b0c3d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_009/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_010/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cf4425dba6e53b058c453bb5e41786f4cbd8ab6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_010/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_011/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..be2e85a46d1c7e9b171079c4dad17815d99128ff
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_011/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_012/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..21e717e918c56a74c5f4da9193485d1b4a1272b4
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_013/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_013/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ccb6f2c1b5385b6261c243cb92baaa7a61ad5c09
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_013/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_014/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d20195561d7dc2d2108f66f772b1b5558ce11a78
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_014/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_015/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..13f7c108e16e9e2056e0cfe6adb72acd09b27858
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_015/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_016/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b00_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..872bf03b4cd324e21b3649cd5658f1b018c2d15c
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_001/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1a22ed68a7204fb0e7cc0a625f63b0ab805f873
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_001/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_002/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a375185385c63cdbac34aede1f0bfd7d9306284c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_002/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_003/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b24cf6b334a24060c7415c66faf9a5897013e1a7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_003/scene_meta.json
@@ -0,0 +1,199 @@
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new file mode 100644
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--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_005/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c1cfe83de49cf8c3caf325c12a58ef55d734f42
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_005/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_006/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..abad6867c26c45f25996d0d7df56f587e0eb80f7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_006/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_007/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_007/scene_meta.json
new file mode 100644
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_008/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddecc727bcc8496da34fa49e8a0e881a5163cb3c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_008/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_009/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e5d807770de2651beecc948df46de7c2c246aa4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_009/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_010/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a848ecf2a619706ced2830d50556387b4fa375f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_010/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_011/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b28d7ffffbcc079cffa93eebe8dc2d8ed147d76
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_012/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..978d83ebdb08155889b29585fb37c258e9d10adb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_012/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_013/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_013/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6206c8d02ac4eae99972568c70531c651c85991e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_013/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_014/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c395ac4f1eb151829b0a306e535b93df0e1f875a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_014/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_015/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c2e812932869b0611fd42aa00f13446d075c3fb
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_016/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9144de55271903dae99a05bd406a974134ddbe33
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b01_016/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_001/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..31dc14efc09b0f8f9441a8fe9bab94dcd7098f8f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_001/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_002/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..837990b5137d70b24cc7b3692cae17cda7874321
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_002/scene_meta.json
@@ -0,0 +1,199 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..e2bb276112c1abafdd0ff720799b26642896c1c6
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_004/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e60d71695293fdf6414909e6d332a12caa5616a
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_005/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..45bcd3f47ce9f3b76bc6c74768a2627821c85a5c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_005/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_006/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..21352606c3c86e1aff51caade8af032324681c93
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_006/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_007/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1eea0159cf753c00624a10e5d8e0ce7147d56995
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_007/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_008/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf6f46d0d244e6d45b80aa55181480ea51905690
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_008/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_009/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ccbd3856cf60a89502ce7a7e4ed3f601e5d4d818
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_009/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_010/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7dd9897c2da2d29b6fb6c884f3d6234337799292
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_010/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_011/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4529f6c756109cc0553e34907bec0ec8b8c6b8c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_011/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_012/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c28bb916120ead05c2d229b266451a77fdfade16
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_012/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_013/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_013/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ecc09e26a05107f0f8fcb9a8d0a66d4c8287b78
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_013/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_014/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6af77b70a807482000d4c2e5570af09e05fa6e5d
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_015/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..90bd3a5517ee6fdf0ac1eeac55f320767e2dbc74
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_015/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_016/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..adf05b4045e1a8d3b9b2abc3f5a416139f292300
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000027/scene_b02_016/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b00_001/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b00_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7502c92114fbb49a98b9ba10943ad73b2ce7a5f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b00_001/scene_meta.json
@@ -0,0 +1,199 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..5b480d20c56858eb30046cb2d0c4bbf0c89ef596
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b00_003/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b00_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..af0906d910fb975f529ec3598311fca90f47cc88
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b00_003/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b00_004/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b00_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..69692cdfee6c0411d93d8dccecbe28ae6d5c16ba
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b00_004/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b00_005/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b00_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..37d0df472cbc9b3b9da27d6cefb24ffdd0c8322f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b00_005/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b00_006/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b00_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..630ae5951b5f6d147a2a7ce20f5ef1ab1cbadfe2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b00_006/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b00_007/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b00_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2608c96e712fccf406d7db6a568423e9bb588fdd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b00_007/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b00_009/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b00_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c1791c472b32e868562105c3e7c0bc8d9787756
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b00_009/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b00_011/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b00_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..430210074059c0f28f05e1984a9435cdb20e90a2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b00_011/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b00_012/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b00_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a97d5d50a94b4e97aa8818e315cae0a08d59154
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b00_012/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b00_013/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b00_013/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ca27028b8a19f64ac3225eb4e3b11cee7c720b2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b00_013/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b00_014/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b00_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..52c69ef0c633a87f0938c96bce5323efa64121f3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b00_014/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b00_016/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b00_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3949148299158ac5b6bc687eaaf4db8f0b5f67e9
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b01_001/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b01_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..35267d401ac79fc7f3a9b21f90dae7a6b61eac83
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b01_001/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b01_002/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b01_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..45b0148c9d75d35a35826be374ee0b062fc8e3d0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b01_002/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b01_003/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b01_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7b2345629e0abc1f52eedb47a49971c12c632e3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b01_003/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b01_004/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b01_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f1c5c1d4de65d7b1a490d8c693dfb3218b9e05b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b01_004/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b01_006/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b01_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ea9d85679db46c8ea3ea013e023129ea14f0175
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b01_006/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b01_007/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b01_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6dffd1c5c455acf73d208371c968689c0eedca9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b01_007/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b01_008/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b01_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d5f34c1f025815ba9b7731df33d5b22239c8633
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b01_009/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b01_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e66fbefea527d3b179d56160f00c8f4e61097037
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b01_009/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b01_010/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b01_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..95c78d639db56367a0cfdbaa5ed5a621e09c7eee
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b01_010/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b01_011/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b01_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5196bb8788925291c4a573c3359e78a91ec34141
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b01_011/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b01_012/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b01_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1008f9e8825f3969be29854ef1eb9edc7a0d50a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b01_012/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b01_013/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b01_013/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6a312679f86462a5ab8adb34d149f68ae58014c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b01_013/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b01_014/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b01_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..004acf2205b60af75cdee22bba072923e272409b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b01_014/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b01_015/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b01_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf8e5c3caf7afd1fdcaa3fc5dd7671efeb8e02bc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b01_015/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b02_001/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b02_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b530de2d7ccf4be9dbdd000a9bd45590578688e3
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b02_002/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b02_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ddf575fdcd66d346a995fb63b9fe0de53cf785a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b02_002/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b02_003/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b02_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd68d68fbbee6e94d0e0b2240828fbdaa65d7c44
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b02_003/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b02_005/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b02_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..49376a0905de0537373dd7da24f51f1998950589
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b02_007/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b02_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..091d7d6719e91014f4113b270f10a842d2995eb2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b02_007/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b02_009/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b02_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7468fe52b251dad6ef8282cc82ee13f36ba7118b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b02_009/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b02_010/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b02_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1792eaf2f119def71175de366a45bd4d8458c73b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b02_010/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b02_011/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b02_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fe29955d53f5473af34cc0abed891c2b3885994
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b02_011/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b02_012/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b02_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb67d2d272d971395ece8aa580846e7c867aa9f9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b02_012/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b02_015/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b02_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..648b7034deec7ec3b7b06c927f829f13590d69af
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b02_015/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b02_016/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b02_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..071dfc68e7e695351808bbc25cb0b7b74e2cde42
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000028/scene_b02_016/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b00_001/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b00_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3759ad549e6f1113df73e89e3f40e1505ac5487
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b00_002/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b00_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..38b092facd21aca46bc9f6db46d518512ac31d31
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b00_002/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b00_003/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b00_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3aa6489f21bfb6fdc607576b14b07c446cbba491
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b00_003/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b00_004/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b00_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..759ae4d77f78a2dbd7ea32b128063275c3035c3a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b00_004/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b00_005/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b00_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7fdf1996883f4bd6966a933e1cd189f8fc20ece
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b00_006/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b00_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a62d8f19e9995ee5bf636ba17c32cd1025fc82d8
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b00_007/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b00_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6db0f2a5c8832f043d0e3a182e744ba605742ca
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b00_007/scene_meta.json
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new file mode 100644
index 0000000000000000000000000000000000000000..2aca6e4b8de2a6e4c227a31d336be7e22e9f489b
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b00_009/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b00_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..69768bc195031627283f1a14f7eda9b86052df38
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b00_009/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b00_010/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b00_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cce16d4496ebebfa6188d905c232263073306908
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b00_010/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b00_011/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b00_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..69f82669467950b41945cf85b2fadf9385dafc68
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b00_011/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b00_012/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b00_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dca5c26b49487c88571b65f60933c4b8be553e81
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b00_012/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b00_013/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b00_013/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b26a1a8d5febe1cd03a6051990385c45cb7e64a9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b00_013/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b00_014/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b00_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..12d790f6b3e54ef4ae1178db4b16b389cda2d6fc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b00_014/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b00_015/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b00_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8378a5fe447ebec42d9aa13d7b1fbe48d1066c85
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b00_015/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b00_016/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b00_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..50f93c748be5243de048ab05878a57935ca624c8
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_001/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..65980688e37d7d3e5b601cdab3b8eb9ddce3c618
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_001/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_002/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0675b7f242d77c67d9972be889ad1318c3bacc19
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_002/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_003/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6396b2a49dba38d83a7f345f0b3bf05875dc3937
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_003/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_004/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b535e46bbaac2bae2506c82331a4262f9ed6270
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_004/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_005/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..758996db72a16972add88d261f8e2719275242a2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_005/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_006/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1a0f0a4a40d809b4f62471fc75f2b73d9eee8fd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_006/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_007/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..24e6b589f23edf90d7401f1be64f3ec49f1b8910
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_007/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_008/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..64a25c259f9eb50c3fe209c334138c3921ec42fe
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_008/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_009/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..28410a743fd2af698066c5aabfe65893f2ce91a0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_009/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_010/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..275e5ab6d8173e265b1e932c75e7da3e5be236ac
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_010/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_011/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..21a00fa5862d851cbbd28ce99a7e0926ef200cfd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_011/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_012/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..144b31ad508cdae6427f168248ed55e08c9d6117
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_012/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_013/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_013/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..80931e15ef856755680206fc3d61bd666865acb5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_013/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_014/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..91dcba40149027d973925e853fe3399763424797
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_014/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_015/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..71a2ceb11de6e28692a0b0574813fc4ff89813c5
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_016/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdc19906c1e151c21e5c9e271cb2eca2a05a7457
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b01_016/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_001/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..636597ba2ee182a23551860a758ff6e6fe466deb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_001/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_002/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe109cf950c3088968d60179ffa0c0d5293cffae
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_002/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_003/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e66ff3355228ea4c1fc8942a0e26c6ee93620bf6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_003/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_004/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..84d1670d0979c13589e816b6a350d97bbd0f469a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_004/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_005/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e82d9883c53a3850bf9be6d5559d7379c9fd2433
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_005/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_006/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a71eed169a852468c87cdbe483917b01851c047
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_006/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_007/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..38de6017e30ff80d74e959d984972b6f80b8cb10
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_007/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_008/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..90527349b98ae756ab0a00a7e571e7dd1e728177
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_008/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_009/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..251399d2b0884ddbf7dc36087adc20c67524e0f1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_009/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_010/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..47be8c29e12da5eca91a89fae9e36e51bca56fc8
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_011/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..017d338e8979f87846a6a7db737a5c534ef6ac0b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_011/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_012/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e8e0fa577690a71f05ebebe308d09e41d7534ef
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_012/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_013/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_013/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..223de7ae13b6abe1f7c512903b2309f33a163316
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_013/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_014/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed17f9fd142a590847f064bc09fdc049951d7d16
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_015/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b54f9377ed0441f304075b22e41b44bb60c8c25
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_015/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_016/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..82e4a4c667a96fed2576f15ede05254a29468ce4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000034/scene_b02_016/scene_meta.json
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new file mode 100644
index 0000000000000000000000000000000000000000..5a9cf24fa07dc576e3cbf1a47f64de05f56843b9
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b00_002/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b00_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e2ba596e1c8bc4bcfacf44203c9e163b2963493
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b00_002/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b00_003/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b00_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e32f0cfe1747abdae4bb839a11cdf4f5bee5d2c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b00_003/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b00_004/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b00_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4d02b6e8be3bec16b2950a0066b31b1e8b96591
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b00_004/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b00_005/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b00_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4be0fc7d1f2e5d374014f7d7be854d27c91f7c1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b00_005/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b00_006/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b00_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3afd8a98f747748639ee2786c1f3692c8ec5c719
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b00_006/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b00_007/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b00_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8d250f80703eaf8fd4eb942c55ad53fdfc19e82
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b00_007/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b00_008/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b00_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3091e4ec8dbe1eb1c48aca4cbfd55be6f23663e9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b00_008/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b00_009/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b00_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..51fb9db8e1bc9af8683509d2a217fc9d904c7961
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b00_010/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b00_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e230d97ded4f4381c3bbb8410e420c924dd00d6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b00_010/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b00_011/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b00_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c98b70c5877feab1b772d922b85a6f89777fc9f2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b00_011/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b00_012/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b00_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cb0eac6fc474b11adaa50b63ce4e377cac7b2b1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b00_012/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b00_013/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b00_013/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..883a4319ec2fec90426608b391916532b7d38af9
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b00_014/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b00_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..caf5fa04d6c82f3392cec5278ec08fbdede7e9f8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b00_014/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b00_015/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b00_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..769331eb23b72462346c74e331cc5ba339b97f55
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b00_015/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b00_016/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b00_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..01b1ede668e51902e7dd500e22b631c03fc45d7f
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b01_001/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b01_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..33abb9344f1f6802a15e49841e859000eb4b50f0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b01_001/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b01_002/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b01_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..423f93aa538e277437cf635e6429b8ba6ccdc55a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b01_002/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b01_003/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b01_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..94d8ca13a6390753b05514577e0038dfb69be6b9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b01_003/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b01_004/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b01_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6ed306168725add3af0adbe963f5b98da16c90c
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b01_005/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b01_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb66dbd498e13ce7e69c27d5912ecacc5550c5ad
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b01_005/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b01_006/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b01_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d8f6f210571666a667ab7fbd07dee7806bdd31f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b01_006/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b01_007/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b01_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f525de8ea8654ec8e1543cb21a23a2f2aad2285
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b01_007/scene_meta.json
@@ -0,0 +1,199 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..a54743b4e1073b15d5aadeeff8815c70ceaecb10
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b01_009/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b01_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..79d02354748eda1d1ad837cbd2941ad3552b1b88
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b01_010/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b01_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c6a8ac2038f0049937b3f6727312584fc232922
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b01_010/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b01_011/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b01_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d0e6f665b81f69a7de19f4b250da4738373bd24
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b01_011/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b01_012/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b01_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8e282b5cf5960e2cdc9a74578631953041e20fe
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b01_013/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b01_013/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..23860f88a047c1d7764b3b90d3a888271e714b25
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b01_014/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b01_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f54f0ac938f40c031cb89b3f099c79bf054b5d8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b01_014/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b01_015/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b01_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ccbf559536ffb64311e8957393f21716c0b61e27
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b01_016/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b01_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0a9b54bc478d3623d66043d6a595a50d346fef2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b01_016/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b02_001/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b02_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a589e35887c84afed95371151ac883b9e4c03a41
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b02_001/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b02_002/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b02_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..445fded3c5eb1397c71b184e8a8ea4b092cdf516
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b02_002/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b02_003/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b02_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff2049b9b560e5348a3332e949789c96bdcaa02b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b02_003/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b02_004/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b02_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a9024577ce9104d2d82a74348bb82af9dbff8d7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b02_004/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b02_005/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b02_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..32122d3ca2030caa10779d6ca7bae6bb65a84c19
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b02_005/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b02_006/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b02_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4c3ce63c9e3c5ec3fb9119b1ea963a900181f44
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b02_006/scene_meta.json
@@ -0,0 +1,199 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..77a7593237c243944afc898cf8d2dab2383432e0
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b02_008/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b02_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec24ecd258fdd02221ee87fe4657e18cebb178c0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b02_008/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b02_009/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b02_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9553d8e9e26dbe3306d99f2b34a9d4cc8d3c263e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b02_009/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b02_010/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b02_010/scene_meta.json
new file mode 100644
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b02_011/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b02_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..708f9ff298f92d834b098183762863b8bfbaef12
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b02_011/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b02_012/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b02_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..904d0c429ef1abfddd1790c931812e90850ea010
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b02_012/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b02_013/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b02_013/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..31d826987ec396f87982576e16ab04e62d8fe0c5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b02_013/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b02_014/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b02_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b377f62712547afd52f728b356a3c75b9cca37ae
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b02_014/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b02_015/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b02_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a8f285c581ff57ba88318b714f41b57675a54a6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b02_015/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b02_016/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b02_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f3d0d3c963a7cc3fee8bd1c862cb8f750a2ba9e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b02_016/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b04_001/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b04_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6cb5ac40f8a396d65493c160eae1b65712d17cd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b04_001/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b04_002/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b04_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddbc40c3e55015be85ac9e3d725869ba86765e3c
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b04_003/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b04_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..da33d747df77b26090c50aaac383e20a62675124
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b04_003/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b04_004/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b04_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0905a843c72287b743eaa0353dde09430c29c683
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b04_004/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b04_005/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b04_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e900e8bfc43133aa129f48f57cb83bafb010772e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b04_005/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b04_006/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b04_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd8243805a3eda12b70115e56c29fb3b8811a84d
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b04_007/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b04_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5235d7194e20e112a1c342a43bb08765b9b42242
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b04_007/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b04_008/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b04_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce1aeaa306df4bc5d4a25bd4a99b477ab6497fa9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b04_008/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b04_009/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b04_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..deed5719bc16da96be69a6924225c72f8337abf9
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b04_010/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b04_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c186bca0ac80a033eb84cd266fa9a1aade48249
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b04_010/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b04_011/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b04_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..483a9ff95b4cd62d19ad8dd08de216ffac2b1d25
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b04_011/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b04_012/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b04_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b9003f150fafaff4082f87bfc758da5dc995a99
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b04_012/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b04_013/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b04_013/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e7c08c7ee72fdee1e42fe1a4443d7489c7990ce
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b04_014/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b04_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b53f11c0c8c93495db09ec8e02302e6d72f9998
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b04_014/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b04_015/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b04_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..50adf6d11bff3081e9074afd98d2beb714376634
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b04_015/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b04_016/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b04_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cee0fe4eae1c44d9f64ff48c9a01f0b5476a4e3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000087/scene_b04_016/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_001/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d754f03ac8eb162600bad03899435522961aa099
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_002/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d43a2a6b184677deffb22834ac6f5c78f990c765
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_002/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_003/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d23ce7453508de307404bf400bf0830db570f26
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_003/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_004/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d57a053fce04f6938ef31196732212a2e564ea01
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_004/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_005/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfa756c278df70943b649361d38f260a65667edc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_005/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_006/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4d6c16da26e7093263394640b4fee3cbc962cd6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_006/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_007/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8abe9c3203faa5ab87022a31a349e0ad0137b43e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_007/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_008/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8614715547e81bc23fd806f061beb5f66993cd65
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_008/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_009/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c96f39667f7eab033604cfe4ff4f5dcc15e6bcf6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_009/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_010/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..07dc77cb41618e4b1b0e21f32d52f5aeda210843
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_010/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_011/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..61c601fd50ccc74a791b86fcdd755bbfa19fb1b3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_011/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_012/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f663ea48719471c41fa9b963ba2236d8b110ac4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_012/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_013/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_013/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..85ade1c4c0b169556849614defd79e5d6e607541
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_013/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_014/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a561d7d1a6ef98c8a49c08ef17fedeb001659ee
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_014/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_015/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..893493d340976c7915a60acb83468c07a7e9435e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b00_015/scene_meta.json
@@ -0,0 +1,199 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..4bb4fe7cf2e03a01cc83b2726d71a07e9706b81d
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_001/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..df492c2921ebef744c23b1cfb43e89610bcda83e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_001/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_002/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee2f73e22f0ec37744cdc3ef1b3eec27aaeee6eb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_002/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_003/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bd9b8992e50ae6a4ab4d4636ecc6b51df64ea49
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_003/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_004/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..85608f5c8648d7e88b11af18c76c5e4cad4d915b
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_005/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa69df784879258ebd6bc8f4fa389bc3422b250b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_005/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_006/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..834484f60d03063a6e09620c59af22d4c459dfdd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_006/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_007/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6928ad8ae53ff85e8d0b6488f2699405ce64914
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_008/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e67e5dc1ab5a12ab7ee184302e84b1471a7b1a2c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_008/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_009/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..18d8144e61b8b27a088d625911907013fd21766e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_009/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_010/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9398179223266893accc5f1aef7a0d115306166d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_010/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_011/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..97810e157ce67c1b61031c66cb5bf151fbd7cd6c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_011/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_012/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..14c23b31ee4e0f95809e0698f95decff36f2e74d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_012/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_013/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_013/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed3edcf5502a9c15346132a9c3918e49492fcaa6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_013/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_014/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d21a0ff784860e626d89a1b56015d88cf80b3563
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_014/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_015/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4621f8519825616fed1bfd94f4d097a957e92da3
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_016/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5c89b1d2b037aa570733f9c043610d0b9136c07
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b01_016/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_001/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c395b2d504e1a097e31b39f49b2ab59dd3e1b5d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_001/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_002/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3647fd229f975d0f6e84b0958e99ee3f084951a4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_002/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_003/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..12e77db0d389f82de952e3027defdb228f6a19b3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_003/scene_meta.json
@@ -0,0 +1,199 @@
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\ No newline at end of file
diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_004/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..91d4463a750d8a9144d056685dd5cbba16e9d003
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_004/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_005/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ba9edbd5e351bf07fae1b82c6ff21922a114586
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_005/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_006/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7faef7521b1faabe3e3f0481ea0e4318d474d1c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_006/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_007/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5471693dd56adf72f58e99685bf986b31232835d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_007/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_008/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4bc3b7a063fed4c52f8c4c4cd818e131446add90
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_008/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_009/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8abb96a560bf6b91b9beef7353a0cbe8cb4f66d4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_009/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_010/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d138069f123bb7752eebb4a1256c10047b287c00
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_010/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_011/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ec4b40860f331901eecbc70b86d4866b52df632
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_011/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_012/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e36e5bae2e075b83d7b2ea9f5bc75df99be1bd3d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_012/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_013/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_013/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..96b791fe06898230afc2720ed3ff18b57c6af263
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_013/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_014/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0793d730edf6a85b9130e89104e9165aff6eb600
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_014/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_015/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..078dddc5c256e114e2d9148376e0f4d53507db93
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_015/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_016/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd7caa0b34a4f774641c71b76fbc11e2db54f3a7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b02_016/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_001/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..19a78f260df5b3ee1c88ba4c3f8eb9a48cf4d582
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_002/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..759bc590b415c80bd37c55c485d0da12843f07a6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_002/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_003/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..499ac2c644ce199a3485fa2a82065774abca5c95
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_003/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_004/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d97aaaf43897f12ef1d560508515db370555edd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_004/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_005/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8b82e8fade4212c307a433ee7abdb19475cd8cb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_005/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_006/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..048638e4b31ed8ff422d262127fe4b2bbea1180e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_006/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_007/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..63c041fb425a20343ab8b0a63e9394958028a50b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_007/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_008/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..52deeec3c71918de6b975c7ab930e18bd639b8a7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_008/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_009/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e22c425c431d7fa6b68173e82fb45456c1bd4621
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_010/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8184be3f04a21210d9a500d0abf644b6419795e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_010/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_011/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e596296a2b5cc187f5caefa5dfe5b300b4246798
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_011/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_012/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc943468cda6d324693233f4461f17c4ce6c62f6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_012/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_013/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_013/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..16a5f24e7aa77b50aaa91e45d32e0ae035d79fee
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_014/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b809d9fcec5f09b7d132136edbd5684521eeb410
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_015/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a30bba4c8bd3d5255cbc6e4c2858101fb9aa34e9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_015/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_016/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000098/scene_b03_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a753da8ee9b0c37ecd317e349225793b0d9e77a0
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000121/scene_b00_008/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000121/scene_b00_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..39d6b5151f4f5c69e141dc6948b84377c9f34841
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000121/scene_b00_008/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000121/scene_b00_010/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000121/scene_b00_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7db43cc96a17e9f52f245948e3788ea681534d2e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000121/scene_b00_010/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000121/scene_b00_015/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000121/scene_b00_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3585d6b553a7ce58927e9c43b00f4233b3bde18
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000121/scene_b00_015/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000121/scene_b02_006/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000121/scene_b02_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f7a0af3d445df021d683151dc21024d988207fb
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000121/scene_b02_008/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000121/scene_b02_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c9f5658a7be9b8be254c0c330fe1c7613bb495b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000121/scene_b02_008/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000121/scene_b02_013/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000121/scene_b02_013/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..74743af2b7765e5e7a6b822d833ebc7e7dd181e7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000121/scene_b02_013/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000121/scene_b02_014/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000121/scene_b02_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7671565c22b85653eb9bbbba187b65c3cbfc82ce
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000121/scene_b02_014/scene_meta.json
@@ -0,0 +1,199 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..854425dbeef4d7e833ffeece2af7c266f444de81
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000121/scene_b03_008/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000121/scene_b03_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..16a6589c56311cf9eb8062cb34ca33f5ef03b678
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000121/scene_b03_008/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000121/scene_b03_010/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000121/scene_b03_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..507aa6fa539a283fdb8b3027f2a512cfd95931fa
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000121/scene_b03_010/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000121/scene_b03_012/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000121/scene_b03_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e49c3f15a81a14f9cdfc4f0f00aabda9c7302f21
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000121/scene_b04_004/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000121/scene_b04_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..998e3d01309cf881973efdb4b255f2f66322f68d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000121/scene_b04_004/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b00_001/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b00_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0a146aadd140310d0b6730666d851f1e369996c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b00_001/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b00_002/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b00_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf77e2e534d8293d3e8f23d5ed553ab927f5c62c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b00_002/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b00_003/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b00_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9438da3eeb0239a66bffeb2b32c37d6d4e0b785d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b00_003/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b00_004/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b00_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9597d5d41590d7686ede01ccce9e1cd5e4b0412
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b00_004/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b00_005/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b00_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bc20a4335d271a4358e899843c7c6d6ca5c80b0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b00_005/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b00_006/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b00_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e59a7b4126ec047bdd6bb148f7c1ef0b52352d45
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b00_006/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b00_007/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b00_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdb7e5b477c6addfe92bb9147aff34eb7ded5f3a
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b00_008/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b00_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..61ec9658988918c489e9d9679137c454fec6a624
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b00_008/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b00_009/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b00_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b13ca5c984ccc86361cc657deec6def513fddb1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b00_009/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b00_010/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b00_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a54daade0e7791c14ba20714751e5de2b4b5f1d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b00_010/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b00_011/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b00_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3943b0916432bd67a55ccb270c8acfef7157d20c
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b00_012/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b00_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a619aec19935e1feec34a208986379c8f8849544
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b00_013/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b00_013/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5693d75ed6dcba22a08546890bb1e4b6d7edbb08
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b00_013/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b00_014/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b00_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e5a860b11cf4f7dc70a3eaa273b2c2bfecfbbba
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b00_015/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b00_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2262c93882cb3e4c5d45bf0c4ba18c32f8970f7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b00_015/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b00_016/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b00_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..954264e9bce7b37cb1dec542ac05efe4d71b7d3e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b00_016/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_001/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..55059410e5e7c5ab4dcc78c3b067c57c92e71bcc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_001/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_002/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7744b368b57cf4b34632f42994421178408ad32
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_002/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_003/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7da2135e47dbca6a3d174e951fc10610d822f67d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_003/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_004/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f1627c165550cd3c35bcec56ebd1b950c56a3c7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_004/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_005/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..94b740615acd915a8b3c579b0a4a44160932cef5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_005/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_006/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9da5bedd04e568760748308e4d3523c7c67fda99
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_007/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c5e338ce89802dbc1e7c239903b0a083e65a552
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_007/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_008/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0dbee686607d2c8a17b4de8f1bde24899c3741c0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_008/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_009/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7363e98f173303858b20329dfecc2b2cf3654b09
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_009/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_010/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0cc51d45f84f152c15440821ad87019f2fcd2e8
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_011/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..087c4700df35936d3248fe7d5c93a4e69dd769e0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_011/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_012/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef2d3248f2e047e0f1a569e0ba6a455e561e0df0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_012/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_013/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_013/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2edea658d5437ac6617891a9fea3149e7606b4c4
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_014/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..07602ab8b9351a1cbc8433796e31f832f2a91309
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_014/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_015/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc89a5f410e6440a973c032897e10a7532166031
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_015/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_016/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..272441a6d811d1dff16cbd1d6c5acff8615ebeb6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b01_016/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b02_001/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b02_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ff8f27b02e73366cba9821f8a8d357ad22f33f4
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b02_002/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b02_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..918ff4246ca5b0393dabb9ce06e75334c0543ce5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b02_002/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b02_003/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b02_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..faad863d205506bcf7da611a6461e19986a56faa
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b02_003/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b02_004/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b02_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e56c3611579f1852e041f30d68999826cfd706ab
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b02_004/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b02_005/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b02_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e64463aadcfa82ad3be0c9afa0c07ee9b1ddd383
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b02_006/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b02_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ccf33b38d4a2faf16830ef16220d88e0f1e3bd4f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b02_006/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b02_007/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b02_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c037c389a8ad1ddee32f52d6e1123de064f8754
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b02_007/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b02_008/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b02_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a353403c4fcc2c28aef87f1bcb25f0c19176c38d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b02_008/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b02_009/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b02_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc3279c41144f4664ee692fa19be1cf3e2cde116
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b02_010/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b02_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9620a687495ce5db21d1afd7de3afcbc4f14effe
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b02_010/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b02_011/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b02_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4bef39b91339eaf4be7a5ad7388505b7c700290
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b02_011/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b02_012/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b02_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b03203ca2b1f72909167adac121d315108d90ad4
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b02_013/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b02_013/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ea58aa2f2750731486db083492a26ec31c9282a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b02_013/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b02_014/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b02_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..34c0e6f6a92df287772d5abf00ee5a8272ac5acf
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b02_014/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b02_015/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b02_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..75f1f3e9a97fc578d3ea87d686d89353255f5fd9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b02_015/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b02_016/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b02_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7920cc1357d0b224091f21360a5253177d079ab2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000128/scene_b02_016/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_001/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..38827634d5245d635cec4f67eeedaf2e8eb77139
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_001/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_002/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0723e9286f9b19c03c06e89eb8fadbe11f85225
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_002/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_003/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..43f387237f0ce20349bb976826e21a52807b43c6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_003/scene_meta.json
@@ -0,0 +1,199 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..ee5c8126a2d05c5b89e30d2729603767439e587a
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_005/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..da484d967336735ace69aee71d4eb8504c0c41de
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_005/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_006/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..087810b1edb9f74a4afa23142cdba0c8558b2f64
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_006/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_007/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..034dcbc1085c8228a8968b708708ffef425d1db0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_007/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_008/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..09cfc29b1790236ecb4e4932359bb159d432063a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_008/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_009/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..35992b3c4c3e5f5e3c6aeec5f2fd9c2a40ab7c75
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_009/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_010/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..12e73b2eed7276e18a5f4f5aeb58de84f324a892
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_010/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_011/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8bb8bb71ead7a0d705b1b278ded4dda45af3460
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_012/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a9688411b2b96d29abe19fc0ecd975caef21d07
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_012/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_013/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_013/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f63d68efe58a59ecc3bc6af2859d58279202aee8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_013/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_014/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d29c4242c3c6893771d760ee99a367c62661002c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_014/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_015/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fd45d7639809ec1ece2f369e35579ffa13c8e45
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_016/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6820453d11b1e33b0bd8913504bd51394c76eb65
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b00_016/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_001/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cdafddbfc3228b48d091f837e5cb773e592f159
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_001/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_002/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3989b0c80bb3557eb97bfd584cb34b9308891833
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_002/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_003/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ae8ced6e51c144af89351baf222c576ce438591
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_004/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec1eb1cabc0c2a8c307700b29e0bc4bd2a64b70a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_004/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_005/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..26c28cf1b90a0dc9a6841844ffb0d7537d490ad4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_005/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_006/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..27acb2f5ba6abe3977820302cf2efe64004d17c2
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_007/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9013c67a3d96839d1a15ff810489db61b9f14e68
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_007/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_008/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d12b4e5719d01b0a9d618d332810bd5197232d5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_008/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_009/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f80199481affc021cd6ea503fee573cfbe3fadd4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_009/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_010/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..85c4cb650cb49eaf86f5936bb83a9f6e961bf18b
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_011/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6dea0cccd0a018ac6cf3e5c7cf97588b83da02e3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_011/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_012/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c74a9e6adabf06e51be99a5c2611c3590c44352
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_012/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_013/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_013/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7db949568863583c621b880cb6eb3559bf98b971
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_013/scene_meta.json
@@ -0,0 +1,199 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..5a670f37a2faa668243d792312df35915ccefb6c
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_015/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4234a8f68f8e53540ed0f775c780d335be86baf
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_016/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2208804035ddd66fc04e971421cf9d81f245670f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b01_016/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_001/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0dd9bac07d0d47ef85519e9d47d9be79d1ce60a1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_001/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_002/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ee95c6eb541392ac55f593e7bd7a82bec215021
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_002/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_003/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f1577fb149a9becb0f27300c3d6d5fd5e18e566
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_003/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_004/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3c1e18ff085007074f779a80b19b856ef497292
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_004/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_005/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9f0413876359af29e782874100660a820fc0ab7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_005/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_006/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..45750bdb0075b977695221154d493ed2cedf48ed
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_006/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_007/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f3b7e627f92f895ef82e7ce0caa74c8c42ae1af
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_007/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_008/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a290f815719cb09d88f3dcf6883a827dbac7636a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_008/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_009/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5dec959742672fe3cfb61ad69a1efde9ef7e78c3
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_010/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4803375d2a768fc97a9bf95bf8c45debe1624ed
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_010/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_011/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0820c71ed256011bd6dc516fec0fe823f3ccdbd1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_011/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_012/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..697a32fbf2555825fe14d275f17cdcfa983f9bfa
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_012/scene_meta.json
@@ -0,0 +1,199 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..cda9f661f656068772fa62d8d415a2dd17e8c1c6
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_014/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..354d93f74ad66f62ff22b45c1c84d00a6813163a
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_015/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..269e952f827685b29559c758dcbb9d418e249024
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_015/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_016/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b28a6444766d0d0fad122f7d2ad3e62cac8ef345
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000144/scene_b02_016/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_001/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5f227e78ede6ec149ff1df37f76f7b2241b434b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_001/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_002/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1dc3d0cc25d08d399a438a25240cf59a880c6462
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_002/scene_meta.json
@@ -0,0 +1,199 @@
+{
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_003/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..31ba89027cc0b201a9730d441fdfba083b02c553
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_003/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_004/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d4432dd2a91804545f7a5a02e7a229f26ffb03a
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_005/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..13881b0b418645315873b6434a7cfb4b46527b73
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_005/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_006/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..926b5774686bade3c957d38e18c3fb2c2d0f3995
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_006/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_007/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c89ef1c51d5f39c76ecbf6908e11c1038e2c8c35
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_007/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_008/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c954266fae5a7a264afb51212458c740ee91226
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_009/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fc1f0fc03e1124c3b615f8ea55fba112c8117e9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_009/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_010/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e21576eb1e57dc045cae56dfd5619536e79bfc17
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_010/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_011/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc5502b92bce8dd8aa18d3dd21032de4fe6d6ec5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_011/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_012/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b86f19fefd5e87c3e469414696c2172bd77dce7
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_013/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_013/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..598c8eb5011fce5773cabe1013f5ef6a00ad49f5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_013/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_014/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..74ab9e1d1de628702cb3be2e1728dae08b6e5fbc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_014/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_015/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5c221eac3625ed97dcae1654d8b1c90a8907009
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_016/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f676989ea25a39c824585e0d1a842c36ca40294
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b00_016/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_001/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6285a34df7e572118e06d6a7e4fc789355ead958
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_001/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_002/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..40f5054d6927305fc7f71438adf3ee11a22ca950
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_002/scene_meta.json
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new file mode 100644
index 0000000000000000000000000000000000000000..3f5bcf62978df4711a79d7c7fa87454139de4d38
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_004/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..33cfb3697c354704594880982dafef3d00790e0f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_004/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_005/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ac6cad24d5ecdea452713773e139a02ce0e4fce
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_005/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_006/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3844422f3583862a2e96c36ea890530ed55899ec
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_006/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_007/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..65da8554ee2c467ea9a6f7089613ba11a93b9b36
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_008/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..47dbe347397ed440a00e0958380a25bb70668e0e
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_009/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e772163e30f06ecc99a4cb166db84881ffdda12c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_009/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_010/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..50537094432ade08647b5ed8b85088cf684c4f4d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_010/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_011/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..59b4c17c2a920c094fc734e189dd674e9e8f68be
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_011/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_012/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9c0310d01ef6097fe80257ab95daf70c8522520
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_012/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_013/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_013/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..458b4c8436622c81f01b373d5a6ea576a8607b2d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_013/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_014/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..17c6ad18569c1c02b17053d3988b3239eafa0062
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_015/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..19741d7c184f89164be510d97e00ccc27e524767
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_015/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_016/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2484f60d875da5720797f2aa13df414b86117552
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b01_016/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_001/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fe57ae98d59342a41a55de5ad16797f0a578c47
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_001/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_002/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..39cd02c620f71b589b1f60d20f0f2e253f96c1a4
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_003/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a984057e769ae7a97bfe79b7096cbbd981c9bc5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_003/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_004/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac7e396a2198724eda11ea34cb406bc845f78003
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_004/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_005/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bd26fa255c6cac07214f8e2a140e32112e5f22e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_005/scene_meta.json
@@ -0,0 +1,199 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..2e1dc36e93c0568130befa7f5dbf36f763ae5541
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_007/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b82713beeade0e866efa853b1c8a46f1feeff55
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_007/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_008/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..550dd1fba5ca31be040fab56053524b2625a9e63
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_008/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_009/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..22ae1528bd9f9130026638fe893ff8fbcb4a9c98
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_009/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_010/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2116c10bf0dad6b1bd0134b3a1da380b9816d003
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_010/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_011/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d1ade763f0f0bfbf18b74bc7aadf649999034d5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_011/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_012/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..79494c120a12acdf85ff587c846921f9d56adcc5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_012/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_013/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_013/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c4ba2b8efedd74d816d865de185952d8605a313
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_013/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_014/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a8e801f417e013a26a48fc9194f37669abc859b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_014/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_015/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..015a41b2863cf02f273663ae2d852c2dd430cbea
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_015/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_016/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ce05e0aabc7f1e99c5dd1e2e6a409bb0c2b26a4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000148/scene_b02_016/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b00_001/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b00_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..438f59e31cc3d22b9168971da19802502fa4b642
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b00_002/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b00_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d3c2b39feca0ea438196b84205f8a6d032a9678
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b00_002/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b00_003/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b00_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..06c077c14ce6eb7c9ae16933c66210c04a063892
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b00_003/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b00_004/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b00_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d5be841370b370a8cd81e67ac9f0a27f016c360
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b00_004/scene_meta.json
@@ -0,0 +1,199 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..a0f9870df871e7a0f61da6d9974191df32296fc3
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b00_006/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b00_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d6766ca4f0f4abaffe1923b5d499b9bb07dd870
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b00_007/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b00_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ddff0d3f08051faad642b6bbb7d74ca791a3bae
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b00_007/scene_meta.json
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new file mode 100644
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b00_009/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b00_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..819a846429a4a13275268f6eb2949532daf66e69
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b00_010/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b00_010/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8e021eebc8e1ca7ecd2dd76a1032a04f535e6c2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b00_010/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b00_011/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b00_011/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b558d72094cba39d35625f532d2a810a56bb5ec6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b00_011/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b00_012/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b00_012/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbcfdd051dfc67a83367ef99236a62016ec0e97d
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b00_013/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b00_013/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d5c99f5b4116f9f5ab98da18a9825402c9f7378
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b00_013/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b00_014/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b00_014/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..229968718b2be18a420712fdc493abaad274facc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b00_014/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b00_015/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b00_015/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2451ff67af2e948914a72fad255cbda2fbf43ace
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b00_015/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b00_016/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b00_016/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..85ca3bf4145f58d9119d5c0250b504b75c63e0e0
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b01_001/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b01_001/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fcb8adc83e83903bf92b16a8c4969f66cb8744a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b01_001/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b01_002/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b01_002/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad33192c38e43d20f65ce9683e3f2907ab11d9c0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b01_002/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b01_003/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b01_003/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cc3ea92d57fda230393c87ac439b60cca8ebcdd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b01_003/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b01_004/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b01_004/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..011dc14c2a5ffa812b2b7088c378e326f1a3fefc
--- /dev/null
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b01_005/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b01_005/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a36e921cfebfca739c85a1563a9fa61954293b0c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b01_005/scene_meta.json
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b01_006/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b01_006/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ced9ce6121cb0b8d5abbc717a381833f65c62aac
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b01_006/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b01_007/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b01_007/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e46fa55e4bdc7ab9d7de4610b4312221bc66603
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b01_007/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b01_008/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b01_008/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9747f87f5758024ebef1c6e6353fcfcbc942bec8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b01_008/scene_meta.json
@@ -0,0 +1,199 @@
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diff --git a/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b01_009/scene_meta.json b/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b01_009/scene_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4aae4b87761e2db9da8a6f2bff8bde454ec1b82d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/train/bg_000151/scene_b01_009/scene_meta.json
@@ -0,0 +1,199 @@
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