diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_001/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a456a1e0502471d628925c8012231bb87ec559d0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a445b71ce97f42b97c7c87d38659e40b25258020a2d3962efeb786def0f6c6aa
+size 625964
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d3e9a464f5b63b1de927324f260054d9ba532e55
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49621fc2c2633f2fd6468e5e2b7da0decab86dd73c0443fa0ee48aecd2bb8ede
+size 404976
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_002/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9701ee71aa0cbc9e234101873f9bf9568656eaf9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d5fb4e19324851106c138f4e23190d54d404c2b38209590f85d5ebf32fbe6c0
+size 428933
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b5d509dd49dbb8abb228997bc28c9b82f2e5bde1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d00021300d82c2c8f9c082dc0531950e512ec33adfcf1ccfafb4f86e956d7c1e
+size 313995
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_003/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5d39bbc964cd262e3eae5d46b5a41616a5120202
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca6cd0c2fdb0649836b37e458915afc1b993c47f79108089127ce09f0cd94d12
+size 347724
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2359092ea5e080eaf1d3744557e5aedb54a614f4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8f12918c52fb8960ee0e14c24fe9efc4be0ad426522b8d727d04d24af72c733
+size 238489
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_004/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..deab25cac3637af3a1e0eba27150f4816c711f72
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d7764144ee07e87538cb427d72d9700d9000d3f54b70dc4314afe1ab57fc941
+size 420810
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f97d70e8fe6e529e7efe07226a1716922b6a6ec
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d7f54cd607e290c392460daf471e1883665dd2f6380941f79c5c7273fe43236
+size 292574
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_005/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4f5238af4347e63364a5b767d1504d6a6aa84bda
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b335c88f59aa2d5e5bc0ab878a35f2bda4009f1590533232de06c1379891ca3c
+size 487074
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..77027486e1fffa2da61c90f931a81391f61734d6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4d1e4781bd4f9db36c23e5a1e8b29dba494e4fa5bd94cf179df3e2f5113cd50
+size 284308
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_006/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..05e552ed539b5416f0375b4814fb1ae381c03c59
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e4cec6a0d7690bda29083f867d2cabaa69447609d09818a6f633109e2a8dc43
+size 307948
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..31a03fafec523257a2ec42f23db7fe3827ea63ff
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4579955e9acb2b52468e82e1456e66fa67b146292c9674c0cbb86c2e0c934b3
+size 219704
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_007/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3d34dbe8832df4ac2e169abf1e266eb3dc60742a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b21028491575ada24ecf4c6143d58c64350d43d3d25ac9fd7a4167acdb17baf
+size 280052
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c5155f41421a6e6e0ee96a869f839f4bdaf16c10
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14d7827d999d7bf27dd286bfdf58dfdefef8ada90821ea9d510a2673bba06e8c
+size 161748
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_008/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c79160e241cec03b978559aed18764f77666bdfc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc2a29e44a16375cf39821c96ced1e394fac1ce0ffc5869f2c6edcf62fcf219a
+size 569175
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..43453156fa7eb278fbc986ab66f88c18148dd2b3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d705afea5d8968e5fe8a11dcbc0c280fd57839876d203cc6f4920500df20e3c6
+size 362905
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_009/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..accd2d65916b5f6986fd0d9b2764aa168808a998
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42b7099634994bb409c714cae4d99c2d3c1148ae98d18c837020c8015627a059
+size 332404
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..92240e5e79b33f7154c21e11186bed6ce7c07a6b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13a2ac46b526fb0d85d116abda5116adc9f0aff8ad08fd3260cab0a588f94a70
+size 221961
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_010/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6bff31512fc9ab2fc7aae09ad83f48607fb51346
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5f6d5bf03398f4d840973457963e8c1587d361f77e89d08915aae76a0e507c3
+size 326836
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c637664a87d87fc1cff947b71265ea098d02f8d0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:141b20ad417738b688a82f7f1ad574bc200fda66c4c369778e02841c9806cb0f
+size 266646
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_011/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9559d7b1e0ccdfdcadb96f6507a4868318e1555e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ab1a5935f4682498b3868966dae9514d771b6dca2957d0e0325bbef012e7298
+size 361548
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..510e208b74cfe559cc26c387ee5dc8c0d83d69b9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4ad361642dca73c94f2d6a1fe3f42b686084f0d8fd68c893f3567c5edef1563
+size 269770
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_012/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0a5ee12bffbabe0e9b77aeb54bab5f88f0710763
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71e7b566fd37d870916e1c8dd58c82ded8b8dbb6cbcfca96f8222642acd273f9
+size 694398
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0329f010d374dc0fc42faea0a9049426c6fa0695
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5503e567d14b96f98f5ecb72d59fce94ec6202042c1f9bf2acd0cecf78c7a4b
+size 474625
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_013/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2c7072b559d21893d3a1799d5edb99eabfce047c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97c054acbe82ac0553b2e0ea3cb53ea9b6f371a2eb399cfb0ad777ad7adb9215
+size 379536
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b542879a124a9304dc8aed6800c0bc427b948f0a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb98ce22b65895607c3d1196f1aaeb9856ea889cf7a43f0fe272e1d88c2c2023
+size 263004
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_014/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fa8bfd2a214d0d8fafea6e5a00fe99491efda18d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a2cfdd94eaa5734f7279edee21a6284c12a373acd40054dc39fd00e8c796312
+size 452743
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..806e3071546632ee5ac85062054d1c3bcd6cab36
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:192777305974dd309c750ab424b5ad7c2b9f97c0471ea2f1913f6ba33d844c26
+size 349283
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_015/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8eb61b91e48a77fdf41e4fd4c47f6165414fa525
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90749daf49f24195212c087e49fb98a9931042862332cb1b02e0da16f3beb680
+size 707074
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..570201da6ddc85618c2211c95f6c3322ab4781a7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76ac3bf63206de568f6580e3d787e676191bcd75876a6512b2f36e5370ca9543
+size 483827
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_016/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9c4a0c284da4728cb4da627ffe4f34c312aa6986
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e6ee0f7f9a590ca3bacc077f4949aca5c2facb4bd30986b0c14702553658200
+size 290435
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0b0c7f7d1f33f0fb106356897e8b0713241e2908
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b00_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd5338f00c2f9e76a48f3f47f4f13135c3219ca8528528c20150bdcbfb773998
+size 192365
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_001/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ced51af4ff35510c64c5332f58f2a210956dc496
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b81da6043dd5f3549435f25b8522a76f821fe312399794903557401531271978
+size 441454
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c4a98ceb8f2e48ce0107c0d75a06902fae622c65
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed805860616a78a8eb617d871e43cc4962799f25e9be257b4e8572283537e2b5
+size 293013
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_002/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cc456564362a9a78fd07d408f54d56b569411cb4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06f397e11ab04e4f45b8b6a5fa587c2604a8b25a4c13ef3cae2e8e31cf1d22f6
+size 470033
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..68c434f0d7276e93f4372679231053af2c7a9b02
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31ce4de5aec661fab950ccbb7e64d6c34205d670183d73da47b4fb452f40f288
+size 364110
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_003/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..793e050e1b8a5f1a2b38cab107cbab0e27811c03
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1e595a6c5af6d1c88e93fac255a7b48488af94151d4ad33ff064fb4cc8ccb6c
+size 306148
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..30b723fe869123db0e3aaef0fbb00892faadd3b1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:602cc58553c34b4e7016e3bc0094ec9baf33e886540016883c54a6c99bbd5e33
+size 246264
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_004/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1711c5d6885c842285b1a4294b1d865f904e958f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5faedde4ddf8f2de7c4773e7856e25054b3667b80fd3d8deb53052de7c3070d9
+size 362139
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d7bafce77b13a5f5c3866d9468b1f1e76d97025
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4f25dc6d7e5176fbd9065f8fd8e8b51a57751733467e447ce60b5265d72ebd1
+size 248663
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_005/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0880bc9051e97e3f42aa854581504e8782dd2268
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:570580e105c2281b41e4720e8580a44ead67261b304c1286c88e7ceb23a59155
+size 503846
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..25518c5df1b6542a251d68ee3eb6d0c22995f6b2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1eaf113ff2ce9f9d9ec40911614b143b0799961d2c30ff1c4204f05636b21192
+size 381745
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_006/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2422ac4fa3ad9f155347e778a13cef16240d90b8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa71e66676a31e87a259da439b95e6cad721a5d546baeee1137841b0905f79c2
+size 455527
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ca58d47fd7efcc72d6dcb5ce1465b1a447482fb4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:578c15f3c3654f717018594bcfbb9672670c17b48f8b50956cd042468c32c843
+size 307624
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_007/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..166ac8f5b760339975c3dc6c0a3d9fd371e45f7c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a688ced46ced2aca5d0e9fd0dce5c1f069768ef20724ed2fc2f2ec46be4cd78
+size 515870
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ca39f989dcdef19253f36a0bc0a794570e8ed6c8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acd9c81c11f052cc0a96eea5f9fa2d8594bcc066b24c9fc33b230aa235240d62
+size 318628
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_008/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cd69db3461ee2ccfff0d8d00d8fbccaeb40ffe1f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad154d99500116cc804393bfcae2b55807c4bf0fb66656790a14fc1fac9c85e5
+size 416243
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c3989223a6a4f16c4658b589647f5166b3698576
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:574f4561819c7dcd5fa7a4ba48017b0b193142dce5caf445491769b151b88ea4
+size 281128
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_009/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ffb6e4164db07cc091e9eb4d69c9692feb1fdbdb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cf7cafae522ccd5cfacf83b5c8fc892b59cd7da0a360629ee742704bb23a5fa
+size 425785
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a2cbdb48317dc89f094b9564cb401d7317222b1b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:593d27c11ef7da8b98daf5800c03a45a609826a902e0f09c05e12e21bcbe0691
+size 299673
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_010/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a21ddbab9a7ad5d7c7fc2e46d2c4b82393b63a9b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4bb79eda3f23881bbbde4df0b9734fee6212c0ee9eb1fc4eccb5cb362ee9892
+size 381652
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7692ed04e29bf94156308fc2d1640bedf57bb71d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0060c089f914ccd2a1430f97e50a68bf56e703b7e8a28b5a70589ce462c70e2f
+size 228885
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_011/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..efded868455a9fc6920faa9e55e061971ec7943d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63e5aa866ba5f954711a0e3fcf7ebd9f57c9f369c324d2597ce294d3571f0ec8
+size 680636
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a43dca1105298121ef925140fb9f08adf286b54
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71962d76df09de9c9e8a8d9710a790ad03e79d8cc3bbc763210e333c4a856bd5
+size 401885
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_012/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..dda7609f6bdf1c1ea4269214455517bc105a896d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1171affc24f9aa8299eecd75f0026fe380980151916030537d4921f6e99848bd
+size 636755
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..561565a5d7e239172b3b73e89ffdd6570237a518
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2644b3bd45fa5fdfadc4d1fc0343da49b15d73960960414b6f3fbaad28c77d6
+size 409340
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_013/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..261d0e8cb2000854d8f78bf92fc8a19287228f3b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:814c20642b6cfac9499424daca769c8557feff37c46eee47746d32d4fa5eb345
+size 401878
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..53e4057203bd217c6c1694c1cac9dae4a499ee35
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd01baf7dc59d8416a184126d6f70418e04ba2fca17c55b87a0994aa39660d88
+size 307426
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_014/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c3075938d1debf31cde6dd15201dc69e543b838a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cbae2ce470acf0f80d2669c614d3a749701028ac2a4e812c53d36324bbeb834
+size 548894
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d761b062edca3990dd9a68e65e4d667c9222ce08
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd6a326855bb0514bb7ff903046581a2a49588d17ef88dccf337fb7bf4b2380f
+size 366904
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_015/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..de723a21fe02fba1061373a45d165777f1886632
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eec7faf92649eec307d246544d6a1bd6b6c81232e796741fff4b3515d262bd30
+size 447030
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3afe40e5901bcd5ed5df225aba8c2f84f6d450e3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92bbdf29095fc3600c24d7707a3b6bec92aa702f3ce5e2ec10d6f619c4af1d2d
+size 326499
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_016/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9c1a19aaf01b9ac7a4564b74e526547ba6d775a2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3bed994541b628ffa4b8d261db9a3ed4c721cc939503aa6cd2d903dd68ea04e
+size 360774
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..548e2a4e9aa11ab682710d5900da91a4d6c09b0c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b01_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb5a4117fd4ad3f380bc353986917d15328cb442091fc4aacb28f38d44298885
+size 224928
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_001/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1f1b633b6739f261358d924b4fd083bf58af154b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27f5ebc8dbba29ded1f054c73a304f68044292994ed1757003b0eecec580f5b9
+size 397192
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..bcc0a80ce8307ff54dfb13b5a1d7f4794533b2ab
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47837fbba327132c8a10a75191b64d12ef39e96f202f3dd24496d6fcb836ad74
+size 286762
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_002/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..836e2b14c0373f22a9218796200109f902488e7a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc96d0cf1ea67900496c4752cda6821b33bf8ef10912921e7574e5ed05287f2b
+size 436335
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8deef5e65b74ba4c24301e2c178ea137d20e2460
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4260e45b171e3add9c9505b67c4c77fc900c06af67a4f09661f3e5516fde563
+size 324525
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_003/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4f37672b605261a83bd65797de406789b419d0de
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c031ca09c0bf2f9df64f0274f372547c10ecd89879dd8645bcab95eeb533bd7b
+size 346994
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f362b7de1501bd07e763d48e42112ab73ebbb24f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8dad06e0386da44341d9cf98f263e99f5df702e56833c6578aa4306aacf24a8
+size 262733
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_004/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..21dd40c45f1354931d2497b209d9585736c82ca2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a1846564841e3331baccf2b6e2caaac3b192543aecd49bc276c27f64fe66931
+size 498212
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2fd961745e14f797de5f357d479461517f8c41b0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7db3a942dd9c0836671ec8dcf4f82712ffa487022aaf02637ccad59f8378b3e
+size 344325
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_005/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6814d091cef1f84c95840f79e3af9a34e1bc0cab
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de16d35272753cbe75fcae1ef16942e442aeace1ad8c0857ef377b3a1592d929
+size 546417
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f6ad6fa7716ba74815178f9520a1ccfe7a7936f9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:773255820bea1dd2631abbbf6e6ae95c4a6385c9e1c96ef16ebe25db304ced82
+size 316655
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_006/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4b91a2e27629148784b55356744eed6e505f2c43
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e052bf2a56c04d101bc8743065507a324aea6051f0c04441ce45141b0b04113
+size 450123
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..30ff7ed81d19753211634f7fe11e4e4017d4d363
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f50aeff43e33f997a275062fb5789627d8963711a267185b326e5dfada45477
+size 328992
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_007/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6a5d02524ee7cbaa938e9db8398ce55c8725735c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e99efd762025f49f8120041fcdaa38adc26973126a0855f6914a144c9135f23
+size 394300
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c31456ad84bf3ec6e1713f5922dfcb68da696f52
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e26f87a9ddca6736c5d6e52f90d0ad29881eff91ffc2e385692fa08af5de58cc
+size 244893
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_008/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ceb9aeff76d96fbe03ae3121c4754e1724b1f0ea
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54493a4360a850bc861abc476f4467880ff59049df36fe43ab2cfb8c9669d6f3
+size 367174
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b2987777a24df1eb53fa55e70be58bedad7d703b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee12f39f5ce104c36ab48693afb4ff608482b13f46f02a873bd8135df4440b17
+size 227231
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_009/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..096de322193d5b2c66efd081b092d51810339bbd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9189cedf7e557c02ff9b6b8963e1a1e4eceab12dcbe359e13203c6c88922ffc
+size 590058
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a4a978d89062ed7af9a1155c56e7a78f9f716b0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ec24e73f507a702a4483a9270523e50822a07fd5bbf6c59c5ce16124a36971d
+size 371587
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_010/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4c8fe7db9e2b0b23e7b792c4bf8018f7a4bd5dae
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d7367783ab6fd97618c70ba73bda5d87487c308d5bf30040847f40dcc2d5a34
+size 343416
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e26397d4318a22974c490d529de47f3476795da7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edf0f807c6dab9894e508f13991149df4c8f7486ef5db0b2e379c69302fc5681
+size 260739
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_011/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..33e9f6716203cd33424d9a0e8ff2bbc4a2f5022e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bd06d84902f0504f1e867c33b32b885c3c4e01e58c774a4f0a90eaf4199ea52
+size 460728
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9ff1f7baf47deff3f40e6c819b3e6f14fd931693
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79a3c5273d16f56e1008e3f405466992ea2d90e133cb85609edd385faaa1af48
+size 342134
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_012/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..de44301397101e4dc13a6b33a204401b96e27f74
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a73caeba758f89cea5da1e114395777ca54ddbf5d2fe81a241c6a6e911f54ab
+size 408901
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..837a59fd161203ec8d3d072cf4efb569f3f7bcf8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5927adc019235a21944a3a58347361948239761edcbc4e7ae7bb48f0baeda23e
+size 316584
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_013/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6b122149f03d41b2fb935ac144787693bbeeecd5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd9f1e54d15c68308aa0351652589c55f99a59ddb0d964a07288b0f2ddeab8be
+size 296339
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..28a0584db87fd8c981b4d5647d8d73a6d7d9aa2b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7e3d04d4ef266f25ebf1ad1a43861cfc7c1dbf0d7cf7acc4d513decc45b81cd
+size 239976
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_014/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2487459941db5d52f36baecf7615dae8c235a5df
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d59ba91afd6c4e3b976d6ad3a7f827dedc5d94e7a63cf88365cab08f3e55384
+size 293881
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a3368f66db6c8de62e49e71b379ea3c5af4630c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49c326b85e9cd7135ec7a241e17e8eeadce5532d6bf545f96038ba0aecc770e9
+size 208932
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_015/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7e11f75b43709e479c5c4f251da36a222f6d56a2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7af04425223efa359c26268beef41aa7a2dadfb6ea0b3260a0e542b74571b36b
+size 404991
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ddf3bc42e8c3dde0fd5f32a0adadbd955b2993cd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a987755d719c8129d32daf2faf44adc1d96eb7c0f68e3b1231b84789075d022
+size 227437
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_016/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..16c906b3391bab8999ba6d15cbdfe97a45f54279
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de7f86c723d47ec243940aa44c59a55417b3d36cd25194039ae83912bfc56d30
+size 456544
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ffcd9846c54391e7c7dbdfd8f1029e88185e4d15
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b02_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1b182e230bee2a6d3a8984bd86540b0d8e6c3d625b0afde408a6b3731260803
+size 339269
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_001/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4df3c4fbc9287783f3b6581ea6c0f26fb40646fe
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80c17297dfc57985cbd63ea4752b459052c10900e8ced0f1380e993b2b85d3c4
+size 416346
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cca5b373ffbdde9a1dd412e72a328fa4af3c87d8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21824f29eb453e31607cb7c5d2008110fcdc71019be73a287dff9cd1449c0363
+size 342194
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_002/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a93f4d443609b6148834d57d4b50c227342c6975
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64d832c6916c168a09050a9483ed18a597097b942b575e87142b5fe6a6a61202
+size 346475
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..65b7985b68e6a05b1421b53bf45fa74f59d94f8f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc841369db8490671ca51ecf271fc1a65981e832824ea4e04d29c72b25f5c616
+size 206912
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_003/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6e7e8e6273a437c39342f000900a227272371106
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3224f0888412363437172d284fd8a1d5e6ce123296d39df255de2fe25a9f7a2b
+size 401919
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..80a002bdf4828059bfc888b0673739ab04b65d34
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0d54d1ac26ee6014088a3193c2064fa6404b8b185b81df24b84baf154328218
+size 235178
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_004/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a396779c0e432cab6b0aa9144e9a12a6bfe66760
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:092f57f9af8381f08517e17f34bc120da8be64b95036c1059b2d0aea8f0dfb3e
+size 348069
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..fa9ac1661bc0eb6586578b3d99db2c57c9091d2d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98b6c63a4aef27bdd5478177c0bc9741dcec4a297fb84e30b6800e1b64bfc5c2
+size 208722
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_005/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f0371ff2ac3b498715cf8f62d2aeb854bbf62f92
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3f812c4c50db9f0a1ee33c2a069e489f3fd91ec1a4c5fc78c300ed34d6237d8
+size 372178
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1786f77e8be093d3bcb9e5d40c89287040e76a5d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:920cd714cafb28f6394c678a27f82033e6f892c73b068b5e2f0d7134af2efca9
+size 304567
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_006/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a0f53cf81ca9e18059407cec6047fb81117a7470
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0272498bc2c22966779871473e50fa1585936116811485c546b05a65b599f3f
+size 395293
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3959bb5424857235ecbe491e6872aadcf94251f7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aeeed84a421a39af712f549038d7b4c36d6dbb30d8d689d87668909a6e63540e
+size 302223
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_007/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..12b4fb20a3eac092075e93a89f77e72f819f8e03
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c98d2578d75f14d6089d2eefdbb631fecd76ef4544e54a9c1355c66ac45a70c3
+size 366725
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0fd9a31de8afc244a5f6caec1731568fc6b1997d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:188da2f60814d17eadfd037276ff4b7f5f05d2dfad5e84bb68e171406551b7ad
+size 285251
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_008/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ea8c7526af94079cfb90c4709a0f49e4609498df
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06aaab8ab46f2a76512b72d3b14942ccd5b0161251dd6ba63d8c99c0667ff0b6
+size 424807
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8533524850afea99ced0d61c42034dcac42a697b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43c6ca6cf868dbb014c4140db7f2a8bf0ee550fb279edbc2ffe3d4d81b413afb
+size 213712
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_009/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7045257c83ad929918e5ebaa15c8b662bbc7b8c9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58caf5302775b41e65769e315618175011aac6be25c7257331ae7387ac1c362e
+size 499142
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d102e9cb54f43c46e9199342ff79b618d038a66
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d5ac996b2ac90d67c660e02f3947244f4f9713f2274852d8f046989663dd8fd
+size 328154
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_010/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..967327d01128ef2b49ee9ad63a06e9f653d60e8e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bace29d4a3bc65af18474293fa64330c4915b437963c5897f36620a71527c5f9
+size 368636
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d7c44ce30bad1aeddd261e2891105c84531ca740
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb337b0068aabf46a13ef48cde6e5eafa407ea5a354e49fedce6c5f34230f48b
+size 264211
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_011/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c871dfe20fc553e0d2498eaabef1aa555f92c8ef
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bcb6fd2cbc8157a81c9ee977536f8347d64a775865ed8735415999f0cb50448
+size 489118
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b3fedf6056c451b60c1a553d5bff0f2c56632c5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72e48ce5d0644cf402b32c46058d3c82f9f073ee30b9a2121a4b8ce64b4ae5f4
+size 343136
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_012/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f485fa700ea6f940475f272fa3067b50fe7f7edb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff0c33a3d0cb5a98b17ced2e9bdd0f7336a266f99e59accb70cffad71c8cdeed
+size 307279
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b5492974ece3c7cc1d1d28919857d9061d32aeb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae932a8ffed211dde4fbd1469a606841d0998621957046c9cf6fa07e4b94490f
+size 218671
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_013/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c89e8702768cd59a5cfbeed00be6339dec8a5a01
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce60142dff2e8e4cc883d26428917c59ca32408c88561d3b302c16d7e05c108f
+size 468557
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..731ec01d3b30c8a4819510376ade17c97383c4a1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2eee40009902a446cb755a8b519b2aba0e9dbbb8bcd6c24cb614a7563ede963b
+size 321181
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_014/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7f08c66f8d16c2d5ff7f36bab697c4f8ee8f174b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e43d14f2f822f31439c9e2d972d289f950d9bb77aa038902ca7eaee3a2a2d35b
+size 392106
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..83350af328be8966f3ebd7eafe7eb7e57aab0b84
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85af0005b351c41a7e73c203e65e272405a7b59f51d15499fa5c14646e52cc17
+size 269000
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_015/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1e33d3896c345887c6556b9d184883c03854d545
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef0c44bfed4357f877b3c4950ce9305ae31e9cf1fe01dadb47234f434d54381b
+size 422656
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..83f12653d195a3161a4a95d2a822561a45639d66
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b08a7673f281921a6fc68fb20ec776e316f39ab0138f47a9f92ccca41d9b3853
+size 263499
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_016/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e3baac7c095347a7cdc96ff05c7dbe759eefe1c5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5edb5f57fa9712359992bac2802fe4bfe1fcbcad18ad3f8c6f25b253cfee6ef5
+size 329694
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..909cc75bd4e8c678a07dc34f5b4309e61d81e3a7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000109/scene_b03_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6baee8dafd7671f401a1089df3acbbc00f03b7d3bda48f6693577b7e41535d61
+size 222948
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_001/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9cd342109a65cec1f889492024ed4c88fbbee2e9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a85b5ee7ed7762c6ddb19523f52b6d834c406d56783e9066b096c1485f56f8be
+size 303418
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f8fb5de6c030ce1ebcbcc69077bdc4df61ad66d6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:326e3d17c5d8c9067827b3c05de33cf1f2b63a1ffa4e7c3001ba550b205e521c
+size 281369
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_002/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..446f513997d63e307d5b4a09acb877843b632c9c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59ef69f45a396d5eff70e04204bfa5864116b4c9733ea281e62130b49e330a23
+size 181579
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..918ca87c51a42c2584115268d2dd650e523499e3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a75dd72cca7b1f5eea2ed17b29c05781be3448e7991dea73ffba71036ca651da
+size 95433
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_003/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a6f84bd85656d2120a5617b33d46ae7309b1ceb3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8f2f87d9e3b7abcea1608308d03773dea5355df7e085d0de3acd4815fc69afd
+size 252552
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..eb30d9d32ebf3adc88bb4ad344b7689496370cad
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59f48e1ea267273d7b85f24f2a2f1ef7c66be44772bac51f1d76a8ea6670302c
+size 184686
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_004/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..aa8099092ac85ec4b20920c0e6e8468ea4724964
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53caa20d31852b5882254a1155471ae6f965934add07bcb506c1450f7adf3396
+size 140353
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6bd026f2de9c5dc238773dd385f23afe1176b638
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:905afa7257920ecbcca5955e4eb1047a544e75c59d2f03901537415c330ef7a7
+size 78758
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_005/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d6f238ef9103a85bf8ce400ce15ab620f915cae3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fee4e496926d9e1522258c78f68d3a92ca5f11716dc0800db9f1c1ac3bfcfb65
+size 181862
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b86a19f5fb68d9405032c2e24ac6bc5c97077524
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8c590669e5d4a84acb299b9c11fbcd76a94b1912abe902e8f6276378ae8586d
+size 131908
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_006/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..97cc2b03d9f23e2a615037562be190a75cf090b4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:893a6bb6d6df01cbc087fcf6670b55bfaab1af6cdb9fd8b8dee5ab6ab668859c
+size 228665
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5ce019c3c5e81ca95ce0df4d3d1e30c5ae22fd35
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0553d7c5810eafa8f7899fc9c8479824a619837b12ba4dfc9c3ae443f42be73
+size 167666
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_007/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f897cb108f047388fb302f79e751391aeea82b44
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddc8067d258604c1d63c419d8aa4128cead013e96f10ef0b7105ad6a0a12ba74
+size 453466
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..45cc7ba5232f29629703f72de38d2cda9905b747
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f132309e8ff3cb274583cdadd91d4f2171b6063519a17b4c8f91b9005a10aa5a
+size 270323
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_009/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..41ccab778d0e728741da46b2da41b804df5d841d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6e5987da294825da6e41ea2f38da90d96efc0ee069cc183956c11988bbec2df
+size 370242
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..21b52d1e9461344df853426bd2e4131dc2b1477f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f39a7aa37937c047c0c0af727e8902edb93dd400cfb0daf12e00068cc4828dc1
+size 341221
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_011/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6df991e4ca869527e7a3f63abc8359306dc5c30a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:893d457ce9fd45942ffc3de3c7ccee94b4d8ff1dc6c153f36f3dfdc86c6cac9a
+size 446908
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..96b0748d0388cf7eecdf5c8502acdfb6e5a109eb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4611b030985f503f70e2fd80effdab2c7ac8b1a9c991dc83dc27564663a4708a
+size 402010
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_012/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9c9509408369be3dda57653c32638060c9c09c06
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0013df792555d827ca49b982a76cbacb9ededa51dd18f464c119e8df11629f7b
+size 370002
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c7f9f7040ef617a5c20ad9533e1a06f23ea3cdf
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32e3e825f6117615ab90cd98df936d7a9d0eb5f1bfe2453101035389efd3622c
+size 277991
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_013/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..13db9b226ce18d78e23844e32cf7937e6af71dcd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a2edca5b56e94baddbea526d06a9f69cc4e0065b46f792bd189d80e47f7375b
+size 474231
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a25d59c514c27d33777c866960705407e9609046
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65fd14c9039069d887a2ef3f887d94d9e04ac2cc6a267b8f438b737e3f9a4f14
+size 368089
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_014/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b3309bd7414737b85fb372c7a5091f973c70da10
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adf6128c95225f357996f9f2c359c777229c314d0329f1d80d481467f6bab247
+size 172402
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6ac4a5b8a1902a65d06d19e04519feb96dfc0405
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e99ae954faa5db6266663bc251b6c03edd4592f1692872cb8b2ef616d823391
+size 124923
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_016/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5d68d78f611cfe4577723bf2465ca502f2410788
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:577c4271bc17bbfceadf561259f4ef41f8ea5bf1338d516b74aacc704149dbd2
+size 411174
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6386201824def1cd5cc5b513c1087de50a195613
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b00_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:188986a1559673f7d0f74971696101debea177a1cb2f1a4e8285c770e682f930
+size 236931
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_001/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bcc5d77da16c726440c75d2f3ddad700e84b2766
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c820db0269e101df8d72944e79b68bf1c9bbc6ae357a3fac97f2ebc085fc8bd7
+size 270410
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..41a1d9dc9c33c5fa9c3819fcad9cdfc6657ac810
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e1d8f7971e81e7de9d4fc4d71ec615e97a1c9a73f744b3eebeaad8b91bec376
+size 236341
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_002/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..eaa9740852be111b1ec63661c59f5fe2e3fe7a09
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ef845f3a383f601a7fbfa3fda8890fde112711e8a1176d45c7e31f0ff66d836
+size 195036
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..52f33f86d9f85101bef84c719864c846b3bca1f1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:876a26c083899090990ec001549c455af7466fa5255cfd786665a00d0ef567c4
+size 148815
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_003/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..227cd1c071e01aab303a4bcd0c587186e3cbe0b7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ea3e77a072916c66eed34868f88e17d51fba0789639f4b21d9b880d1beb63cf
+size 286147
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9cd1c5cf53bf28f67f908b3310f39a6dba0c8967
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1023657513bac6ad075a9d8fe5f969b0a861ab5eae7434794a69ec0672b6c80
+size 272217
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_004/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..afebbc8784e43a71842ec6a2478d86583e704b00
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d071487eb1dd6efe4af645cec353adc85f4fe6d81fa1f732a24f210ca54a66b
+size 142859
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9f9662e69eec6ef600545a564ee56acedbaf8d6d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46bc73c148e46448c25ed6a5aa63f9ce6500992ca0e7782a6e9559600d021eea
+size 104134
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_006/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d0fac0633143005fcb3b7ba7abb7eaf266e1200c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d60681182f8aa02e1d65372b091c6199dd87d3ea5dfc1427d134d8b38d7fcb67
+size 404414
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cab0ce66130ca4c248c42eb0b8e9032e1af09090
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa91241633e95f494282c6fb989da41c12f8987a59146e852290f2cf76d60927
+size 346407
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_007/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..351898282a36678ad0b6764a58006c6c5a3d2818
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78f5f68a75e6ca02d3ef881340c37b7645537413cda10b2e701c00b1117aab1d
+size 448471
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2a30361267d3db8e1a03b3967d5d815a12cba278
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43098f2def56345c5666a80867c921ecc4bd5bc6dd28eb6a94b099c449fe3280
+size 332585
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_008/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a796dc5d9f3f3571e3d91678be7f9c67b38cfab7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:958dd6140f923e7ec1b7e00f3a208f5f467477e8c6ab9d5aa29503653d719d89
+size 386981
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..65b8b1c7b51d1bad65451dffd3067809a3bb60bc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0625ad5c87e174461773260ab5ea1901addba811f57bcac6b08d8c7991758ed0
+size 218893
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_009/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b84bee2fd11b412884402878e36eba2a1c5482b0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd6d8c81781b1a13d5730dcfc377b95fbb6c7edb0b3b4bdef3d39d45714b9e7d
+size 340672
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ce7990005fabf8345cf6f522ccbf03fec3dcaf38
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b65713d5ed79133849758875a5b12af623e176d14edfd4e27987cae6b4f1053f
+size 292567
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_010/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a42355e13f1eb3135117cbe56431e239218b1c20
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a19c698646d6d3ac05c3ae332a0d29034c3a3d80ccf857e314d5f65c6687c25
+size 477385
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..fc1f86353c7cf51b162b5e77d0fcddff6d7b58ab
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:936f6e7f282616aa1fab670295d785455d233c585f8393270763e50b657aaaa5
+size 341604
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_011/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5495d291fd1f3c2b3c795a1782ef08e5ccd9a53c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adc0a3862158f06901a45d9eaa6caccc5c456cc11793f10d638dc24c484c888f
+size 140283
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d78a3946a169e2ef921ebdd30c1fc577b348f01a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86cddb1fffccdb771eb1bce2fa8c8a3c64532dafdaa93905985a32532c020aa8
+size 132878
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_012/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f54f73944120e66f28fba6499b848d1cb39b015d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90dad783cf75bb19e3f2101d4b0250b9901e05125e676d12040ab3db26233188
+size 356572
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..264aa38fd8b35813fb62960e3c4e2786b5c9c964
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa82b9f9c6a496e6e53eef92abd3fbe51b04c91c983d8ac155a169845ef7e4fa
+size 350698
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_013/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..16bc54e0b4bf57e3a9f51e68d96a0b2867146df1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a6a8ba0e1d535a96bc5f2082a69f62d1eaa7182d6b4b652c516f1705cc7794e
+size 380788
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2bda64b35e0747063d0a405feb3edb928b333af1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2149dbce0f372d028ac32c48e638d95f5cc129191f3310e1c69462d667c473a0
+size 328228
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_014/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..119922a7e36b8f4d0c0573e6bb004c64f1433072
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b0fe517298fa87e57fe11a25c0c2445b8241452ac93bb407d6995c18a4f739c
+size 304032
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7853f7f65d91c118dcf4adf8468faf97fecd8386
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbee6a957d8a7b471119beb23f43315b6bcdf3832d2b442f0f9835500b5dafdb
+size 97239
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_015/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..61813a61bd3ad6accb17764b0e84cee9fd49a655
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:630f3505f8a568a62598fc3689356fbd38f9593330b9a3e370734981cc539389
+size 354263
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec749d624cb168aa9466873f1240237353f5bf96
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b01_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52fda9093140a49320aecb1498f07666f684fac49be5ea1568f47b2d10e5e24e
+size 368476
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_001/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6549e9d2743bc92df711f83a7df35250d9068a0a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59e1f8f96818580b27c12b9e74f10a6555f3acc02dd4d93c80d5ad64a5e68f14
+size 265525
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f2b82677890144480368cab056ebcf2c50378c1d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3fe2ab8627ed62f3fdd387ab349ee75388c73a0f63c380969e948efc02523a4
+size 101875
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_002/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b16e023c7a8e18b62af4c6dd70ea49ab3b1fd929
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8eed9cdf5884b21c8385630189a37ae71a0890ddcbe1e9e8b3dbfafbff41bc35
+size 235423
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1624c522fb8f447b157943e8b3bc84aeb8ba7a9a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abf92ffd55be0f9d2d93396f9860732c8d30bc3888d8c762935009032d2e92ff
+size 243287
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_003/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..651bf9b551bf5359fd325748caed18cdee7a6762
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48693b30e6dab33981f20e6e2f483d725ad7ea4c77cb9c6f0d48fbd3a2db6472
+size 172304
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3af2e29f1015fe46901eaa632606c598ed5bcdb9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0dd1e79b31db84d301524317cd2963e13dcb37f51f4d15cb61b27a44fab1614
+size 118512
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_005/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c6d5ff838fbb46fcc194104aa34069bcb3d285c4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f655ecaa0ab4054edb613c2c4daee512908a766d72ad6ec00338a4c216db8eff
+size 533691
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a387c5571a59a630d55c412b106a0aa0cfd86e1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b8bbff47b4ae084c39e440ff27a8f38e68a10da054071a5c563f0687b975f3a
+size 317794
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_007/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..07a5998c0401b9e5760d26a4022c546205a52135
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:297251b1d170d2e16a05a8bd9bb5e000892ed776f8e74536684611c3a1828dcf
+size 336502
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4fa2b3fae296764adf6f6b421c4f180bef0f6197
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d204a326275f902a91a40a1c9cbe87482467b48313a5b1211787809b6c4353dc
+size 272200
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_009/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..16c2dc56252a888910e6588e36f5d4e70b6af20b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b071757ef57f28aa7518d10aea2556b0315b5eb5b3d1617a21625002cce95d28
+size 344710
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a7627c4515f0121b42926e67e3aace86777204da
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d691c2fc4d6aa00e4cc2af03f37e1371eabc38a6ec4098d7d01f986512a54a7
+size 325953
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_010/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b4d56fcec4aa68207d21e84f4a8e1c4a520b196f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93783aa078cb5c6e11b3997f11c7d87dfd87c5d45aa181aa178a7569ecad41a2
+size 389485
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..89f9754d01e7b3aa6b1194f6e7076ebfbd364200
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3acb76b641678f9dcba64f3c8efc78cef0019c49785368d1851e1dd48fe71a76
+size 238966
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_011/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8e58fc17fe82eb592238a800fd168b46d00d13be
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ade126f433975f41c6958320602bd5ce926d12801c1cbff9f6e55cd0a33070d5
+size 176248
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f82e4868207bc2f820a8b9e23c8647b9f02eea4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2fd2d59be22d1324357f0ecf4231eb9701dc149520d7ecc3fb7e5ef8e94860f
+size 138044
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_012/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ff6b77d2f516422f2cdea02aa4313716769c2e10
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c82e2919a8a865009192e56dd296aa407dd8d5f332821e1890fc428a330e221a
+size 372510
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f4190f7258705f49941bfd696f61596dec4a1ca
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9633a3cd56fbc2be020f0931aae5589afebc9b32201aa1377133b66287e6bca1
+size 296876
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_015/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..31c8ed28d35dee658bf1083a038c605c02342654
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:811c4c3a67f945a74b7581bc6d5655f2c85aebcc7b15555adaca19716f00af4d
+size 264432
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2fbf958df52b6bbfc3e062bef6c050adaaf62759
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55675192228fd96a4617df0cd1a20dda8f2b654d9eb7ff3ece04a77441b1c5c5
+size 312879
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_016/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3f935329ee1bb5d4d2ed2d1faafb254e85515555
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:634827795ff598f61f73f387595776f428d17373788be7a9febad575aee4dea8
+size 243653
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c9c487eb47e2128608f5af13144051337c2a8f44
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b02_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b2f7ea1698353025cf2f96dd95e187d71cb9be97a3cb7727cc34b7b95d6b758
+size 287396
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_001/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..66da2209f549be7b172a56329e5fe5373a766578
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4611c520b7ed90739e30d2bbe1fc7de4aba329cc2dee0f76b6799a2d91ebeb0
+size 261433
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..60f08e0917ef3d22496a4537b1e95e7342547d0d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b6a41a92954f68672baa5fd923ffdd5eaaec3b6ddb5e0ce31d130bfa84378b3
+size 193648
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_002/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..876ab304fbf1b0a89000d9d3fdbc37cc52e14fbc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b37e5ebc2610129c6b6130e57baa591750d0c2636a73b52ffa6927c8a35cfd6
+size 268112
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d45341e79dae67e112603968c25a8fc7760f5857
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2273c361ad248e3e876e86376de9be99661aa20abf560907f6ee07f867d532d3
+size 228374
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_003/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4243a3b01a265ef3205ac003c3faeee8541c0fd9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bfd418129261f44568ddfc1d3635e78bbe5182d01f6086c7067b0346edbc9b0
+size 413409
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..97194c00b8e8bbac9cb0cf184280f4f11fcd0562
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9bd3a443579958844b30cb554cfa0af93d0eeffb9f76580380d86281385d157
+size 143319
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_005/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..28e4105273963819c0c23010a902f1f98438945b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:875b86c1d2296ce5d7a7ca739003934aa218f58f82aa90bb01fff25c283d5ef4
+size 341658
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5744c0bf82dd6cfb3c6ae0ff212da1ae7dfb60b9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40d1ed5704bf9fe05bffe21751dc256d822d6d84808c8046059475c1f2840e38
+size 183405
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_006/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6d4180e2aaa7f0441d36cf125cd02961928f77dc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e5d8b5dbe4d39c4d2def8cbe94fe24b107d2300c2839765c95d10d9663fe9cf
+size 189473
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c5d6149291b81f67e208eb3913722b3cc4109213
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8ba33ef4ca7d8242e4baa679bed275fbdedb5d06b489732d8576b2040755fbb
+size 190697
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_007/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a32482bd93bda9a161751d0f7e9f0c2f13b6dd8a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83e8615b636fa0c21712ff8286f3389f944aeee8e4e4fd507fd81efe1c3b1088
+size 199903
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e9a84a72908dd51c0f59fae7e05c740a24228efc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:244f2d9a9076a52a9c97b804869b1a53103d5ab5e8ca8b57fc243adc5ccdfe97
+size 217039
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_010/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4dd69c1455c521ec2174f2b10e005ee2522cf84f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6b7442e7f7200af647109d72b1af00b4fa671825425a42b3e1e649036f804cc
+size 255454
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..35fa5fe91d58f82f530afca773e59bbcf1eff6c9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b1b7bb63d94e8b5cc0ca1e9388642ac5536e895ec744e076d59a051d6ab2f07
+size 176644
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_011/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..aa5ce6b913eb8f72477c66e12e4e8238a503dcd1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c808da549c0d881b9f04a45a5c7b9a6e206bcc284c7929ba0b76e8622af3628
+size 204787
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a97629e0288f7c255e4a287eea5131dab6982482
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a3759ae8ec31b90d1781bdf8c57e556ff1f0fa07d24991c4e9fbc36abf98bde
+size 142698
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_012/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fd77f21bceba4f5566353a92ee0a9e10defca438
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c91cd9d8d6d4191b7695edff93597025238de94865ce4c5a16555d4b0752177b
+size 220939
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f76d18c1471aa1b599e33aee73f6c48471cfb3f9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf76db160660374b3552cbafa694df8a3fb608b1649a69ed6abce395e0e6c8b2
+size 128978
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_013/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f5ec31457d8616dd6be691f2f28994393feb2a41
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cab47f9fe69bdc4ede3f328b19af8959c91dde77bd0eb369c605c1e6538947d
+size 145664
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..464c4dce82e33826344a8043bf055505d7fe3ca7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30196f4c46621c5bdf2a501971584ef424f1c3d2ed93709a99cc7a9dfb4fbb0c
+size 62472
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_014/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..95d685f05ecae6cdae8e40f3883af599b3628120
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27e7af4866a34c1e1ab670941778894f947b2619fc71dfc58928d163a3e2f167
+size 282089
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..53d9c33eacd4afc747edcb19179a756b633c52a3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d7370441907fd7e8d79fc5264adc87d71d3916fbc4bc74e2b43bb9118b1a134
+size 201611
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_015/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2e63ed09c195ac97d0b91056af8d8bceb8724f87
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09c7046fdc8fefcd3871ae9c14b9d4d124ab5675112162479281846969681851
+size 259305
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2efc6d8609852d1e0bb9a6babfb39f9e4ebd5277
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddfcac539a4d71a2f78ac74c20d7543c9f195a7f3bd62d5af7766b322d23c346
+size 174262
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_016/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8f09cc8d9b4683ec8ed6addccfc43257d61732bf
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c8d76de7bdf288aa774440630cbff5050b5c2b5943b8633287394f4e820c5b6
+size 319581
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a12509d113855a50e5828c573d6875847ff5ffae
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000169/scene_b04_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1634c2b04e82c3adf0da234b97ba3bc8d1cafe0b01e7c850334aa72a22c61fc1
+size 257478
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_003/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..17c716e79cd82dd8ac7e82470047c26c779a8188
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fddba93859641594820fb51851a2d3ab7efe0549bd902f01d848e636003afdc
+size 410781
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e1de48e1b169fa899d980cb7e8070d42c2f021c8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe4b2ef00f68a575d64ce4689e2f671ffae60bd37e5dd96d116f22014bc1542a
+size 157262
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_004/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bad43bc3900bda77389c319d6fea347e35f387f1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a62947b980300a8eb30447f899c6d05c0aafd0767e4e940909a5463c3c9bcd03
+size 401030
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..450fff9fecc8e78216df334eb8c6eeb182ba1f25
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad88ad3065cd7f184a7f95cbeb3b5a129db2eeb5bc1af5bc9110008d410b1928
+size 266448
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_006/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5b636aca2e8dbf0f60b3f12d54be17b5c38ea3d4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:758c20857c92df89a50da93cc3f3871e48f496f61836ec8771fbff11fc78bc0f
+size 313255
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d589867de8a5676bdfebc0163d3da2cf27ec80f5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05dc5a7afe7cd5ca566663f79c641258a47c029e8e18ab0aab827e844afc95f8
+size 202767
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_007/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bdcc2ed05a0d2fe2b68adbcde298861a0396f048
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4937e82bfee5e6c5daace19fe969cb6115e4fc24459cc886b09a15274aaefe23
+size 320662
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e2d261e7f90017727c7fcb8ec70bc84bdf6d67bc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5d0fccb602528c6f44239aea47dbdea9d507f7f70ffc4d21a6f4b8bff2fd263
+size 214438
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_008/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..92ca5d90f058b80774deb26c305d742baf3ad789
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78e23e2da881ab7073bc20bd6b2d958b04e12100c46a93ad28b8e5f043eb53b3
+size 303572
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..28f4fe3e41b2d8f0b4e6f62fb6c9a2650251b47a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5dca5749f9feb6c6e64dcc2bb2ed027ad7df6de3352503563995fc40675b2789
+size 233470
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_009/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ef6352b21a19c2b1d8c583f670a2d6d3483ef066
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04394cc55438360b192901554fa558db57f444475244e73526b2446dd99fc90f
+size 353886
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0e190e40cb7717a151823aaeb6a854933e5793d1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acb56315f3dd9026ac3e08ade9aa14e2536ee2e8815c2cfc8e98015fdd118fae
+size 243626
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_010/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bbc759c74f87afc5c0bfb74b78e27d363ba0d4c0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a602571d625a610dad4718adf67b3d01dca002bd0ae142e1bb25cbcb95772d29
+size 177815
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f6a8a3f3cb81c4f475d451fcb7124ad239441551
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf31ec387450223ee8adfea8372fdded86c50979b15e414851b41e5a7278b91d
+size 74638
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_011/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b274357b7b028bd6679665ce1f924198c757d5e4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:143e555d8c0aa5c869c1cc8d23c565c700a9cd098398a45f6cb09f5b9f0b4b31
+size 239721
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2eeb3bcf46901fe42f3a5078216be2f39ad0d0d7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b17b2f5775bab5f90da2d519d1937b3eb519888a57cfa60d6ac9e4679324ab78
+size 157827
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_012/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ddbb893b61c4dd0878bade5b156c1b088749ceaa
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a21c9f8c08dddf17951c5dae61f772a736f8e0c66936d26f697175160cb2740
+size 464919
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b8eb5f387c3bb403aa7563d6dddde0520e30e5f6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81f4095ebb1eca8ff3de697d34fd2954c5b5d1a865523c3858fa1312a02379a1
+size 223273
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_013/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..717693920db283a47c5a51847c908b56efb82c86
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5400eae66409bff049dea773c771fbd5911c65d071401ff8672b7a5ce5e7c07
+size 332593
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b971ac6655abe874f3f5183f62f174fdfe7e01e1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99e23729feaf7ee15e8d65bfc061960defd0410f355dec731f7d1ac0a74087d6
+size 170208
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_015/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3ae380e5b2fefc510e324a388eb6e403751832d3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b6aae199c7bfc8bccd2fcef2c81ba449b02a3f7dff450e570587a726f57d97d
+size 224361
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..67216638cdc69a03cc3ecbf9651336d2ee9dcffe
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ef7f1b1235cf0331f954a6b10833f6ab8599cbb78cc7ca06f81130ebc1240b4
+size 88938
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_016/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e7a75f4de1118326ac66d2f68f1a2b0074b7ab1a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99195fc0a0301bfb6c925cb6a861c47557a309dfb0ed80799e2fd4d1a7982485
+size 443751
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f90c1f1cdbea37005d74601ff333b1d02aabcac7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b00_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d620ec9504ec6d69632a6a665d51d09f40558a19233258ef3fb614ff115404d
+size 259732
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_001/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f668b83310dae5e1c88073be9d4dbd0c4e3cc788
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0f8f65350ddade8cef8e42f87404f760bba3e6b8ab0707a817a33fe33013dd1
+size 442311
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..791587725e0c28fb4d2fc1fac88ca570ad1ae738
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4384fcefd04a3e7f91cc25f491aa9bf51342801c20bb881a1072f6e4bef44fec
+size 249395
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_002/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7f2c911283694f112492b0d2bb9c9db314ec2128
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f38bfbb195480347bd7dc544777a1ab61d4ae3a6ee020c41c98b7192c1219df1
+size 450094
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..71f593c61fda7e7774bcc64d836039f302fb132b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db925d7f20c9ab8b3171df2e11c463541ee8c5a3356366b2d15143a3aa6322ac
+size 266473
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_003/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..68e467edbf53d15fc9c0d37f9ba293b3f20201b2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:330e9315428960f2e32ed036d2c2e85ba662c4089ae457abda9e2ec108a860f7
+size 596995
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..af083d2260dbf19ac023a0eb30bee7f2973421d5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd3308e1b912fc8cdf1c9cb8fc80c3947317a19e3912389bb8db5a9b93abc1b2
+size 342468
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_004/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6da4a05ab925dab4b618cce4cd5041fabc6bd33f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:578d4347bcb892abfb30ae2f9bb26cee509965c6333640ded12a9427946e557c
+size 447317
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b7a9481e20a712a0cc548272f381cbb32f83ced5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73521b827123e97a9cb73041d989c1dffe88b288d90e23fd3313743931152a74
+size 371786
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_005/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3693cecbcc77ae4b62a7dd2b18a99f4d5097670c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b780d8bde76849093235259f0eb883db0386742cff2543afbfd1eec51cee286
+size 415755
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..30caaba49c3791c141549106615227150dfa926d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08e07908d5322944f7c9828d2a88028f2a1704bc939853c288930bec6a9bcff6
+size 282459
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_011/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e4fc619a6d5e34db13be8b76933e4f3670cc5d89
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a4cf970d20fb1e5c6c53cd05514ed17aff4c1852f48a4b26da03db73b71dcdd
+size 513740
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..10e07471165f19456d5c1a61ea6a11ff0179216e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83924d5d6e4c828c830620d20ce2e9187353c73caaeb1c30160c7c15d3a8a5a9
+size 362611
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_012/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..491c02c36b7ef6dee61e88ed4fd1e0e109f31ae9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:466cd5cbbfb8e99f91173e37b12d0df27cad615aa27fed70a858f722bf9c8666
+size 474772
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1889623eeef6af47a5de583b2e628c9a383b75c0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12efa4374486d463e7e237301bd76f7449afeb5081149f4eb67c55bf58d76eaf
+size 298272
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_014/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9d3e4e19e8da14757cce2e28bbf7b816579d6edc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3dc6e0cf0cfdf00d0b995447d5f47787f0d7f4321c26020fbdae4463edd6e10
+size 281234
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1455dd3d61c019667e1ada9a2cbd8a22fdb1c845
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17a19c794aa56b831ae59ec1c5147ce777909b050c15c09784b98c1893159b25
+size 148529
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_015/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b9da53d604bdf23475461fdd60542c5589f3fd7e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:457fd1f568fcd985fd406f52ebfdfac519846e063019be3a07ecb23933d0b19e
+size 443616
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..101ca6caeae45fd1da9505069cd41748b8c6314a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e649ee2ab78a6b28769ef8ba11ec6869ae93c23fe58cce1b807308543ca10bad
+size 291527
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_016/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7b31db31d7c980126c17253f5e2d1d9b1916527f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d5b1f904544ac665943b7cf1968093d88c9cc4d6fc348cae6945a318628fc25
+size 447139
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..661001181a4d7b31cc3264fd4cc2ee3faa5e9d6f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b01_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32e64bdb540253469c0a0fd4a63c7842b4bee6805c1bde3e17863f1c1e07ac0e
+size 300907
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_001/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2749629152c882cb22ba015acb7b398d64b183a5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70d8349b7cb166a84eac982d60fa7d3718baf7622148d196bd570151139c656a
+size 306037
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a41edc2fc79412b1bd9f8c8f1898c64e9df67f9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4679cfaad160da586da06cd490b1e7e5eee9c4ae624b7a2342e1b9988bcf8a8
+size 181072
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_003/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2af7708ec3daf02d9e3596f3d7208170807bd91d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcb64b045554f925ba24aa56748087c7a13ffef37a0d3a4c507d74c84eedccff
+size 458913
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..526cd81251bc7728f993e0e9c878d64273142ea3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e18d41df4a51c60da0959063addc76ab4a6cad3120864573d9ea421c273f0c25
+size 209213
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_004/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ca9c7d4b418f9dbfef3eb4063d1460a201fe0efa
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:532ca99fbc81f098fe79a5245aa58d06fa7f4c65a31ccd978948d7d5f9d0a382
+size 417076
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9aeda422863ad1a4d29351745559c97ba4c18100
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:878c9c2e6d0eea388befa99a619be7e6bbf9d4ae0a1af25702b76d8a89d78cbd
+size 323369
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_005/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0fb6c4c6b1c6698f95cfffd9b1daf8fc73fca64a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c5708293758095254bef7f48208eab4b1f446c5be9a60d306c671f539850e50
+size 426417
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..114ef343ad552c9eee25ba1ca7e39a4014c57774
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:406a1d92960c7f0b392348d5045314905b843a8eadb1f5d26ba514b1b26d081e
+size 361561
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_006/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5ddd716c29d0e3f89cf3aeb5a19e49ebcb75d551
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f21a653bc401d25eec4e56a0613999ef4b609456954d7bb1e44272c898bcd7d
+size 488913
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e4e978486a9d7f63c5675ad9fa272e5d1f0a7735
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5249d714d25fcda789aebc7349d4d50f310de2272123f79c8221d03e8efb1f9
+size 383818
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_008/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..63fdc5228688b29edb27f63649866dbb85dfa8fd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c17ec214e545076626e296c09985ae1f5168a7358488c6a2ab532fb20d35f62
+size 244885
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6bcd620ccbc3ab061d1330ef1930d0cd78c2710f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c29c998bda35d1614eb5dc9c401f0d0a7166eef4fef013b7807093c36213f967
+size 130258
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_009/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8040d741af89f2cca4766515382377cc0a00cffa
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfa1f83cdc2280427f8dcfb1e6e2e80767d7a8a0d5d70f06e76c21a9181aaaca
+size 492084
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..301ee9f33586ca7dd1f0a4f733e12dfaf0998c10
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc7d1153122e43aebcf489d574b449fae831f1abea966f3871712b97cf4b1702
+size 381058
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_010/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..272e04d8aeb076d97fa002197fbb457a6772ebdd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20e2412b66b6451c0ce905de690d460d366f398dfd016cd6c0a1d4cd514d8fde
+size 460064
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9453918b516ffc4c4d63d17f61e250a5fe661c3f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ad56f9a6534c5e010bc41cd494624e7fa18a98e0688816da75371a0dfccfd6a
+size 326377
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_011/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e90e81f8a3c9848a652277f6e836230838d9e13b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:653b98609b4b3def64183c6b3cc5b98d58383c80bed7da51948b38b0f0d53dd3
+size 467769
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..70ad10a061d41b4ffe0144e50d25eba2316d8a2c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05511ff964693a08aa37821ee98cdf4583cb62a4f2cea7fbea5bce7fc85b3cce
+size 264076
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_012/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4ddd426571355fd247c529971c4577f429d68fca
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b963dc2799716526b886d54dc268d3e1cf458dd0a3bc7906358b91cb8807327
+size 378039
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..78dfcf51e522bf1899a7fa787a49567cc91dbdb4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fbf5b32f752aa488aea9bbbdaec94528d30268ecc8c58e28849822745a8048f
+size 215598
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_013/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..907242d8b69352dc9600ec2480d14dc1798a93eb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:186edbaa0156061667159dbc46d00efed2580d568a6e18ba08695251d85ef038
+size 426112
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ed96b16f2667dacb8ce862a43343ee2c5abbe69
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b350e3a97da7ec3947dd12bf3a31dc6da7740a70f5cc44bb80a12dfbc2ae79ae
+size 288705
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_014/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..12775cc67456a9a0660a58ccde3a203243a14614
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7652310de6fb1422aeb791f889f5891b37852512df8a29d61a69e9ba34804fc
+size 384477
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..afc4d419aa3dfa6d86ecc984fcbcf367e77d9f9f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61ce49a82700655c7b85c06a4295debe1ea261b28551de7e4aec98941667b037
+size 213556
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_015/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7dfa4951fc02eb352fa6042351be29517cc7c2bc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5d10e11ffb3e642a31adb5e8ffdd0d0819099696cd5643608a6d05bcda5a8f4
+size 218752
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e0309b79395244dd98523ecfd41a2bac0694106
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b02_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55bb5f5202878357e322ef2c877ae9b9fce7c7aa8eca72827611f625bef863ad
+size 95735
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_001/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..11cb3e5cf677f30b7a04ab390401bb795a9110c5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8640be868eb4a39fc3cb0706df71743c8c9391a8bb37edb3abb725407c3f73a
+size 237116
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..750c101393d925a22a8893a976503e07ff0627d6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:559bc2bc3623e87c73e89224ebedb25d1c9ca5fa2d1f507638669987e01cde54
+size 118713
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_004/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..aa191f19016605a28a7d18f66bc00e3024bde31b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02fbfec3abb88d407f1e9b8768922c74c2cc8d66c992b4cdd750ef7f9e0dfe4e
+size 388489
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a66f809a4ffbd3e3480a0cd5277e4338c4615bb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3db7b62dcabf7ce80beb78dce9c88e65d278c981c212df0cf8bdd7484660834c
+size 254274
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_005/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9cd0d9a75dc2ea67a746aa13ba292286a9d8371a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fcdd07aff7ae5f76f501233d12ea72d56ece0d2dd264802a5dd8abea400d170
+size 242212
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7cc64f5a3be55441d6f01c63226f44dcb39627fd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bb0d040abdd7dd25ee907d64511dcd5ea075f50502048519501283c0e456e28
+size 115917
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_008/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..41d9456fd67bd2988fbd2cc02685e826d5fb3292
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab172c4d1ba4aa044f9414183f0960441c3ec23403629e34f7f849a6d197c975
+size 409591
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..830255e173ea97ebe57d50f5c3c828d7d755720e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19153d29b16b3c20062e1b9429468e173a70c5d5c842ace65e5c6776a8cdad6e
+size 180827
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_009/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..64adc5507aac64ad6b46d3d90d0b53b5817f22f0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc9907f8bf0ede7a02694f97bf019a21a60ca1d60344797b781b6b7243352afb
+size 396810
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c37ad0050da4964e8c72f43bb17bd43609391996
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ff7196b2cf9915e3e7711cb8fb8ab23e7e46a0b7520976469fcd58332cc82f1
+size 274272
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_013/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1d1619436fe4f13c722e1a908ecb272061602245
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a82912d25682addd636bf61186946302902819416057e6cd7ca4ef0deebb82de
+size 450592
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f44a4547cacbaaa2c12f4240d4d8a9275df212d5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87d3d0f5f8022f5a93fb90717bb4e94afe2717fee4f464e85e256d4777d66d60
+size 323831
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_014/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b3936afb982a499cb47209074a6899e170621307
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e88189754d4149e969cb16e30c3dfa112e0f08b9adbfb63a772b904fdb8d1cfd
+size 283893
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..079076e132868acc4554ef4628df4b59bfc683cc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd89e088fff2b5188edc60c64abc3c4fe993715fcdb7d657d61ce8d24217633e
+size 151823
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_015/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..acf54bde54d2c81d00c3f0aad31651a374f831ef
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0799997ffd40e33e50c76e9573dd156d6ca222b052d22e7c557ff0631273f13
+size 299525
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..afb7ded17717d0ce31c73ef33212703eab957496
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8021d9905fb01452ab30c882e44a1d8b43460b8b121f22a22368626543f7a967
+size 164959
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_016/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8e4aeb19987edad37f854b4ff2eac0ef6d0e77a3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9064f8147c8a66eaf8c8b73861f2fec7d025ff384ada2032fc7a6c0c8cffcbff
+size 327937
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..76722e98705ca29bbac9b66987a74170d7ed2b50
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000281/scene_b04_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65ccc4efde04595e04b9ae10776d7e1273e28d74499c4b8491f044b61065df27
+size 172438
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_001/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fe89a4bc0e015b99c6163dede041c69bc88ea557
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a6cac06e996689d1ea29d097e110c43ad6af98921e551dd6ba6516eb7337f9f
+size 258954
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..98a37e98ed739d9b67d341dbabfc7a7a8599356d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b62196359fe10f8db5d85f922da354b6ac91bb1fb5006f32275c46d71b9e981f
+size 120785
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_002/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bcd84901c159288817748fee9ecc124feddee0bf
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fa5dff14c82b81ae09812cce2fabe74d244e1d1a10e86819a3ebc14f91038e9
+size 422539
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9447121019179f3d08aaa026d42bbbdc3d81365d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71742e453a338ae4dceab6f69c9e2a36b49d3f6ae9e7d06d5a16b34500f4b6e9
+size 259967
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_003/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5a674150fc2fe1972d0a31cbfdb793a79f8bab20
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfddf35f42eb9b3bab7289a02c2c1c9e35d2b0944a18ea1adeb3fc2394c1e852
+size 234449
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4eb2500bc56310b8e0afbf4b5dc8b479818bd8d8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68682248328f499f11c0a276678ef48e5c2e5c9d3b98635aca8df07bb79c9edc
+size 210901
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_004/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..06dedf3506329e8c00bdefc59a738d9fb708d551
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1204792f9e8ee0b99630720f7fda02cfe0b1f3dbb566eae3b608191fd18d37f
+size 337161
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..da36ee3f8e688995c743e1091d5430110dbbb903
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f168c905aa7668718bc864c61d5806792d4cee7cb47462f34e4f34ced95252c4
+size 290840
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_005/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..59584f77b665f5662b67edb0bc9397f8eec5e65f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3943d62a845c2c1d4ce4d46a0942f35bce19dfdc65c011adc7f1147283ce1980
+size 296062
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d3a96cafb606044394685e0488f764ed69a5d8ea
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c565bae3a978214f2ce52f571e4e399bb96ccff25b5909b7ac404c5f0d45efc0
+size 230185
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_006/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..02c6d41fe36a33e9112511c371d442932e8521b7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37195244a0ce2276ebc338970a613156e472ca9de868e0ca9255204d52257ba9
+size 267912
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0b5456ab73a0a57b4186c681904a79d24d878755
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9c5bfb7c75a283e07b80956561586d427e04c2038bd115df51216859b4f2e61
+size 229500
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_007/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0b1a1a0d2ece6f64680e1883f038c8ff5ae805b3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25cabe1b2813f43c478c84dc3eaab4d513c6f97cdb6b3ad221020a2f6dd90238
+size 501440
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ba239af6217a035c0a5d4d9b377fdb8c9d181d3d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24cdff4b582639f4a23a52226393c64735c86b03f0f274f667f5339b23a20695
+size 273226
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_009/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0c14d3700dddd78263261d95dc67d529654963b6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca62b29f515ac8a40b4900b511f8c054b3c225e905c7d0d7155da833b4faae05
+size 303033
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b68a26ff5d52c117ac76eb80f5ee5f13b8d454df
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a08dd2385058a458f5bf1f9fcc8e240ef29abd256e18fbf3fb40acfed3952733
+size 148787
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_011/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0dab64cf1d89a2e34a15fa561801172eabd44ef3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8b57b258c8d62c410a8b02597de8f236837b047d400e21f8e17d6616bd4701c
+size 444483
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ffed58db13f02d445e632830988c3929ff31144
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cc461132bf9c76ddfdf3c84379b8d6bcf4d376c7354e42b9e2e9f3da3258452
+size 219582
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_012/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bf3dd9ab6d2bda6a251795aa1b9d03b7e914ab0e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:348aa4dfdf44f2e4db97bffade7ebf54006a7487cc7369741b0efc3863ff164a
+size 307782
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..10c1ae717991c88bde4f3442c85725bb5805ad2d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7a0eea92a7ef5c87dd3178a3efc1f73b2854d242b50331b1b29fd3033fb3bbb
+size 131400
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_013/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..846d69268f86d2e55bd22ca1ddba99c4e6f87f4a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c6591f2f91596e91569e3e68f8206edc009af1d36d35f122656547b5bd220ac
+size 489390
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..54440153082fd84c6b5191081d2e93e1cc228710
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae9ace0ad294ccc3a36fff5469352bc6637f32a2f0cd42fb5bcb4ab04eaa7ac0
+size 316797
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_014/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..07edb261d36b69230e970c37d7a649886d89fca8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d383164af843ce5816e20eb1c7240c7756799c1e83dcdc3c806198d41ac5ecb9
+size 485785
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7c97a9511c3907a91d75b014047db78f2bb7c2d9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67f5d8975deda3bd9fba9840e72b738b966ffc706db23f98365f304a483f8268
+size 197137
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_016/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8fc289f61360133fa0b5ca639b784c17e1a22dc5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64360c799be04624c74cc79e7c9875306be19e945b63cc97a27f78f674d0eafd
+size 338958
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..513f873405f4289f81f95c230ed4e66a1012f68b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b00_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34dc0f74085a409c6ff42ec2d4e3360f24deb3f611cf15506994b1749829a9db
+size 313274
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_001/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d1bfda581bc6203106c76884f031de327e5b59ab
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdb6e4932c2690120491eb20ebf273dcd15d96745e126f488881e288d0a00db5
+size 438501
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..dfe5c61b47be49d4324909e87518a484d31e40ab
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5abac80a8c9591920a84fed4d2f23a9133fef91574437650d81165aafb814d78
+size 336347
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_002/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e9f763df3850f4aa936cd27c9eaf49115ccf6528
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e68ddb08d2a6b82a28b82a328b581eb680d9708bc106eba18540e5ceea85cd7f
+size 433993
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..632272e92300eb940b02ec667eb751d669d2865a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:419965c6c9e66b5a0d8aae4884474ee9f742998315d35bac04f1ac49f71a58c1
+size 284163
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_003/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3641bf361bde179240f7dfefb1832dd680bf554d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5f2a883990db9e91bd376acc95c769bc02bf8daf8b395fbe645a2eb25920190
+size 292804
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..946a209a93affeb5e2180d92aabb5dcded3d5065
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc965e3f12d902df6b8164eb83e0499b822fd222cb2112792bec5e683a7b571a
+size 231378
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_004/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c59ce40950908b9c2ccaa2aa51cd129c855fb0dd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59ca555b9eb59ba126675cf463e8bc2b4fb31c32b98a6014451ad9d51589aa42
+size 99508
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..44812a06414472954ae4c96782135bece29dbf8c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0205d404c6e2d0a675a16c04503da1e8a239847357b0e6fd15cd523c0c327aee
+size 57787
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_006/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..07446e769779ef4c48e14604c29b8c0e5d8be290
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eeb0e5e8cc95539c814134146d703eadb4716116610f70b7b103b052d9e2471b
+size 256096
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..27fbab1e78464cb77861bd1b477de53b09743a9f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5cfc1f10b057ce9bc699909cedc5dd7d65c7a5ae7ed16e982a73341e77936cb
+size 187384
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_007/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5f9c941093de643ae59c5d3532ffa9bb466b6f1c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9eebc34ccbb7a26b806efb7b65ff6492f954671574880e54ddcb705307205878
+size 263134
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a7c6f7842e59d89bea220f11a4499404f6bc8be
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e79e22c14cf334dd231601af7b7dbb4fa970b177c1e06f46298817d3cea1ae49
+size 98869
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_008/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cdb5af61bd40f3d957f4a7c46359141669b1b02f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7ab20c91fffec07da1500ab6d109a887dc04e8eafd4de6c7ff2f226d6fcd297
+size 322374
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..bdf56c8c31d29a81b12e56c86dd309797ce6d81f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6d5526dcc9169a9f6c187c464ad22d27b8f8064fba12a63d72a68e115a2cedc
+size 272928
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_009/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..76b5f3e8c8650049843147fcac555a70998b6902
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9ed9d58db6468ccc82858f342411beec6531a88abeb47fa3a2bc5c63f96343a
+size 315538
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c30ecdec55ae21c69706cfffd458bac0f8174f31
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15059357d68591a844f17c75804495d9d59c266c9f3bef7a9f255463f6d16048
+size 267479
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_010/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..26c160e0ebf3418f87e201f89732de3190ad1f9d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ec321e77ecd9fcdfae4b5c7a745ab28a1f28bccee76b4663bdcb904a82d84ca
+size 299032
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..acd52aea63348007bb6794a64e7f477f59ac9924
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:166bc82b119bbfe1feb535fc80beaccac9096fc56eb5ea32e46113eb24572298
+size 132797
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_011/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..58cccd012f5e8351ae5620ac91767c70379dd116
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0baacba09f3e8c5082ceeff56f1376a2cb9e56aa147ae171a9c9d9677ba18e16
+size 455060
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b2ad7cf5ccf64e44391df0e127dc355540d63d2a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54242fc196b83ccc95dcf9316492fe72acb63fbb2f13f748323dfc3f37e2081d
+size 295669
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_012/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3d0ffd18500fdf63b25774068bf12dad4fbdf8d6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db3e26bad4dd014701d71322c0141ebe5d30e005d2ef7b8c84b81dc2f06e24f4
+size 375962
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ae02e5616fae54c4bf97d3fdcbb81e3eae276fd4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86c8d302f3951b5385f3a5bb73fa867703a9109eb8fff49b989079a73119d5c6
+size 300600
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_013/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..62a39b6609e1581c92c0c9c648dee2bedee0e33c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1363e29263e3a883614f45c8c6674a7269e27390d5dc2b5c56ea4ad0c522e68a
+size 237368
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d74a1292301d36b4f8abeee31d3dcf95a9e50e4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b617969fedc5ecf19e90ad9b42392d0edc936148410a3c19947a750330295526
+size 181662
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_014/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0d44707db03d7fa1eac591da3ee4566ebb077a0e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbd5439c164eb8caf7ab6c7f26039aa050ebf195d4f813d16c1cb1aa7d2a961b
+size 515175
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b396127b544e3aa7ae2609dcf53723ec9f48b079
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c682c7c46ec5a2a1497dd85340553f354fb9649aee53dc29d83bac0f82ddf4cf
+size 287198
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_015/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..dae54b8595b01b7c502cb0bfe5b39b539e8db0af
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6afbc985cd6f0e6fe01b0428136b0347f057ad50ceeb2197c39c3cf2dde7fc4c
+size 280651
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c59f3781a7fd52347b8abc43947ec01a3cf296d4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b01_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a6498840658eda346b7c11b4cd2e3adfe69905fd5a3d7ad43336dae6015dbcf
+size 170834
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_001/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b30719012a682e4e3266c5ebef9c11b4b0e92751
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71fe5d7f35f2d072ca0d14ab6cfe49f43ca7df855ccf4db147c8e3ae0fee802e
+size 524298
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d83aaedc2692136823bc0b351151262e81c5db5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9b1cd50f94f5a6801b8efdc9d1d85c261e2a948e7111cde3a03f314760bd39b
+size 508625
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_002/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bf524130c55807b0b3ed9d7531f9edd9b42ab427
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:733c256951bc7c09723e34c381316b29339e85d44fe7d293c7ed6f1b45d26bd1
+size 379321
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a5a6fdb292e035f58fe05e01b854c1d379d12b0d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c808d387dd3a73b3eb2fb44f6930cddff6524de4397bd62ac8667175c30cf826
+size 231294
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_003/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..21803e3248b7d552f9b2a3d24e7b26f80393bbea
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f678aaf4be8641510b65d248da5c22f4ea8ae42d0e1a66042ed1765f584bc0c3
+size 342466
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..231a16f629a13074773b847f268cc15453e1b1e1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d250de8732596d241c32a3a709c085de7c5e54785b6bbab1bb4cb69739bdb5de
+size 197266
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_004/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1ca69811ac3da2684d5b7295c056b6489e74b650
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f819d0e1115be39c38b8f5c91ebdad4d6d994545cbb04b2f70468b6db6be16f
+size 360063
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a8596beee9780f4824cf3f87093aef6a13e727c2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d06c22006e36c6ee6a829e18fe9d6e93ecfb87ece54483abfaea4c201129e7ce
+size 258695
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_005/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..35dbf2c557388ecf9c88261e8f7906ee201434d7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebc21d0676e0c35329b09ee1e75b87b8ad30e2d5fdf864009fd922f178e07cc2
+size 318746
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..70a18d46c3e8e682ed15949b3882c3d0ec551a92
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9cf28925098c563ecfd5455c54428d7a89d55c7be71599389743e495eb3c5a3
+size 268479
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_007/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..683d458f0db58b838bdd461acf2579b791f2c196
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00c06683fe290b8da3ced4871809c939e2865f48c2bb1b9146601cca713a03a1
+size 305520
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..129da698312abcee8c7454b2befd2564c8d2822e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1922a9fa86e06137d487a332f8fe1ffe7783103c46e4564b479361499c6759cb
+size 210443
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_009/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6d036d1514b0561e92481b123fee8867c9334321
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af0f8fb1ed475c356d34f7dfa09559210149325cbde0b558c456e219425a6d43
+size 336679
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..162d53480287f763c0ffa2803b97e6cb298a415e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6018fe4a09b5df955e914c0561cfce012ea74f85425ed4706fd0ca56aae22f4
+size 248953
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_010/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f1723cbe3d24646d04eeecacb628e16fd77d89b1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7564c6dcb2781cb6eb28ac67fc5fbbc16e37c925cb0283023c957a90c69625ed
+size 575453
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0fcd3f7a2bab3cdd5cd4ea6436d64a296467b90f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:680bf207500be86357d3f0ff6a5c2df3a127656fe4ca6829f9f3f9499b9b3453
+size 448525
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_011/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..009c3f8e71425c12d4c8a5f9a307b9e40e7d4f08
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2442bbf3bde9bc3d9c0b9b09caed5a0193d98f4eb0d72e3ca0cdc402882dd01
+size 366842
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab780d8e5e5c4b4a842bec7b44887ff4623dcd45
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99977885eed999b700cd4d4f4c3d739dffbba63a980a80a118773ee99f008827
+size 309268
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_012/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d8e4dec50e866a813ae54739ec90393da269e96d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62273280cc9daf4802df5ed05e9c5e490e8e53d13d71958c59b2d5d7f55d4479
+size 344321
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d8325046c4fb118e942b9462edabd463c3395668
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24c21c60b3568297b1854f1667f6b363397fb1aaa686dd0de868e497197ee175
+size 227422
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_015/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b33167bf143d75b4719afc214552ec3c24deb23c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5105a026305a6693cee2157f3c50d52acf0da7dda491bbedb6c658c3fa98ece
+size 276085
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e3d622935b854d512cf777abdaae5a71867204f9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7dd9c22793b18e25284636046e3ea3f4ac64de1eaef0b65b303a3e4884a4eaea
+size 189121
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_016/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..29c3b13f3996743ebb15572e76ccfee126ba8d0b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cc4409f01e5539f1899bafdefe35467a22f389d31b6362f83168d01c26904fe
+size 399941
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ce2287c3b2f7e7357e437c52e6b1c92f85b86f40
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b02_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18e0fea989d15e95918a9299b1508361f3ff207da828bc2d748137a9247dc11a
+size 298803
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_001/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f455ac236fefb6540f27f0aa68a700be78e34fdf
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fed53c45aed16d8f3d4ed7671d69d729501527d880da5adc1ce6726bdf57f398
+size 298821
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ed0bb3c080aed1e69803fed45572352d9fa17822
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53a519232fceed59d85f3e5b4486bb6f502b0735a1bf35782335584c2e85dc1b
+size 146630
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_003/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c11200f621ac8e887928992b9b313f86ef2db613
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4bd17e92c0d6b8e2a8863bdb0d4cb46c166215974aeb9e22d963939a712fe83
+size 458907
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..27a04d7d7ccedec6ad1aa0b63cf40160e2589146
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95ed4a293f5e4a3e6da92791df8e83eb9bf61cc4498d51d067a73e26a7e188f4
+size 298362
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_004/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1a370f006d505f6e8fa08e201abea806bbfe80e2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ddf4fdc69c5c2027286d67c8ec83183e46dee36db1d35adfedc312fa168ec05
+size 362574
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..84ae9ca54df692c3d90310f7bdf771f02fee2c6e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02d9b1875fe799cbe531b93c89c59b2608626682e3c59a2d3c7ccfdbcaf7b3c6
+size 346778
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_005/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..380c562699b5ae66521a98f7cc87a50f0617b2e7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2b4a243287fd090774db5692b430db330531c3a49e3f2defd957ece3d20f294
+size 390980
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..587c097651121a00cfbd479579a3f6d982479079
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8019942db88098b2204b12ba30ddc3fc439f8c584727af4bc0e063ef65c2ea8a
+size 315403
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_006/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..098e6c2f8e05396607ffab6aed51b7a2eda6aa62
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94ba7240704baadc9726ba0ad2d4d6103fd6fd84098b37f3e3af14c453372f15
+size 454286
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..80aca90beacfd536377878cca979845867b2ee96
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9732364f8d1b28fedb960daeae7747bf9152454f2a141cffefc8845255a42f5c
+size 319249
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_007/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6fb0e9aaeb81470668cffadca86895de661cff50
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2dcdf7fcbb3c6916ab0316834f1c55478ea60b80d6b2b9ae5f2847b322fc63ed
+size 420765
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a8e6013d5350157a117165c38ce8362b4a29373
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fa708e57dd6d4f2778b8c2d2e0ee454f7bc6463a968657365779dd7e35728d6
+size 202112
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_009/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1af7deaef7bd4bdccdeeae079132d7ac03fbc551
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2a93d5b78e227879591c236b73c168bec4434d5b6def0d880ae9c0cbea84f92
+size 382679
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4221c2d0666080058cbffac881ecdd3e3cbe3e06
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb3753a6ca2558e04902e4b16f51bda85988d0fabf7a83fb0c4413b9f514495f
+size 344813
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_011/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9cdc8e1f173e3ca96bdd0db651f895547143640b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6372319680bf129a84d0ffc938f9f161e8643f6716dbe102b682863448ba2f23
+size 348617
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ed816329a85fbacc253971f094743ba36ade271c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ccb34390b0ee0db11bb46934d75c33b2b60ca6b02548483e3a5902662283432
+size 290407
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_013/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7995acc71c96f587fad8eb82ab685932c4853e3f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c8d8347c59864988926862547bfd21b857d9a4b58cd506da4746947d7d955c6
+size 371667
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b77e1eaa3e36de068cfd5f27cdb3cbce079fcdf
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b432aa7392fead820dc73e1f5febe595a62cf0144ff8399908d2cd18d5783f1
+size 272561
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_014/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3570800e968b5ad3612e7b86b7837e0935cf47b4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2275644e41ab19ed897909bd80c2c1a2d718965331939caa6c7355b35700360f
+size 344285
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..88fbfdf8bdd23ce6f0ae31947491f346d308820c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0feb98fa9a2a9d46c7b0bd0fa4a149ed501584408d1afb985421e414e17116b2
+size 278027
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_015/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e68ad775e8e10a28f752b62caf0f8a716782e54f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecf3597eb03d3be03135f74f9192dcb657ece26caa1e1054f40218c44cce738b
+size 408216
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1b1c7f6cd3d15de66c7a2744cebacb0df908c7e6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e418a600c23ac85ad32b9e0d6626f1eb04bf42a573eec2b8cacc665050512725
+size 227095
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_016/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ce2f7df91579b170687cd2d11078fee414e5f8e6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f68e4e5f60a2a83655a4c3fd5b7d364e7b3487e3ea7538dc6185e73c9eda44c
+size 490255
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1080835f935402613f9cb9758e3ec4f7f227f69c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000283/scene_b03_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c36c6d74b5b3df0b2f40b5a0c0e9463bb7406f43bef5b758c9062cbe41f18204
+size 342054
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_001/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..778cf3a3b69e28ade5379395feaac0b084383111
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0b826d88041dd333b9acdfa1a1ce4dbd4d9fdef43b6f53e363b1b6d72e23ca0
+size 557832
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8e8e89faf7c5d804dbac7f8c561f53f436a1ccef
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13323d0495693b4e471b07f08c08667898c7de22ec33dd35fe0029604673cbb1
+size 333341
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_002/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e825645f213f021ab001370100e63a5d90b824a4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1573957dede5e3d4c8895dc6548654907860bd4d9d7ba4d7b2dd6f19b463e092
+size 451528
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..652e10e8c9c0b5b839ae5a8569b6f609bf2dc6b9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:597d66e8280ea861bd8f3d87cd69658f6da78d81d2153e680cc21d7ed138a84d
+size 268181
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_003/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3ee4f78be802b48ceb5b2ac759542d9354c9c09f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb548fa44f323c283ba735d0de34720b40a736884250535020c10a950df15ab1
+size 538020
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..05d414fa37a4800ea6faf1275cbed3c281b09d13
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fb1ed96297cfb17f6fec6076842d24764bede3aa80ca9c4d257951b67b92085
+size 430448
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_004/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4c83e7e5834fe7dda3a426073442025b3cf8bd72
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e550e5afe995d27ede37c73daf7e3205abac0eedba03bfaf66502e0733132b3d
+size 382909
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..34a9fb17444d621206acd87a7c93113d4772909e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1509b625cbb33a7c383704cc43465cb461bc199f60f18f5062a187338a244d20
+size 269646
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_005/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b4cd6e100530fc8def9e8537d5a73be59047da2d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:864129b567104ff01fd72d60865e57b1c95ab32831b9497d6ec90c1b1740741c
+size 510243
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..66a5d664464c5289c23d2c38e5a7d214372a141c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12ae10927eb9ccaa936a5d467b0c4402155bf3a6b2470646df6bb632ef3cdd23
+size 345722
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_006/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6ecd21dddca628671126c58b9ca41d853b211b90
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0e3670d94a9fa1c58cb9114eebb62130481b64516f9119403d07283a4808c84
+size 199448
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7d140e4b6995708d66879968f1e075a7d866bf3c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9e932e58958750343435ef22c25b3855f96152f45c91eb4db82c45d0e0f2a5e
+size 125936
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_007/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1997f4a0707c02cdd349ad3c8a7afd33866a5f2a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0234cedf2f09ff0452badd599e0f4bb0e384cd69c54e09fc663d3bfdf3ad0c94
+size 594792
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..face731df3783f7ff525181ffb677433e3eec3d8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d09be9d6e5ed9efb030fbcd617daceb3db6efb639d5d1aba14c007d055669e97
+size 382670
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_008/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6f557217b147382a97715657738f54873b26c3aa
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25efee4bc9d50e8873006f4c5810e1fe36d00ee503f8d850f70833f6d9667d77
+size 327897
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f2547c70372f17cd3071c14ccd23369f4b111f04
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a877992ffced50ca3acc85c6fe996a6cd5ea77670e6c938d89ca2953e25c6ec1
+size 262354
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_009/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cd64fbe5c4ad01326ade8731863b215b695383e4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35abde870cd8cca5880fbe81889807eb70d320779593a73a1b17913759c424ac
+size 334177
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a67bc6f2fb780d120f4619e2528c54b276a6782d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39358a53d5bffc982a6507fe51e63c5002ba45c6f35c9e2d99b8b9142a94941c
+size 180099
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_010/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2d882410d4fe6e2452a99969f4db3ac64fbed779
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4720360853611ef87c4d365f861828e3f665fd6fb591f89a8d83e903f2690916
+size 377902
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d2846e4cd866e4516fdb2df90318ea624577bd8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6109284feddeb16b0c416c568684dc3b9a6840b43fd88a64072675fb3da082ba
+size 298983
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_011/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cbeee3144160ff5a78a67ab1b3a952894e6e4e1f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:879ff5a657ce2da728a1ecf504e8326e7fd7626bdb632da9fea984dec77efaf8
+size 319604
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6738b5d43e94fdc0c7d9d986108824b0ffe32271
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8745ebb619732e3c12866007d57a8fbc1061c86c49f5a54ea382adfa64fe1f29
+size 216142
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_012/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9aa32de62d85859e084902cb8a61e0aa5631b025
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d369f9d2e857767c4e6e7914bb10629b454303fc20c53e2b1df249f8f7ad9231
+size 336939
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd9e9263154ac48f23f427e99c35aa49a05bebfd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbe292fe1e3bf719b024eab68e1274413bcecb5f5d381eaf8121afcecb55d67d
+size 220817
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_013/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5d8e5dd3432f11f68268f4d58cf0a5477008fd07
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e36bc899e7a78eb0c6b7ab70ecc37a034349fcdec198496c62b3aaf7d94080d0
+size 290709
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..345d0c75bfb31b43a10f22b1a307567767910ddb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:799c17645ead76624484c4d2f132895988a5b804e05773fd32f8ebf5e42bcef8
+size 204584
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_014/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9a69ee811699b374425eec95cd38b9d44d60c316
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e897c8f16b22b1f942007314ea5cdf6c1b6565e8ab02ab5a3bba6433ac40065
+size 590430
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..86e8b3fbf877ffa7d83971e1dd63d05bd5b03f0f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a01726b187047abd3924117a516f269d1b6c44f01f382b0f311777419d6ec60
+size 368899
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_015/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..01500232631e88608a0f277a20cb34d2b82e3bff
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2113b3c64ed89c55cffbe8482ee5472d9593f5d53fcce2c1918486feaa58fe42
+size 351620
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..894fee4fb7c587a9f59d8a6d7e97d6c00edf0f68
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d9d7dc5eb6cda10c64f370b1d421642bdbcdd89256dcacaf575e305c659f95b
+size 199174
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_016/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..587af5827cff8452f16e5227dbb9a8b67e70eccf
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc533cef7ac3ea7a59f35294723096bff1a7295ee5fa94861a286f5af417255f
+size 210984
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a2859a611800901364007ddb8af15fa4016b2241
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b00_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32de483a40aea2b01f5cfbcc1868f9ada795f256d4ae80f50862e2f314124bbe
+size 176494
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_001/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f45d3c0c4f5311aaba55a2feb3ed3ba72a455dec
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ef5e47865b1edb19b718ef7dfb672e7588db9036957d76fe0e9f64b834378d8
+size 286258
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a2eb27dc8e1b1b48ba6372e77ad76c8fef3d455
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:937217ce4c829ec7a0d80e49e089711accbe3f53cec6af0f69920d2e041f1d3f
+size 166450
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_002/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..30569e1f3e329e002cdec90cd46bc5256a61fdcc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a34066405f88785e63cd3ff8008267327bf4b9b7b949e5c6e24c53a43bd5be34
+size 355789
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7ea060541403c02b99f41450f484540eadfbbae1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d103efb6aa0e7980bf7fbf2f0ed286b2009b76c7c2ed44408af066cf3e1a5c66
+size 193634
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_003/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..289a9fe7ec5024a66b3c1c20ba3ffe8b5631bc96
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb163c00fc7a8840fc915d7eb67041cfe1b061fea168fa1258849a535332f972
+size 370991
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ec3c53f78a0f8fbdc791dd0eb6ec84198efd94f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bd04954a86c9c685b63c299664b0d8c55a0aedb9b1fb55fdd4d4c33384882e0
+size 326188
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_004/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7920da5af6594daddac4d52cf797346f52e9e0fb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab5892f6a44b30699ea40d48c2b05c87f4afa95146315b36e82877c373ec649c
+size 206253
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5c675f5c18033e882e69e0b74c273b906fce8748
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d8c803f6e2261bd3b836fef2d2d96df0447e932b393cffef930c4222daebd76
+size 118089
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_005/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d498745f8741c2e07be2a07de5b7c9699317eba9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54b79630b8227b82a698e114fedd1d0385c7f0f30fc782ba0570a52d027f4687
+size 471653
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3aabf049e76a5c22a2e754e6959b7cd079682962
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00b262e5875e3fd9d34c978168251d9de98d9ffd29c583c67b814e79c89ed4c2
+size 311777
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_006/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3efabda4e6b8f68e392537ac3b7fd389dec85377
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0bb392a17bd89e3aed2b48aa93456f6cc42b719ee0bf187d243fc87daa3ae61
+size 358943
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..33ff1b918afb8b5ffcb50beacb9ae039db24565f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8664e239e6ac354f2d99e493caa3539a2ae6cc61e44532fb927cf37b930eccd
+size 202398
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_007/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bee24b5eb30a4c4454c4ea7bbba1ef9cf5eee5eb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30fdd3a40b6e7cb9dec634ab7462c9b6ec229201915ffe140533b8f744502c1b
+size 469575
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4cd7e489011adad6b1791bc6d62ca21a3cade2ac
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f19a2d252234917a2f962bbe2541d9aa8567bc598a2e8aa53bba9b4adef24ab9
+size 326148
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_008/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7f3ed5c1f11576352e4e7819c5ebd1fe180c90e3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ebbafab09e8c996302c8c67cced62e1afbe990819a4316a6e0f89f9a80ea741
+size 211975
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..11e659a42e9f38edefed1d8253cbe8091df8b666
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77cdd409dcfc92130f6a326d68056b87defd2072b60bbaa66353c0dfe341c30c
+size 126770
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_009/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ce15a1946ad8d329968c0e15c4bc8a7cee5ac4e2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:279fcec1247ed0b19cb583493c14a5c91198842bb0e87cd1cc529a7665045b82
+size 500299
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c2419dcc120c74f8f967488afb7578b6046d9335
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afeb1e86975c4e1c6276a1bad67c7b7d7acf087180dd63b63bae980ef8d6518b
+size 339979
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_010/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..94899457edcf401aaf9b0834b3eeb8d2be5b704e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fac193431cdd5670cb099036066fd037e718b7c29d2abd764de3166e1cf03248
+size 468483
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a27d7e4a080ddef5546f98855f69c34de82aa923
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88ea6b86b3bc50ef7455dedb0d7d17c6249565a1a981adab08f9c0b5a1ae40bc
+size 326480
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_011/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..004ca4af590743b145410fa760da2971e01f85b4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a8f86b1ac35f079efe5b93abfcc7e120ff48b154f34b27d2774c3b966acdc1d
+size 217668
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..703a1055e03ccbec19765b1d2d4a20de5e4df863
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44036dbf41811537f0888f6c2650f931284b7fe6d291d2c954766f491c2cfc17
+size 139277
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_012/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1a36392c3e993c62245c39dedd5058ee7c753f12
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:611a83b9dc3747a4173992a31522847a384b291caaf90728ee1bca981908123b
+size 346253
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1b158801233bd670d457c169a29279ccd94ca0f0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:255431fd74584c5cc467174746d65e7153bab5b527c1cb3e0edb420824932c7e
+size 278556
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_013/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cba454146f21fbd1d27cbda4f633ed77c42b25d0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5427d77ca352016ba6be8eedf868cfbac08e82c680a87d199b040afd297a6c1b
+size 342865
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9661fde3e3adb70b35ed5dee88de96f349143ee2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b11de098f090781e1ddc0f57af21d275291dc6b2a16f41982c12cf3155ac5c5
+size 213838
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_014/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ead29cb2e7017275030f936744d64c81b2b140a5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6bb4cf188dc1495455f3a77e543135946aedd284458f14e9fa2b4e465f9c731
+size 362898
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..58a2e26e21122c81fff9a89521fcc4ad6ae82f55
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c726e24646fb9bf15565e9a61272280246eefca1e71d590f65993b7ebe4a7030
+size 272832
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_015/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0922b122b1cba2764b417a485cf77d2941f9ae60
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ca995759991fb1dceb4a374a56c8b0f6ca45e5fbd219a8ebc58b7d2c06a7357
+size 388879
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3e6aac829599189194e8e1e896967ef12edef169
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d43ceb43aa1d75a06bab5a9aadfd731539a3c4313851b9dc34eb097da7d467b9
+size 335350
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_016/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a6e834728bea094311c93fb96cdceaab4f82041a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99e1ded50aa733678b00e9087857087ea5c210aeee5dca7a606121f14fb97cc7
+size 188865
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd1ba7c1ef6dcbc154be6a5cb6a7a7b1f7df83e9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b01_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8089ae94aa5f1f277b888dac6600aa5994be69db2eea7e1e5535a2266cccd03e
+size 112350
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_001/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..86e2ced50995f1bc086e4ffd2a12d154e4c18768
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:254a63ff2776a4ffba334fadc9baf9bab985e3f4020c1ff37c64d4c0d536c683
+size 394996
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3246a925aa9eb031389657b9a4d49a99d9031a20
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf7c452bce30ae0663071463f4d3e82191b28017734463753f0215c320d9d861
+size 235422
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_002/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..028a8cba183ee621573c01e65c15ced64be727af
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcdd8e59dc84e3edab48b6cc7c31f50029978e27b4394476210d571e328d9345
+size 343660
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..840b9038f6bb1e30fd8ec41f181292e49516fb1e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2c6b2e093233a0407e50c4e3c7a3222f2e6d2ff695981c58e81c5ade04a6ebb
+size 277749
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_003/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..92b5fe1f797be7da664f00206f48fc73d90e5f5e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff1925bf5cdee81442e3321cdb7c1b5cfcb2a264e2409b02a99ec5bf501db8d6
+size 417613
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..aaedaf88b90516bf2dbc21d66ca3b4e96602561a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a33962e6cb028f79a63bf9f62c53b07c609518447fc6fe9ffc8f571522dc7bbe
+size 332593
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_004/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1939b53d2e8efee04fbd70d0341341bd00c27b23
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:172b90131e5cdb10a13b9fb789fba426e33660090dce65c96df03d3446197e37
+size 368774
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..560851001ef2651baadd2207d4de5c9406a4c957
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83785e2e2155c7138d2786b6924db39cf70e0b72f569bf5e719aca7305435ed8
+size 281602
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_005/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0ddde4f75ad5f0a2238e195fdeb2907e8154cf3d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b9452fab010753917d5d4a66ed8d8be7265958f47afcd178a48599fa52f7592
+size 347961
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e4b62631ac671fb35d7418be8e47058ef8911d82
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f63c7401b7853b8d203a0bf9ccd1b0ddfc44464f8294c15c8002e1cd44e5b89
+size 240409
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_006/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5a4286e068e861f202cb6e30dbf8ea4572844877
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c061efbb5dc1880c7e4ec44cf93fd7c8939b72c52c04d542cf0f00559fb45182
+size 450906
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6cd766ea008830afb3df6caa2ef9d75f72c7890e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4dafdd35c75322057fc22779230efac75851042856ebcb63e8394a4c5783a0e0
+size 313511
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_007/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f0bb4ad4ce49747ceb5c3f5dee2f84b2e355a037
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69f7e565457e2aa04a7ba85218b7577cebe057fe9be91b42ddc8a75181881d00
+size 359120
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..38be2973f356a95c3a4ad2d9312d02a51770f761
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11828fd8f25e70623d6337d2e8c6dfe84b0f6d11e396e842b40d7f1c9b193f85
+size 278966
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_008/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..76fba45de09a28cb19160cbbc6559c7b74e2fabe
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6568366fe2ab35f824a0a531348b8c813d31a60267619b860fc308c948cee76f
+size 446764
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..251ed48843c6fc8aa8d4e14d61a08648ba4ddfe8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef71602900020058358eef1f8d2176a7f2521c68b467a6aa82b0ca404fa83f68
+size 321828
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_009/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..21f4daa54639f82374992ec349376cb52d247e5b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f425c9aecde67dd6d8523e03d2341aee507637b217cb65db2740e6cd1a90480f
+size 475137
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c919ddcf8a92185cb243979c05851f38698480d8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b1f3259f38e16ff108c143a0ca7658faf3a3b8945748198417a0528187bf1d4
+size 325872
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_010/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ce4f84ee1fdcb0b0d0a25f09580475e8331dab96
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc5ad73a66b46dff3da0a1f0583fa0f88b19834e56f7587af7868de82e73ff3b
+size 362080
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e0b3cda98372221769e42ba327995d2088fb76ab
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c45e8411c31460b1a5228662be9ef081148d2a303e9f041c933170eb2be66977
+size 273834
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_011/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6e45fa2a16519d431ebb8dae034218fefd64bedc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70f84aa9199e9263e08a9ef7b17f4b8228df44f2672ff11bdda1aa619981a936
+size 324383
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0eaa2bc2977575f8a3d1d48abd0093045dfaf318
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:318d20e68cd17b7393cb8edbf7bc32247435f762499079c673964d8948afa409
+size 261727
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_012/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..21e83d2f9b49de2ff088bc458d96f91eaaeeb2ae
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9023c54535f0c3a463759eaec4a024ed6e5731db9f9093f2c128c325b525f91
+size 462519
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f5a1355cfa99f11516428641f81f6025971263a6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f9be31c96efb72c995561026a1e1338bfdc7fdd6d5ea24cdaecd1c1bc09a1ba
+size 294709
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_013/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bb151ab2e381f509dd6abd657c84ec5917d690b2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f81e4303c91fe91c51da53031f33c6d4e18a1b14472334c47375674f1510739
+size 367663
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b618d9a2a65cdd02756a567c60bd6476b126f38b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21303d5acab645e4e182295ae0dfd5b2bb7f10db786e887596e7057c5595ebb5
+size 312404
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_014/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4327ffa6ed371bba6ba7553094734ae9b429caf6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a376d00e80fc5121ac900e910b3ae638b0a31c33c34def3f5f51d2566a614748
+size 349491
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..56c8d1204a95cad78490ad2eee3f10ed9d3fbe86
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d6490c7f788bcbbf4e1ce7df30f354b1776f88897d704bc88ff976cded64e99
+size 308912
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_015/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cd25e066b3c24d10f0a7c368a63099c7114e906c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc065cad6c51e2c7244ab99762808b37a8cefdcb97cb62488e4de35afeb85708
+size 438937
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0436a09c9c6a3abaa1c5e7c01abd0699f2dcb010
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36c47d55576d9596584ceef44d19af4513b2f96ee4e69d164a84ccc92fc75e65
+size 295398
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_016/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0ae694bf9371ec3bfcf8a62a37498171aad3f788
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7413602cd50cfadfbe58aa2fc22e88ae4e21a0ebbbefdda1027793ccd871fa5a
+size 277582
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..24943e128873dbcfff8f56de9863aded53cdaa1d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000395/scene_b03_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2fa59c657b10c94bf6f1c1b39716cca32e4099b95e816b1b1239cb4e6adc1b5
+size 142220
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_001/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a921d207984eb64f8e8d57686e57dea44a9f859e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fcdc3fa1d8c2f7635d1dc7d52fec2773efc0deeba60435e2f7a8a92ced09701
+size 192563
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac8018c365f6dbed3ee5be0c0478719d8881a05f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc9ece8f111480ec4caccacd1ef2315d3fa545bb43c08c524f329e9885876421
+size 92974
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_002/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cd21cccce7e3372bc1e7441b16c31bee50e7087e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95d63baf761d6726393b1813a608e99ab5724bf443888655304f67a584e861a3
+size 556934
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d46ceb5c652657b294c16173cf4b70597c794ce2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:609e5a8ad3cc2fc3ea9a61b756c0d99528bc81809375942dabdf4d22db2c2881
+size 418179
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_003/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..25559a8824702199c33273265a05e83b3672bb1f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb71ff024c0a0516d2de34399260d38cb81b5e185179061589a9faa9957b867f
+size 681618
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..85b1077b6c335671059371424350632ae9be7137
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:348591248e446b465cc0668996244653348d6ef8f3761fe43df83b7e988f7df4
+size 479773
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_004/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..be910f1aceda23ace2a8feb262e79f5efd27d3c7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:996de773136a2e6753847feaa2f93ae891c6fae5127a2f1d8a7798bd5be9c667
+size 342574
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5278a6d1f608e5f4279f9900575bc259c28e8b6b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9c0154a94367b73f42240562e617ee68391394b7c68cd78c15a67ddedb6e0c5
+size 214487
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_005/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cb877b2f54b15f3763ef577fca5eff0cbe649fef
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfa63cb1d523599d74079f9cb889ecc3662b60ff5c2a2360d09c25f708becbd3
+size 416507
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ecb19a76837d991f6c558f157c3550d602a6e326
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd6ea5bf3a85e79dc3dcc26b4ddc26d6e13b591fe24d44d653036f38dc39658d
+size 320016
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_006/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5b979b23fffa389f3b3dc7f41a9adfd305f20c91
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4518626bfc1fc9a2966581c179e644ed305532328c4513363f4f109646b8e969
+size 296798
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..989993cfcce8b949ad852546bfbc3777a88cf596
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d791d20d84cdde4e5fee1ebe3d3fd0fedb6a335112a4c26e72d4f8a3bfdeec2b
+size 154055
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_007/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5c05ffecbe2790029f0b347e09f33c579740b738
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:baceb0d526bdf9af0c81c9c0550cd1cd23e73a97949228bfa994eafbf257a2a0
+size 590247
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..689e2cadeea711edce0555d3ef7ab5778df4bd65
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c1f63145041af23b73bf90c057992843f0314e67d2e890e45c43d11eb271118
+size 437464
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_008/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..33a51305521fcc28bfabdb066c59f6b4e380738c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e787f741ef3a6921ceb324064fe77544e8b1ee24a51bbbd1cc89d9afbfd6ed82
+size 709515
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec924735ec6dfdff8450050e8aa5d36665f78b89
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a692ca7858e79c96ee41d8933116346944b57cd44a0d19366bbdcdf30df9a3c2
+size 413758
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_009/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..83119254c149b7d3c4efcb4dd06f5f77901a4d4d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8371c4a17abb24c07cae55e7b1baa40b5759373e3d5456c94cbcde6f69336e4
+size 347585
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1deb9319a7a9940400ada7e12eaf84ec4734b6c1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae0239a55e838e9959757007381902dab6ad8fb8ce8eb4aa08a657dffe57557d
+size 226583
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_010/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ff6294d87476973b4b3e58923e9d7dc68040e9ae
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfaab8b7ad6ad2302a6daa3db7e36d42d24a0ca9e37cc54d66d96fcb287e3e60
+size 300341
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8c8febeda239add8f4ced6fdbf23b7ead6bf0c07
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34dd2f02085de362da42649d59a4e635c57ef57c77dbfa3c7c6cc4aa049959c6
+size 141637
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_011/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..96d1f3d52767868cb01939eaa25a7e133bdbf9af
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17279aa450b4c78f5c205d2cc3dea07187299da94621219e3f8da1caa55555bc
+size 539439
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d60e6fa67427c1929b06090bd34971c852f9db5d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11fff3c22cf387cb242ad1e8fac8d88f817ea8df98d3a3921ef304394fb38aea
+size 385785
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_012/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..eb6cf9034a0e448d8f85b5b67826198165cb1275
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44c5984fe87f2db85ae4fb162ce6ea968b206192e182140b0fe8af25b3d283e1
+size 405785
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..77b8eddfe72105e37efbad144317612c42151bb6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d02f056afc57df4238db8066285460d85263df985bf608a0839d645a926d03a
+size 205995
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_013/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..04f687de49fb017037b8b6fd1bf5b1d048fd7ad5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7811450dd9a5e0df61ea1e92a170877f81490b222c9f0edcff431027291e9eb
+size 465967
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..087d24e48662237fcfe2038d89d3fccd120b4575
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5db87ecc922d9c8dd2d403c2495cf1f2175c1c747e4e6a3133949983698fd315
+size 332857
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_014/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7406e66739357e7226a8d6851b889c2df6c57e8a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c09baa47873ab7e3fdb63e959972c0176c3c16f9a1cfd44377f43ada890de34
+size 553443
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e812ec5ee0c5172b5562e7ab3d32cb3dca199ee4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3255de2431abf14d9dd19ae99c716d6929eae8d1c066f643c38fb321a601afa7
+size 409819
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_015/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f1af27fea4bf63eae31e81df96d18a4af2a2be01
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2efa96f6e9782cb6aa1a7b09f6b046d2b8c423316c3d96fc7dca211d00904c11
+size 552441
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3bf86dd8d73a50ea0910e6c735808849aa27a46e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5059110aca4d89ad25827cded396451b654d802956863d76d4d4c1b731b60195
+size 409925
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_016/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bab574a212625d535a829cc7b246146db64593a4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6dd4927805f2400796d17e7f74f20f033244413f94893d966aead2fa33837aea
+size 511506
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f945eabcce61eae7ad8d82cc933332b893d20a79
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b00_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afc386677fa958eba0b1bd73dd52a3eed9aeeb5cc1aedb3484f78795620bf67e
+size 421218
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_001/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5228dae2ee3be55d4fdf4ca4edbb01e6ef46f31e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bc9c7b9079cd5609a62348f6f8e3506f17bc6b4ef172a944b0a6928a8909a64
+size 796943
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a591429047ac5cff205f098b4db0400152621f88
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4732834241b44daf8131daeb364473d6172c38ad29300aafe4e02f2fe0dcf511
+size 526912
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_002/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2cc6cd8f2228c1b6b3547e2b9404d89e03592de1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb88e7f5b5f940ebe1561bdcfca7a6b4a7fa5afe606a07de187aa219a40945dc
+size 775698
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..44a45955cda51cff6d8949c9446a28e8a52128bb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d22b21bda40a52270f8a47c4bef679d04dcb2915d0d95dec46cdf4a79f2a485
+size 413986
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_003/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c01b6bb7ef49177be94ea781438c5b911cf5d13c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:768e10c3e2c6e5526f2d03b85b0c9244b98b97f969984d7b164e4937ff93e90b
+size 679945
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c505b05e26f0eb6cadaaff54789afc403c37352
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1542195ad38e60f152b7fee769c35ef84209f798509d09738e16efc59344e75f
+size 411322
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_004/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..764b43071d974383618369c0e16f4237a83c9c43
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:750bb301f81ef9cca8759ae9408054d31c31c4ac42db75276acdb52fe5a6a30f
+size 341718
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..39088d62d70208226a74b0ac06ccc69e87227489
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3330b651e6192f1031360469a53d399e0c3e4d66fc0cac550a24a3f6e7f66f04
+size 180248
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_005/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..45cd84733c9e953fff967ceff08031c3a46b1ac4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c268ccfba69de4380b6ce61e08948a1e572898978154c145a22ee17fc0fa9f7
+size 366988
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cadff240aa34e5d6ffc8aa2e885fe316c148beaa
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85a60bbc2c492ff94da9f363d545ac0b223539051286c7c5377fd6e51b62ebe1
+size 262179
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_006/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9ec4d08494cee3389ce6a8647415b79f33c45657
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2c095fc4e0461222d3d314d6ca553cdbc869017a6bcc5b9c30076d0d1169e7c
+size 530232
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..acee0d103d925129ebaf838d4a4b07e9db9b6169
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:781123c084cefe58a3fe8a9aaf7d9b8be6dcd6e44b3317a65331d5fa249f265d
+size 318196
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_007/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7b99cad18315a89d06c9a876ddbb35f2f03d788b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fbb70637ecb57bc994640eb3b4f125391c5b2615f847a24bc52029b9122d5d1
+size 688149
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..659a3798fe36b7e0541f3226f86510b027425064
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80155836f58dccab26d9d51f674ab1093de86fd14012b4eb0204a2f466bd5a56
+size 321419
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_008/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..53c114c6eaf3b5a47918315a5482e5809d162325
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32c3a39c5fd71e2f832e72170d05cd4d2ef184e1f44677e92512ea6676435cab
+size 417564
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b5fd81f2e2356bcea80bf0712a5aeae63b85534
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c28fce8f45875229b97b0e782ca74ec835d5bb0713015a1d0804f22ab114ae0
+size 223775
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_009/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..824d5a28cf417fe380ae669866e81be12dc8eb2b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2e53a16aaed6dcc046a4173136c7d16a4fb454051e0254ec5c46de546b80d86
+size 477331
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..01fc1ad36d37f1232f92ae0ff42a6f45261654ad
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32d4a5cf095b6703874efbbbc8bc9263dd6582a7f1c9d326f31958de375ae294
+size 266951
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_010/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d528329f19391d79053da19ecd6d903b98d29586
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70da91d2f3e83728ca094bcfa8da789d76ff6e4e548b0728995c7a46f6fe50be
+size 429426
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a5c2619a5130d8a780ed024e351029f344701dc5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:811cd1adcf2e817146b5b11840a6455a8fbbfcdf2672304343e310013f712417
+size 296223
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_011/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..adafc065ea80e7fdaa9e9e8dca832b560b70209e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce28ad36aebbed17a71b0e666fdebbf2b033f1f319a9695c712e7870ae8c637e
+size 348524
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..97c9e0c8580042f6a005ec0e17f90a7d8f240300
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b918ec37a193d07ee04fd2121008033d08d74a2cf3e68542ccf2d9b830bd6fc
+size 221695
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_012/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0c102f0556e12556d34be790ba6a05f31a40c299
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0a25e4ddee12d9f3dd44c86b8b117835f3891862021aa1225f0e93f8029e2c4
+size 613783
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..66f2ebc8b05a5e24641ad5809d2664d81e18171b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edb379e66c42053a7fcbaf2cd13eb300bbcdea43983d2a1a8f9a7df62395c212
+size 418996
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_013/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2923220bb03f67689363c707be7d6e8358c516e4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:829181078fb91fdd05be064a5b93a66418af97f76533014e59a4f02bf66005f0
+size 521990
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..edba50620be23de07dad5e14e91d79b657bb0937
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a0b244439582cace840d1b2a179928bcda99b15f51262288cdeaa235321d140
+size 413171
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_014/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..945b6700495b9c4f1767955ea36970133eca043b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01f9eaa9f0c19392c043f9ecf219c0615c5a2c9271e1170e46f0bab05bbac2a6
+size 585367
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b5272c54646c721fa934723558336793e053a77
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69cf8d43bc4aa4f596267686cf0e1bd66c2e3dcae474779851e74f97ce8c69c0
+size 367476
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_015/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8a9c36e08181da582e8b32a86e49dd4bc9d4e4c3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f615ecfbd65642ba2dac3e10eee4118dd81cde826ab2c224cd17987a5e03abf4
+size 132384
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a73bfa34a1677641c0621b33c01e903e4de0ffda
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0582e7e6136e64fea482065b8fa4015af878fe7498ecc2f186131806e738f90f
+size 100651
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_016/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a90ffe3e84f904860f42f5b5793b3b20d5ada04a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eafea0ae5751b779cd0830b18d5b57aef81e52e74ced7c70c2de5da9abd9fc25
+size 484611
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ccbd267ff8b10cb7a7c21e9b7966996242c9bfc6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b01_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:816c7fb81722e3e96ce1f6e82a57c468ef41f9580c98aa7ea8dfbdad2e718fe6
+size 354004
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_001/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bbb606292dc4223ef5047af765bc60159066cba1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c440f6099676f4ee9ae035b5bb745d83aa2f84b9551256c9dc2d5d090e5991c4
+size 782421
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..620ce12c174d86deed58725070491ec410f83468
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f1515b5ace386e78aa7abec2cfc0e53b5a2760f7f9c9d61c7fd6cd08cf54d05
+size 439526
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_002/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9340bb4b534959c3edaa6f7da42b74c1c322e11c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b63a9468e43699d6245a7124712620fad6d20f60a5856f14f402402a85822c1c
+size 526238
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d44fe06305460983486b01231604f5daafe590d2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eaf9f36325d284094571f8169584628d890f487a2282a556d6c9e8e21af0d2a1
+size 277323
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_003/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..654f51141cb5cedf5a26e11679fc7f76d151441f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a837b06f8945b437f93d58e794ff45b9b50dc78472fb24fde27a031cde8b1dca
+size 739894
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d8d2e9f11d28eedd90977d9c5ac07b73b027980
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcf195b03784e3c6355128797c89705bf15f30e2068d12968616e83193b759c5
+size 513051
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_004/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..430ed7201a046d4f33eb7aba300f6f6facf8654f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:801e0382796d2e66f362d0c144b725548c7200ffd4612c43ee616661600a7bac
+size 450154
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..20e369f109460b0da2f830f31ec9a44ce75254d1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64a03f551a0e91e0406c76896b56164adcd159194dfc72e066611dc00d38e683
+size 242894
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_005/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e301a4a544dacf56b2bb583b550b85a81333467d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e19eff271eba15b5951483b84963de8b873e9c2265eb150ea6cdbe862d0467b
+size 293885
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..acb74114e1aa64ccb7c2bbcf13d6116949b02877
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e3841eee0cc2c8a23a96dc55c70a909e938605d96a9b9b5fa31b64e2faa2c75
+size 210406
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_006/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5c48124c1af5719871570b043bf74cf75f0f115d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df2ba6d3c09f1a9a731769eab8aef0ffa97dbb0527ce12daa386333337b2beec
+size 356810
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a003e2f15eba51171a73af102fbe010c959eadbb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4858579d0b44827518a23e95b7b9c3d16e059c4a7aab6e30bbd1b9c09cd7ea5
+size 206347
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_007/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..557e0851a5de3e61a65b8772d41cce5d4184e825
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24e81448ca5ac70814b402f8ac49cb4e6b322e84ee732de288eb93fdec8aa2b2
+size 703147
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..79061191efad5ed9ce4e3f94a6a9c535149f678d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cedcdbe22f7f1059e011139964f1ca8b0b14b93daddaf6909ca47cdfb9da08a
+size 449469
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_008/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d7dd565bfec95c099e1ab87ef8ff085b7ba182a3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:522362ead70a2c94cfc2cf32b2586b649cdfec88cf75436958dff856714fd109
+size 487217
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f01e005de0674167cc7380856ff79684de31c34
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcedf3ee2fc484790adcd467ab6edd8422e0af6bd34fe6ab41104dc7c267d609
+size 232949
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_009/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b0b90a9d889cced0513a1b85b994fbcfac015169
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36a68cc3d3e0cbd0a08ca391a335080b2d0f9f3087458ae59da97b85d1ddfcb6
+size 598001
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3e9c9078401ab261cda0b10259b18015fc178cba
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ea601c589d241b2fdb98d88a1ad4ef1567d7d779deaaa863a80d7f50995591e
+size 443134
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_010/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e9689e371dff53c02a40451a9ef4688401c61bbc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac7238a87056b84ca0ff56528d249d05caf1adba0b24b6a85f54f1ff828f8a96
+size 734005
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a463a80b21db5a5c201360cde6cb52a9b60e6894
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f994256b7b9825c196cec1770c4ea029114d0b4873a78c3fb90a2aff882d3caf
+size 488730
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_011/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d61b760fa313a1e667880210be81b3d581cff2c2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54740abe663993ead0972f4e1cd1859b3e99a94d35e048db2ee7d28f570c6963
+size 249434
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5345ad70851e0eeae5e0dd91dedbfe3baa769ec4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1133260338c00464278b5f3c89e76691e8ed73ae8f710c8cd0c225b46e5b8f33
+size 136770
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_012/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9c87d4886fc7de7a62c65cc285045194dee6c8ab
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac421e5de1a845a20a44397bbaffa4cda13632482a4f1ed304a396374924cb1e
+size 487329
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3472cc20c6e6de7d42c53334dbcc0f1558e9a7ad
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fac3b42755d4bdf82c0d3a37618b846f514bf241e656810414ba7bae08c702f
+size 253618
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_013/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3f58ecb1fbea76637732351771ce1f7fffd15131
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:323b6eb6894c588995acca36fd915a3cb818349d0b089fd752c5c7cd09c0d516
+size 433325
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d023e1f62fca23d7599f7db3ce9bc65e1136a24d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5d5656da5effd0088504a20d7fdad41f8c47d0a0b8498870f32e6e333118fc7
+size 318744
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_014/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3387495a57131c14a1a19814bcb3daf947981d6d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8ea79b2c29185901acb646c4dc6e98bfc19a3e3844e8c33a2a7fadce4659489
+size 323983
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8cdbb36923ba85e061dfb2130abe685e0710dcb7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:790a1921a5e7a7b64fa3cf2aa0be59e1356128cf3aee67e8191ed964b0c38c42
+size 141659
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_015/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..97a5a5e4d16cd56b9a7d740a42b43ae659c166a6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86ba2c09def78b19fecd2926c32a322b3de2940e171959db6dbf240b153c9b3c
+size 425525
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1050894a103c9ec0b00a57697f516a8875e4c538
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ca01dfd64505907fb728e985d32e66efe3763270d33f28c321c873620b3639c
+size 233117
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_016/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f2cab7cf937539f95cc3bbb554ee010d9addf515
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff09b0ff7ec63c246222fb6accd1ad172d83ae8140f8fa2503d5b43841e6780a
+size 648545
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..47f0cb5dc3b2441de8b536380ccf9ca58c60df1b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000496/scene_b03_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8dc565f79e0bdeabef9ba68a24175b1cf9c5bf0ce370256647e94af746c216ac
+size 469615
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b00_001/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b00_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..67d525bf96030a315a926b59d5b89fea34993995
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b00_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43f41fc1126710d54bede7dc2a9611bf9d157d964e5273d6a4107b11b75e1b7d
+size 763200
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b00_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b00_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..57bf587ed4551ccd57f3e7151640c8c274188cf2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b00_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3ae98fd9af02b29f656b4513f89e4831abd7b07b0abc0a5e1543418e558c829
+size 476739
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b00_002/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b00_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..053d914674a534b454c0cde7cb320fbba1ea3794
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b00_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b0e4062947d29bdcf1f676487bdf8f257a693356a0214a720027e957d98ac80
+size 532072
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b00_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b00_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9490e9439dfb25005eae7154695b867fbf284f7f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b00_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:275e86d77eca844638400f9bd3eb66fa3aa993081d7894e9605124f7380aec64
+size 447363
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b00_005/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b00_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8dd1cbc76ac9aa5f95421e15adf2467bfa22fc54
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b00_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7550579706770f73576e62fcd470542e3480bae86675211c5e20c9ef862961aa
+size 503327
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b00_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b00_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a7b35c3ecf5e0bebc691c6072978df26960cf6b9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b00_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54b17bd70670aacb82ed19bd9175991ca10a4316dc40304b2259004789af0de8
+size 336092
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b00_007/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b00_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c6b783c4ff6e32e9e7290e4489ad0789d83301f7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b00_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0675281f079918a72264b3c88af11eb93c65b4aac64ecaedb3178f2044696be9
+size 627845
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b00_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b00_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..08050e74b677cf25fbf145fa79ba3cdb47ad456e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b00_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66442b7eddcb197fd89d30bf6112dc7c8a3b652c744cfd54a580b488277d5d46
+size 461771
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b00_014/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b00_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cc5ee1a5e0624e8ea17a14728afe1ed89f171910
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b00_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b8364d157eb40acdca59653c9f0ee7ef8819a7e44f67c980417dcd22288314a
+size 732182
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b00_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b00_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f3329b4774d2ed44c5381e079a6c6f4c9243db94
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b00_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f23dd8c024f513aa1b876eab02b3bc1cc1a460c17d28dfb0c16fba6848a25d1a
+size 465946
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b00_016/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b00_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e0ab8228e6a446d0e126b7e0f9350f2f9cbd11b9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b00_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff8f8b737c9ebe511feac370e0aa06c4641c9b5d40aa58048749d7fe486786d8
+size 730678
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b00_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b00_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..51bd225cbbe8030389ed2f2b67c9fba576966bbb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b00_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80dbd7e983c3a22463bd83db6cf8f79a315a79d57007b769e0d2da33e32c9cfe
+size 503647
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_002/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..47cce1246f3f76da39872298f3b26a9691b52955
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d41b67fdb77f1adbd7706cd68c984dbcf94c2355b9ab6e3e38c01c8a667cb1d
+size 562111
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f4681bb1eb9a42ef500c0f9f6ba9188875956c8e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7313677c5d7cddd1b7339c713267c2a8227d105a08e4281833c887c82d7985e0
+size 453444
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_006/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b1446b6372d8adf5ef18fbc95bed9f81d3d0bdab
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f0a235ccfd313cd4c61d078d8bdc06af4e8d3e895d8108a1bcea75a43eff840
+size 615253
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8e9f3c53eb1026a31fe24b562101d9e0cd44ee55
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59e745e1c6c138c3318f403a40f023370c236670ee189a7c54d72bf4c6dfa8f1
+size 401066
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_007/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..37b538c024605318ba80805a0980dce5f7e46768
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fd3db9b2e0ae5c1412c9a3ad7f0fd187d41f6c84d99298416a6080b3962fbad
+size 540499
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7f9c9c4bcb51a33ee94ca5145f666e56c2232d5d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98205be15d89635a5ad76cb01ec039b275d0436e8dd2cccf0a8b47d5499251e6
+size 372868
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_008/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..38c0f20e15db667723f541ac556d24219f9c3af5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6eb840ea76e6ba66d2025bc00614a1ae0b2426670698fcf6e8df7c4f38da9c1c
+size 683842
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..75cccffed5c74b06fc7be6bc120f6b5e679a9328
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d94b0f7f3cc623d4d07472d624d26cc56dd7a016bd84c1a58f3e05e129b6b73
+size 395172
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_009/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f9abeb9410e581444efe532ae7d9ccb4661a3738
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7bbc5724a09e5100e4b46145117319de005b57102c7be4dcd796f298d00c94b
+size 636498
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cbbcad097e7d4a5ee3460dbfa68846ae0d705446
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00a8e60e75bd95230a1678a92ccd93af778982297d51eff519354e12d743ca49
+size 477194
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_010/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..788a503775ccacbaa39aed9e23924bd9b7e404d8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:826f22327f0528b6ae29070a2a5e3cadda953c72f0477ef7831e7e5d5ef8d73d
+size 507236
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d22eb9501b26fadde71bdb3881f0864e8c1b76f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77a487ece474c8c6fbcaa18e7811f0279fb954f47764570f0005c27c1336db67
+size 412479
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_011/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7f6bccac0ecf0ff609d37b38ee1af2d12286289f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf17ac526c29fdbb0b032d6f0e04f39b6473c9660a2b2f48cf235a57e4a057a3
+size 626712
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b0de1c2e0f1bd8258eaf145deb469973399102a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0141967809d0550e6bec53b43ecf7f7e37938151e267c4d0ed0081bdd4c052ce
+size 358070
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_013/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e2fb346f67cee8bff76f4ab53fb5629c5388127b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a87f33898dd45f8839de0325a5563f36c2a3043a44f86fa70dd73ce0fb4c56f3
+size 720632
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ae6e70efefbe635d7bec162284fb49f58ac9d11b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b01_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c08499c807ef0874b98e422a6d1420537c61f313b77acf55a79a337a3734afe1
+size 505421
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b02_002/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b02_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..566c70552bbdb25e94bf85fccff8ff235d4f2a5e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b02_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f552e480d95edd7957ee39e8e7b43502a3525bd14f564d8a8f5ac737f0c2d6c
+size 654312
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b02_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b02_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8771c569387adc4b1e084bc0d46ce721da2aae35
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b02_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:daa34536c766d45f46566d1c5d529f19e3dffd4c6ffcdfcc388f30fbe72ece5d
+size 472542
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b02_005/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b02_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ad5e3defbac7a13375fcf4e68fd151f34ddcd64b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b02_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84f1360f29b091f8ec94c07509d15e4481b4d668000f0100a3244138459f2299
+size 537289
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b02_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b02_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c344e6f5956a1e5a3f1383ea821c5ad6c6affef5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b02_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9967d86666504bd50a620e951a0a14aff0896824d81e8c836b8fa68c67e17941
+size 351136
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b02_007/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b02_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..383379df818dd92fcacdf8211fa369800102e056
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b02_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:065126fb272f6f47f0d6f10826ed880857404a9f517af6970ede4b97a36dcbd8
+size 505846
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b02_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b02_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4b13860e5da43bd93cafc7acd6123e8519d4b8c4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b02_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb108a2924c3775f97a32849b296080df4bcd4b77af097b1a25ed01919669df1
+size 383550
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b02_011/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b02_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0269ba4ad1e8e7020a2db2ca0a4603717a4ec949
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b02_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f29826a831d18e3ff6b388e3654588781c120d8cab0628b2b9e1e406009cbabb
+size 452361
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b02_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b02_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f021643306ed470b1ea91a9954b231bca94e2a91
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b02_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22d9f59d1280643f98c10d24e86ab2180b48fc966d7ea58ac5763f53061cc186
+size 323979
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b02_016/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b02_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2da5e5efa3cd27571d220edbca77f4608ad2797a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b02_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d95146ab84a34d81b0d9b183f1d20f39ddd827d19174d7ea88ce92c6b1fa7bd
+size 640068
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b02_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b02_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b5f5c135b60722ee564971ab42af32a9f50e1a0a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000661/scene_b02_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f62cd5bd1ad28ffc3d2c075299cb99062cee7616c292bc64bc038b001eabcba
+size 451911
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b00_004/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b00_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0feb39c6df6b0c252c1b5899917783ba4ba58f96
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b00_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74bf7d50c673f75c4d35570a6eb26b738486be4890749f755fbe57a6e177c8ce
+size 322193
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b00_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b00_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ef29e0a95556f965587348fca93a45e6c7c9779
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b00_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f25cdae04f27a3d20b14cd5c701c9469b2222e58d887de63502425480eb682f7
+size 183716
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b00_008/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b00_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ca91d5905f6a554d61f52b2a114aa7dcace09487
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b00_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20eb4f2f8ea9a2adfc03abd302bdbe1f7ec4ed02481515938c22c139aa918514
+size 433775
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b00_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b00_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c147c4c25d7f0d1f2f02da670d92e132718a831
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b00_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae635c67ff4326ee42130d2390afd0b6c51efc5ef2ac9d525138391c132a8531
+size 261283
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b00_010/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b00_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b78b5092bde1ac0c0878f7fd37d3b9dbd24663de
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b00_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b0278d81b05af1c5c431de8a6917622a0567c30b1c55025f2388e35338a18ff
+size 684554
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b00_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b00_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..dbb5c51110d2e678daddde692b03c3a5a2e23033
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b00_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cfa1073339065e3ccabb65d40f31417a65c816df4fc0c1d00d5f84358be1ab6
+size 450337
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b00_015/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b00_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0707b17f271c169ce90195366ec8c097efd3799a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b00_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72ba6a062fafc83eb85e5fe5ed4438b30be4dc4c86cc6b9eb7bbc6a9fd63e030
+size 447845
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b00_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b00_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab1843ab3dce0b67db487dd756c50a9268725816
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b00_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bfd4bd75e598c26c5b5da809ec5220852d332605c87f2801b24ec8432fbcd9d
+size 268228
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b01_005/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b01_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..24aa403d0b634e293ef4fe787530f62e5c69068a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b01_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e71c7bb191e27ee904dd525271338a24f3d94ed58f44091ee947da82551ca9ad
+size 499742
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b01_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b01_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e708c2ed232d6f9a35fca4576970769f19f58b40
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b01_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6aa5982f8f7143e49f7a0ec3be3e11931d8e0c044ee9894d57d720d92291ad23
+size 286934
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b01_016/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b01_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e91891993fea3a6c72d0713318a0d94af4852f03
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b01_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5ff6f4cb85b50bdb6e1d54ee970cc1431e29011d61245a9f9325e1f74344432
+size 462290
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b01_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b01_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e0178f52bff62d1393c818eb7f10c04fbfb82ca
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b01_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:805b594493b884dc7dc29698d77308ddba274b749d5ae299406ae3fcb959c48e
+size 311397
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b02_003/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b02_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fa5c4761417d0b3fab7a17dec9dafaf930852c5f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b02_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4123a08779e3ffd8abe247417dc88fe05b2414364e77aaac48c74bd6d583e685
+size 454445
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b02_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b02_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..100d99915c778efad647450b37affb5b99702788
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b02_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57cd67182ae9cc969cd21e6971f90c7e22271b5acfcb11c7ee55715b63358528
+size 213859
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b02_004/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b02_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..edec64603674537af68cad1fc108d8647e3be75a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b02_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:309c98199002076b09bd2130a3ca8d78c12aeef551380cb4c8671f18144e326b
+size 509665
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b02_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b02_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7adc2770ba6c4952c1526479ec968173eccfa6cb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b02_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:934d29e79dbc047d4e58160e690b48ea1bdef531f321afbaeeee5ba050345302
+size 269649
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b02_006/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b02_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..417104dbb593d0f037177e7f58456abc7dee1206
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b02_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e81dab54aa64dbc192cccc7e83778dc6015cc2541746428fc02bd0569bab2212
+size 534024
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b02_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b02_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..03bbc1d8da3446cacc645ee33bc9982907d69566
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b02_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bf9df9c6ab1276740debc42f184b3e8d00abd2ce7d2cf0d538583da504fe36b
+size 323089
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b02_008/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b02_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..41b0d5dfc73160bee2d1a063089768fbda83269f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b02_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0148c52fbc485f98c8305e76097502ffc81c92255bef870a79026deae61f5c9c
+size 667512
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b02_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b02_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..43688b039a35ec0a857b586e0d4952927c785efe
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b02_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5685cc7c82336739dee1b9f67944a9cca42a55c326f9c9a78c91b5918751f4d
+size 448370
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b02_013/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b02_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..80a62623f783531d5eed0c00d4f687f1325ae457
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b02_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbd48132e05650ab3407d6daab15bc9297556483df124bc9f8167bf1e8c516c7
+size 381068
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b02_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b02_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..bc9fff3139a56f70a820e49de98405d5f0ede1b6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b02_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:708b5e6ecad97f1971611884813bd8f5823faec1fb4c6774f6ecdd02bd5db94d
+size 307306
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b02_014/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b02_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..959d5108146e1c92297f4cda48b103f18149e693
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b02_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6fc4736a84e40dee842b9934f715a4cab3ff722dd53540cc66d7b6d56e85e59
+size 388550
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b02_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b02_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..744bad766b16fc468ec90de383ad8da8da3f9341
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b02_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7660f2f7ead1686bc8c879650749184213be0217dbaa9c90665a038aaef21ba
+size 181902
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b02_015/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b02_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a91d9dbe1d55f48abe201e3fe92f28a575634322
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b02_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de00c3828483df8e18a29df7b10fd9d247c0dc68345564040532ea78411e3051
+size 297857
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b02_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b02_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..424020fa3001dd909d73d724ad417535383b8059
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000691/scene_b02_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35fa44b8e2e6a6da4b7027fe9e89a40e2f1edbff6dca6eeb6948d454b9018e96
+size 175868
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_001/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..86fe274c3ed5040d8d8d63296fa338e947c5349e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:feab2d04bfc85c47a2838e686977734e822003f94d08d753585159447d3ca8d8
+size 478640
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ca58f3bcda45ed5eafcb3dd8274d5a67c0f088e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:287e8c2466992009cf5baadf94b0a6b050063be00fe324e1ff170525c83db881
+size 258789
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_002/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..03786f2d804fa0f60b0a2b2f77610383569ec143
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:596109974f62d10370e2210f14a193575ab6d1f042df49d4e13c253cb096f974
+size 301452
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f0cbab77f491535f3bc3032f8515d977f9df3580
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87261f13474b15cfe1fe41e4c279b607e7e9ba8c58a1d3ea04fb64eed75ea5c5
+size 273333
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_003/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ce1af4ee913e5e3a2a5123ad30bf39c4a7badbbd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1cd7209f1361065366fbb161aa1240394ae972348a16e6811b07ba6c99ef052
+size 426956
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..408d6ad44c93252e32f3e2bc32e451510914cca1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85d43864120667be2c97e5b3de8bc666f3e08dba3603684fbbcbb9fb2e33c688
+size 355351
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_004/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..736d4eef288349893761a7f31c64527f2f328df5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b759024ff32ff40532fe45cdbbd4ba07616c8e87f1a23bdf2408de07afc5d77
+size 344018
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef987f04d522d56e95aa66aa8f807f1a8fe82865
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad1b1093e213b41a63dfe8bf22bec7b3743d8d24c32dc15096b69fd6f0004092
+size 227858
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_005/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b77cb30cfefb9ce734095043ad0ef7008e1a5600
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cb6c6c94a4ede445ee8a3e2b0690365850cf3494b81c242a1fc2a78a9bb5f4d
+size 371342
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b1923ba9c04198c0ac64b19362e142e234fc677
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:775f47f67352699899003269a2fe8a2592441aa81ec406fa7804051175a1224e
+size 307880
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_006/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ac16ea3413d051995055e98b3dde22a0226783f3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc2622591ab73237499cfad5fa9faee1272e4026b8c6e441a3add27dc6b41085
+size 510488
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d8c57fb419bd0d98e6e81ca9fcd20c6f261bc921
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09366ad4720e624757855fb89d95426fef1d6cd90f5bf7fa217480cbd0ad5b33
+size 389386
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_007/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cf870e11143bd39fa89ee46c3aabb083ceac5dc5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:496bc275306d01890406569cca3a29f2d06554065f3a7677ece18f4a88f2b87f
+size 419124
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..546bf01a3d908958db58e76c599b469f9d7bdf00
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62d22cbdd4c8b6d349423d7d3ecf4d553caf4ef9e030112bd3966ce0381425a6
+size 309591
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_008/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b0cc2003cfbb395688aff494834e741ae052aa37
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bde3352e19699b84409eb2be0be075c2e4c68307973ba3579846ba2ef2c92731
+size 361926
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d08819f17721abbe984c3e79b92b5354d2bd24c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e65edbe1f530e023928ed72126ddcff04add3c1a4eed4eb19393ecdbdeee25a
+size 272773
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_009/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a50f24df36609961708fe0f57385c2997a1b3649
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a05783dba3d26feb1966698271b9c0946442b947ebd23ef246114b5bfe31c2d
+size 299446
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..20b90523e81e0e0041f1a56d0e0718d6823c3efb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f80ffa53895dcdcfc89fe1f50c8e7efc8bbb08c7e2a76209051b93e1a38a907c
+size 255668
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_010/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4a7e5be1509b6830f32801f5d1eb159e7d88b8ef
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7d1cb6db196c93f1ae35ec0e65ed5a658d7c5e0492e7a803b33f46a70640261
+size 390519
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e11a473dd01a95aefc8779a2db506a2fca9fb56
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a509e8b52428ea6d986745eb144d1bcfe4666900a7c9fa029daab7c956aed520
+size 347229
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_011/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d31b8077918b5ce96cd27372126131f77dfd884d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6d4238704af49514c19c6bfd098c404db6947c1830afe6b9940895c73371f1c
+size 503580
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d47f3a8955215af36ef053f2c2f3f0f85bc77145
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5e0dbecf62278fea9d56933c155aac95fe02addfaa680bc384b7f0fec7d3edc
+size 327035
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_012/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a8ce70c1dca5f3e17681094aad37dd50a7b49768
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fcca9a41ce8e3698408985b34e886c808cb0022a00ef8c5321fcd94b74ac4dc
+size 320795
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d4a034fb8e36e23d91642e6d7b1bac0b8b048f4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:835be3eaa086fc7d7a03cb8ed92dbf8437233affe88204efa299498ece97d1ac
+size 195496
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_013/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a9a2498b2e3965d90eedce434da8576ebb49d738
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c815f564cb6c6ebae645be01d3abeb6e8815f7a564428557c41c417b2de526a
+size 365747
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..784ff8354109ede7190bb7b5171216bbc688cdd4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70625f111370f490536097d856db6e4ad041e32c37b26aaf2c38bfe8f6536666
+size 193204
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_014/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7035db47085bfaa32c70b0f4fcc4a993c06b9d7c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76c5e76f4168540ad0e0b31d454081ee1e29247caf77887627024e973fc573f5
+size 504741
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea6f9f094b975a91017afdc5f33c1a6b0d227fd4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5003673f6c8a3bc8f7ece250277f02c185ca26f9929175aab6573bdb39a92c76
+size 284289
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_015/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cfff4662be65bd386f310fed5d0312a788dafb1d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40e128b17ee60588a802d25e766afbd3b0fa2ada28289e07de0d6328c7cd5581
+size 241098
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..718ddbdf5ea001067148b593bf35f2ce710140ee
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9a8a95578b7a7b5035d8244d8e978761cbfa058fd15200231427bc71d948d22
+size 219442
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_016/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..43d15adb71f2a22f3ccd5bdef79bce89186c50e2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b50ca6b752c78dc4f07c7c8ffec5825a736f3b63f0bb4e521825e12e62496647
+size 337536
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..86a9ff49f319563c89098afb27659b187e7d2966
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b00_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d54be881c60e98102eb210c90ed6e3c0137105f3425265d4f744a125219de971
+size 264821
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_001/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..49aeca26480b3d613a142fce351381ad668bce97
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:868d86601ac773b23431a8ab7d5a7bd8b4a4171bf63b5f0c23ca38526a24f454
+size 289572
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b15cce2c219e3eb7aff710bc4ce66ec3a080bd3f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a0d9ac2715ef7ba834ff73739996579562d7d96e26e3188d6a5bcc2e834cb7d
+size 210570
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_002/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c98f26d9f121fcdd8853dd8431d4e43d92c97a56
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64f519cb63aba5dc8008d92e61d0dda63f3347ee5a5d4bd499e36c9da97fb409
+size 263303
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..380bd8ccfe0d3d36ba3bcdcdf95be7e6c53cc63e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:887c08d142035a838e9f41279bd533a0f7a604e304b02d6f2028182d6c0e1c6d
+size 233349
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_003/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..39647c04dbcdbd6727becac9060287e65edb722c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ef41052016a7fadcbac8cea95da0bef8e2117e524c722cbc94431123e899b06
+size 412642
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac051bd54a2ee9016a3fd78881be4845df3e81c2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f88f97d02ecdfa49b8e25fbaa0e5ed1f9599be0d437fd294f9fd70ce89220ffe
+size 348191
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_004/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c99d12b153ad83c42e35daf910773e2aa6ad55ff
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3677dc6466fe4fff83ffaf8a68c6ad220b70f2fda1a8c31a6251c184194ac6cc
+size 467448
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d024ce9104403d357e8b419df4d35f8948dc3992
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfb1701485421d0adafcbc978533c379124d126a8edde4f81bb9aa7a8236279b
+size 366666
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_005/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..714ca4e26313e6d41eb621922f6c47e8ed91291c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e8a73351c6cad2818cb942e301b4261d4c6fc69039765c6fafe87841e7cbc10
+size 484319
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..039e83b1d9af11919f2d38edb95e77de5db9d5a6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7b8fc6439b3b909b97e53e653e28c768db72a47f49e60a624a3973ce87ce160
+size 326887
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_006/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f681e2c4d19ee6d0dedbca386b6971d0f0b3a4d4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86e3661a8571666220aeb6d0b808c08c5cc80d9a64691eee86ed8bd1a58c1403
+size 426538
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2d895a072dfec41e92ad3a350fd0e2577d664b16
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c322a338ed73fd38f82e99cd5ba5bfbca9d81df5aabc365e46fd0a305cd7ff0a
+size 320512
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_007/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..43c5336cd57df95ecb9e7c3e13fb1dc997421780
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94befe8027d42a6b10eba97398bbe45d81326ca764d8436467775b462b656e77
+size 114126
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..62c28aaf3b0e2ce0418edac124dafc04ba1f2bd7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d0ee00605bc70e2563e1a29ba9a7719397e93181533c8048b5a8d18fc807c77
+size 70792
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_008/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ae2a20fc9a7ccb0485b3da840bcfd0cc588ea11d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb84c898177fef1bbd12e0e54fc92fc509d342779ba161eb7b846a11ea4e8cf2
+size 609652
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cfe0ffbbb9a8d7dc06e55876550a7ff84614612f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4514ae897f7db989b156141caba9f1c9a5bf292baf33560e938f07a313c953b6
+size 378612
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_009/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9219477d01260c16ac10a8337b9100c7b3a1b4c3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48f9a082bfad436f5007ef321b2b5087ab7c8651690e56769739df825efa8c2f
+size 113631
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe8eac601b4a7ecb623252f240ad64e630a81edd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85e5d3c7d1444c8850d0af833e9ee0a10bb271c6568b8214bf5d950c21c4c0e8
+size 47933
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_010/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f68f92d1e5e833c411a51ef719910000201e8270
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fd91a96bdfb53f696ad9813d656d343842c0deb712b2ebe36e5220a50ebd392
+size 343900
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c654f2d459c5ce98b932719dc4c983e10989ebcd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5bdb6d45aefae068f4ed2966b9a04437cf93456cac66434e66fd989be3053a3
+size 317580
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_011/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..364001e1e3ee3560e1058f5281d2387c79c94cb2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2f7b64bee3d8dc108e4c76abe282cfcda98c282be34c5d74a41b0171e9f6b88
+size 425864
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1edb7672ae29b4f3c82c602512f1f36ca45effe8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a35508e461a331e7cd85e64b71346f141c38524bb34bd7836fd71146651a98ed
+size 318396
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_012/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e954b7e4293dbc2f8beaba692a7e9acbefbffb85
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ff8430bda666546e23effadf19c95af7d4bdc863a0e22f734b63494498279f7
+size 145758
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..01132546ca71934e7f72e216d2076ed71a2f9f11
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f77dfdc49e9616b598726f0f6e36a5940ac87d06f23f8f927191bd57c67ea02
+size 88779
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_013/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c7113616b076c5663799f36f20eb4d737505c69d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75a0c7fa2d89c5da98f986feb579d31d299f750a14c738fb15d53a36fa11e12a
+size 425481
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..697847dbc0da814044abdd1f732ba02920977a53
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cee9200d825fa0b157dcef1bf26e373bbda66abdaccd2d86178b5c5698eb0e6
+size 343687
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_014/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..016ff809503cdc0823529faf4b17099ec289b48e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:040d6a135fcfe2bd8ad31e95766554d3870b0be17f609d14fe764d0ed8fcd399
+size 419849
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..61358f9590ca302e0cb1f316f3fbb20462e72a2e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ae98b1b540ee24c3ef83ab7347de7570511b6e101c26ab21e8756fe4291456a
+size 325079
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_015/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ada433a7cc0263d29671c41f56ef1e08f45cec67
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:431cecaca4c7e3ea9e680aee2027c1e2494278ffa8bd35e7463f95859edc473e
+size 210861
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a0185129e46a68b5efddecc2982d8b203cf10a57
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:566ed9ea99c012684f711181b2af3a4553a134c8c36dee2c829c50fed7636def
+size 106217
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_016/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..80a2a937ad92d64486302cd43174bb091a1bdd50
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c4456590ebe77d710b61efbb0484b5bb8cd6f0f51986b060b98bb728d4b1438
+size 481504
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..765641a06694fbd1ec66e7c81b65d7f24f41e496
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b01_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e7079efb99ac53b4c08c8503906f472eca325006fc9a31619e88e14a5d5a99b
+size 335077
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_001/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ad78782af9775d396197c225582c5777100fedc5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:365f06c0c8963b86f6dd3306d1f37e9942f2834588db3a1ae637d94111727aef
+size 386794
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..09a508a250e40a105c329c076ae695bb1ea0f782
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e915de058cd382cf25aac0a18ad6631637dbee0a60fc750469f9403f79aca8b
+size 274507
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_002/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1b9c9f500e82a61ad0002382c3c3744910a3e4cc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3af73f94d77daddc141fdaf613235bf3f5c6819a6a40afa57870a2b641b7eb4
+size 294463
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c7cbec757d9067320d2986b1f1829a1ab81563f3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea9337983d71d2990b5f38b512c58769c993526f283869e44324e2546b45f463
+size 266342
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_003/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..336c6d104bdac2cae0cb2f236fc7b58156ad58db
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b290108c2e4b0f1dfa9e079cdc3a5da9c81c33285936db0a156f57d2d5646a3c
+size 405673
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b9ef959151ff6c187ea388514c83a2e4d7a93376
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5492424198e40d7e38f4669afd2d3fa662eafb7079d5d81edc6793d7f47530e8
+size 236283
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_004/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b32a34cabb11606c8e2118aaf8b32d60fdf117d0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c21fd72c3ca62217105cb4b679a17dccf6c23a4681e3d117e2bc19d48278067
+size 270271
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..30f1164ceb36e15ff070688406d5e28f90dac595
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a92f8c7fecbd7f0ac1a75ce74bcd6c91fa08ceb5e56d4187cc03a4c035808ddb
+size 219962
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_005/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d62d687f15c43ca34a8a7bb7549e3c721caaf313
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d34ae75f89684dc1692ad0471a28a6fa1195fe9904440a047391f42d72cb970
+size 451655
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6e4352b0976b519519cfa54df6512da79826cadd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6261cd1e3cd3ee0b738010f074e86c335d3eacd33e49fa23e4b50123510f2b6
+size 299257
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_006/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a222ab73da89d1776d79d9fe9a560a4c10b61b03
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:765118264455f7f28726b2da887e2238d04889175e0dbecbdd78dcd66ce776e0
+size 346081
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..68a63dab8ad643e95bd9b62b9a939aae980fe1e0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e0bc1cc2394bde5e48d22fabe1eec0a3e50f3eaa7b53f414ffaecc3af16991e
+size 224074
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_007/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c3b13b728a1de7481f3b08b6262de3b921eccf17
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d84dfe9530af5c5817e5a50946f56c6bffba830d8cccf8dedc7df52775b6400
+size 237074
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c1f00ebd55e98fc6d57db607e0a39a7abd6cb7f2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a5f59f49f6ec72abacfb337a5e49e115ec583e72b1785a8e5016b8c314bcdce
+size 181515
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_008/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..148bed63ce50cb0c04e1d90148a99a2ad109ec9f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cabeeb4950be924a2104decc5b524b18a3147f974322975927b130be1d968599
+size 164389
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3e00f238559011fcc16afbc5dd03c457ab7c1c48
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cde888a09b57346748bff6ad3ae5bbec6834d9e21ed5d1e7b1ecbadf748bdcd4
+size 110779
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_009/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4694b5a46d23965cfa821f3d436f86a67e24f83e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfa3c7d0268484e508ed463c1a846e3e6ac59a3157f14f23c5d2bc3ba73f1e15
+size 324022
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a04810818bc8f573380ea215de299c4c4e9ecb4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8cc4e5fa71e7145b4bfa9c2fc3ae607e01fac065e40ae993cd6d2371667af6b
+size 251472
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_010/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..365d2b4477f3e59b0b8dcba53ccbc7a66b85f9cc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a30b1456093e66ed7bdcc6efa822ba805f54c4fc12fa83eee3b7a40ac4ea9140
+size 453708
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6f71ebdf0c1916f3c098bdcbc7e6f704045531c8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f388b9f1639bb7eaa760bf1bbc4081042705e5b95db15ff12829f64315bdcb63
+size 346613
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_011/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e3faf95120d79763d4358619e8ef0f347cd018db
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4714e5f89e07b02e10a19fa9b22e0f01dd109627ba589d6fa579ce3c74fe7f26
+size 503211
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..becb58a3e03d40fc2f189f36d667dc52c32bc482
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc8964f0b403396c341bb61c8580f587449e3e00f8e809efd853b8259f95ea59
+size 306250
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_012/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3449bb660eda8687ae284d4332b0fc88791c3094
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:841d14d9d5dcdae99b1a88595b6d2a3671166645873b2c92a26d12ea06fa093e
+size 194817
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3aca1a409ca4b3c959ab08577920a311d6139300
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b830ec9e295965f6175d7ea30afba44e0bc02902274589bdb632ce43de0286a7
+size 171751
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_013/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..31237e54c547bdbb319bb888ffc399a483ec3b27
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93ff1a040b4136668bd568d904237df535c56065b9dde29da12b9bf9a722b930
+size 341596
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c71373f53110c1c55a892e76fa8704d0b58bd907
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a21ee736bc22d83ae1d3b8f9b5942db46c9b50db53c39a61d1e789e2e5de441
+size 291769
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_014/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cba1b179ef33fab36dcd4c754a53719a681cbb0f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c410d227f306bf9faf56c357717f6a34ababc3a184e8a70865ba440268ec1c1
+size 234357
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3dc10e9347262c80ec37de6c8e71ae93fc210c38
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ffac026ed8a4835b8d4e111717862d50321d45e6c1bbaa08f0e229bf3cb9dbc
+size 192216
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_015/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..25ad31e4101be45ec086f3135c062afbd92fee1e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba24b1df48aa832fa8cf978e4f6d8bd4b52764a68adf0284366e27363bb42308
+size 270809
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..02e64e0fc479ae96a477595b4cdc8dee628c3da2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cacbf28b48b23f6a686d19784aea1966fc1e69c79a09fbaef6ba05b46650f71
+size 235557
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_016/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b5169ca6863855a6851e87fa5eb6d624cd99dea1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9e695eadd34045aa712d99c79cf5e475977262f311b09adb7ccde68e6c11a91
+size 380270
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0cfc8fdbcc8a8d2789a1448b475ee6fd2d90cce6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000772/scene_b02_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1de6f980838f2ec509bf7f9b42fa401ab13320c3dd9391aac1da95fd807e6924
+size 328815
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_001/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2f86738580bcd31b6716ba6474450848799c890f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c9883b61424457e939529e0f66f03643e4064cc709ca5c4cba1bc0f22fcaaec
+size 593935
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a786fe6116934557680fbb6375309ef886467d0e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b00_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5b521f784a7522842abb0a16b8ab465d976fa5361d66dbabc38c9007ee875d9
+size 393218
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_007/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d1fcb2e66385ac8664dcfac50bf9a9b2c12a8e81
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2aa036de794cbdf843b3a0098d91de8196fa550b802853506dc8b53655294c4c
+size 529583
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..fffc7faf87efbf4f1cc5692cfa527a9787cf4e78
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4fd320f8d9ace63759835a62e98c9f8918fee2568b6cd4e1203d0cf1d88dfb7
+size 384983
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_016/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b42eb43a8345f9c7dfc61bb47b6a94b151615918
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c2a4e2c998ebbbe92c42820fe6f5a995b879cb5f0637faa6abbe112cfe8fc58
+size 217228
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0eedd0e9719e391f69634e14071e82e6e3611053
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000788/scene_b02_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75cac6b7b707f653b64b7a321404196c0bf9c24f1f269132bfd3adbd3783dda9
+size 175913
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b00_008/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b00_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..833e8d01cd3e26aa7c06c5d1d99733fa974454af
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b00_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14b98635c6c9da7389de51910aaf6699602fc64b62715657d88d9c2169660939
+size 387480
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b00_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b00_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c4e3f9ca06a62d81b1cbf8a6e2d9cc4b173eda4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b00_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cff59ff5e1a5717a44ac0b2391420275c15d2040a06672797070f7d66bd4e74
+size 294021
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b00_010/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b00_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3cab81357c4993327c48caff5280dc45b01f0bbc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b00_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39418e321ee620105b50bdba0783cf89302a01f6c6d1d11943cafeeb0a68d178
+size 415889
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b00_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b00_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8e76c740e739a115f32817eb94b57133f988a9af
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b00_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42d756d5dad84a608505d72c37417a412001ae94929ddd57036519d15f0fd011
+size 282843
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b00_015/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b00_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5d7549902fbee9b161e00b15dfa6cfe0701bead4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b00_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e372e9be2b2f27d4a8fb3d7a9e75da108efea5d7a116c231f01bd1202f8ccef3
+size 462268
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b00_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b00_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a8078c541d89d907c264e613ba296310fcbc31a7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b00_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c458b6b950b64f764ec3bf32ddb8986d04af05433054562e59915a5547abde4
+size 316036
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b01_005/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b01_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c63ee77f886c9df72c77281d979bda4b31bbea0e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b01_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62a94f43c449b9b1cdcfa4d9697723862bf31760787a1e2236ddbfe7f3f3f55a
+size 499577
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b01_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b01_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c252727c5923427350d56b68642e4d2d6c2675cc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b01_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d7cc63762249946c426aeb690a5c3dcbe8acb02101e184ff46e1ab3a4a9b7e0
+size 351282
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b01_016/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b01_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..15af3ba3c2db370523c6c7b8b4524f2f9f751cec
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b01_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6dba6b20e41624fd9332fed90d82b2ddda2a98997636573c6cedb5f848a4db1a
+size 425477
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b01_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b01_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a0540ff238b16cbe642364229dd062dfb46cb9e4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b01_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:052f0b21deeaddeb37b95b80b0a5634d9a0b3e9e569e7cc2fbf7e058bf644b82
+size 293416
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b02_006/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b02_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..975c231268806ef2a8cf18d7a0958df18f5869c8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b02_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ad8a92ec7554ba4b0eea9ddacf7f2e0da4d3203bc5af5f71eab2c434940b9cb
+size 553563
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b02_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b02_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..99127e1bc36b6ddd70c040eebbd8c092dffcb425
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b02_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ea5720a9dd9c2a59d93a0b476b154dd2684863b0c01d364d251cd12f2fc75cd
+size 376725
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b02_008/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b02_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..27954772fcd2caed2f1a1e78bcf5c9f16302df37
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b02_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d76dfa891ecd5ae2fc663d3838bb132c79d6e746dc5a95464c94aab63bc5fdd
+size 745833
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b02_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b02_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2d63296a4940e0782bd0c3e910085df6991f439a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b02_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8bbe80a4a5f66982b75a1b8bbc2eae040f111bebbadc6cdfa0d21b5bf4b1da4
+size 500883
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b02_013/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b02_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c7527660206c8c13dc8c1615980ed1b80e666f61
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b02_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1783c98a408cc729e15088a1fdaa845d925578d7fcc17c4c97d20dba1bf0cca3
+size 738272
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b02_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b02_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf254cafc1e53f3020872bd15b21cf7dafe1737b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b02_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f06238d85293198b1ad07f6a51775bb01121f8c9fb9a19dde66005a7eee4c79
+size 446942
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b02_014/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b02_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c5580b261b2b5e81c50860b09e321a311fd61b5f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b02_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83092160964e3780d99da03a39b4bd7c6a04163578cad832ff97154885bd5206
+size 586015
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b02_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b02_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a959e57a5fa240d8d86455b207469ce62c80ac43
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b02_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:504c27c4a475270eeb0e698448dabc28fe505f5a0453c944deffb118c6d11830
+size 414955
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b03_002/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b03_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..19b8b9413cb7b2cfe246e474cf349f8da4df9256
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b03_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d27bbee7a10632015cb2b295a4ab741cfb69c892086f7282440ea4bf10c4e60
+size 375635
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b03_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b03_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b8592124252cfa5c0f08749a0d1d0800db6af414
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b03_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47071c079d8e5ade5c7c9cefbc79bd4a4b0a663d7f4fc14e7745abb3e2ac55dc
+size 313670
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b03_008/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b03_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4e223c083fc1be22705b8ca1d1ed564ec9455ac0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b03_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d711160b2b4c1de44d56e5575060d1edcd63c8078490009c112b608393c3ffc
+size 485562
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b03_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b03_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2fe7926472d51da9bfa6a498b8eb00f2e96eafa1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b03_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62f41302ed18066f5da9d543dfc4316648434ac17bd3605c7d7e14d7eb4ce6ad
+size 316781
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b03_010/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b03_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8a1f74587a1496fe2bb58d38a679e337c2c84ddd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b03_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a16185f65dfa47f86c1472dd0121adc4b06a7506ce938e1e473d3df5a5b70d4
+size 420651
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b03_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b03_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..12dd07a308e15c7081aff354528b33d81ec70112
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b03_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60998046fa88ba02436e76a002922d92015e25475c5b201a13319a66ed7c05ca
+size 299343
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b03_012/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b03_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..446ecc5c1539f50124cd133447cddfad0df34b25
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b03_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d16a4487c694bd4bd40e70ccd3e2fa177213629a398437d4b730e4561b9c8b80
+size 231426
diff --git a/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b03_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b03_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..108a19341d72a29bb8a5e025c4e37bc4212e18c9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_000821/scene_b03_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b38dbc3df500965455c7abca323c88c3fa2e3792800f3ffac35bccfe0cebd39
+size 196598
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_001/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b066f6ee9159b5234ebe7e018251bcb9be78ef92
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d51887435cd8794cd94103159113a0dd886526a6c8802db5c32aa2eb250047c
+size 304722
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0e124e9b684a23ef6dfad981a391452b46fe2c8d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5922d02c55341395471a3e56e106763a76396c9824c0c4d9b6256d5d5ab6ad4
+size 211936
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_002/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d75846c38d0118bb0ab907e3b5749e32071275b0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52e2edfc24d93fa9149a3e34f00a60b2a76e9a509f8af860645061948efb43c5
+size 365387
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3374b1e14d82b28d5b3b018af050458141699e1d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:029f12e239d49b14eb98c580b27108adba9747c9e76f3280c9fb0881a9391a53
+size 238904
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_003/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1ac717ff769647836753af4abd11569a7ce2e965
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b682871cf7105305b6b6b43fecf424ba7bc952521f38c0c19b2af44e3a602ad3
+size 512642
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..83ee678bc44b97244e0e1343b68bc7ff597789ef
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22dfd8ec9ff2b159fb6bbc876bcf091ebc676d6970a3146dee4305b6c191aa75
+size 325696
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_004/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..28a4b3a423e285d7c1e5a5088e4e71db1461add8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69e3f4be2bc4d08915d53ad8cc1e1f92a97aee15eb4497ea6975a7b86ec64c53
+size 600820
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c438c981bbf3d51ba4a83730ab35863c6757d900
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46417f8e8959c382575c5fc135d0c1423c0a75d06ca44f5763e35677c59cf236
+size 421057
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_005/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5fb7138181fe3388a26c1f424e38ab8e575abf8b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be2c1801d4f73933c360ca3c1fd9cc70cea24dc4ba5ceb21c175566c9dc9d0ca
+size 566399
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b34ac30831f58f0f2ef24d22f5c9c1f0bcd0c8ab
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ea65854de27566ab7b5adab50d684094393c194b7b934bae4aa887163eecd4b
+size 385781
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_006/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..be631616e321f66705bf635a56d0e70b6379fe54
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf3265af10de5b9ec0cb54b32b9e6e9cc2c8dfa921d94841256af2178d43538f
+size 316446
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe9a6a60ae23921ed67d36a08f2f98d47ffa4071
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8cb20b5920c183abe99ded89b43f4a97342cbdf646c77f3d8eaa72883ebfb70
+size 182821
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_007/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..98438210ccb237d0c17787d79f1aa52518c34bcb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:daa8b5f4900831ae4123b709afb12f2fd731cf490f3445560babd6becb8a1666
+size 497542
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..420ecbe96428bc3bf56a490efe70a4690f958266
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e89ea245f0694602af05a9233e2fba3740cb78c93eb0d1f10ed7c1af5a41429
+size 319747
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_008/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2085d2c43b5696060dcc8080d208a384e2a24062
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94953f19805237508effe88089905a06960d9cb9f6b66fa85bb23c11a6a210c6
+size 423920
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..f518f081686058c1faa04048c427a5f2007e0e03
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff73e4c10a08caa91b12fd4cfd8e3d890505af2d2e5809c5bb1b767d0f444768
+size 268957
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_009/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4ccbb89b83179bf5232bcb7d2afabb99be7fe169
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cc7ec8dd7a7454c04833c5191dcef238fad1e81b944d1d215df640a03c0f526
+size 358783
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a251cbbc8ca974539da780727687ee0b057a94a9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb38bee7bbccf9ed211f247dec3bc6a72dd087f98d21a32988da512d6303e6bc
+size 276315
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_010/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7e10aad7abc3e08bf35be7462780aec7f4bc2ed8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f8fb32f5ae5a0e3e7848c03a25ff923603ab4190e652349c63a42320664a78e
+size 540098
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7d4ea43c13ddfd6cfd6de53e64ee11c894e70d30
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00c500e4cf281bfd6a1b89a42602ed80baf2cecc637baea073d2aef26ccdeb28
+size 325420
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_011/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7f9700dc3dd7d1f513856ee10b84ac90d67def76
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13efcd6fb04ac5206b664ad43e11aadbf03a0a998d89dde0e2afa99e1d765986
+size 392403
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c9521a02910ba7f48826476c71c1fcdd4ed74508
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a9c8220a672ff38fd5730f6ae23fcad47a7eba136752082a31d3b295e7d5b9c
+size 264499
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_012/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c386f28702940787afa881d7ac9b26e2dcb429cd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db8af07bf0d3217732ec2ebceaf185be6147ec73f59735c86adcf07aa5f9aa78
+size 335990
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..01bd5c06e53f21e75e1a1fd3eb273dafc8b359e9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fece194a6f4823758269ba0ff36e26f9fc18cdc30700d3588c1eebbde7295a6d
+size 218088
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_013/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d82e77f3b48a5d366a5fd5895d1e455d76ffcebe
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0f39905dce0a3230104a093086fcbb0d6582c313a9a468f61d4327b8f247ead
+size 435472
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cbdac617036112089bab4f5ed9d6800d207e4dac
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c883193b6fd621f5d079ae1f1cba77b66036a8d9be04480bba54b7b4a9dcc55
+size 296051
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_014/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1308a6c71a35ad21357aefae227e7bfeee87a50f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe68c59f0f90f88bfc6498798a8653300c1f696839cea440e21825159447585e
+size 348085
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..18921e86bebee6ab5ed24720031d6958cab689fb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26090f85c1f42c3bada950be74e804738cd42bb561ce3386808f75e639abf0d5
+size 240047
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_015/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4cb8414945a6898e6319fd827146b386097072b2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:314ccd959a28895f2435a4c0b72b1346e5f60ef945410644fe7c0d6e3678d18f
+size 611542
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..bf5517e20804eb64df685c3d2a3018cd2f520f20
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2620905a0248328f5a2c3fa719b55db0113f65056947ab83ab68861df6f3bf27
+size 374156
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_016/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8b82b11028284a065b24df8fb67294fd2039bf88
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e962cd5a450d663f95ebeaf5d1ed815ef5ae837076158a70b059926f094b7f5
+size 467458
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..19ae784928e9ef5e183ad1a3e56cfa75a2897ba6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b00_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35342aa6d7d9f9b1adb198cfbf47cf06ebad71954b9e06a85c6889690da7141e
+size 221259
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_001/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6926f90b2fe57eb47d9bea46032b837055682159
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d459fe12ce88c691f9e52be5925a22bf9273dca0e1e55409b1e9d2230ef098b4
+size 289510
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc214cc4e678cc42f4e5d6f106aaf504efdfb40e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39a078aba619f1d13edbdd9d4a2151f098259e385f9eeacc9a89841e8dbcfad6
+size 179176
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_002/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..de133807ddfc049ce586688f783862544695a777
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1ade5a16153510b0a10832b87fc026d987ebc7268d3aa7caae03ff9db1c09f6
+size 398583
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c45de24c2673bf10de1164f9fa06356c9c8c7bea
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cc642a72dd8bbf64b38c7d4b4bd04691f97cd2482ac579b699273f16a9d68e2
+size 293472
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_003/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5f9e01adecc20109480ca5180349ec032a084ab6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:deb7484757add77709801f5e7929c1fd83a5a25e72bb84d46757752f1fb1bbc2
+size 496931
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea8c2f4b9658435ebb0fb41001b70d9f1b871854
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68bbaaf9295ffd54bb7f6af7f67c34d4143c4d652d57dc9487dffbb264ddc826
+size 317012
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_004/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e28cdeaaae9d83b01b4ab66fdfe216548f2f23b0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d5cc8dbc84d6ceddbef15a8df96c59cc50dcafae52735dbdaff8c1a4e03d624
+size 464944
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6ac563fd76a327d4a810ce6c73d5c9cbb0b13829
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a68700f2870465619600b2d20f5fbe2ca7e5f5788a2ac603fdf9295764aa953
+size 309863
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_005/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..143705170558318f7a6f38cfc466bf372e47b1d4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01fb832932398fafb48aa94cce4680b7f78deb771e8d2fbae0f7fa9070f79d06
+size 258663
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1c1f10783a68cbd91e0b6601a6d3956dc72337f3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:865a88aa4574036ebbb1240d040f3570f6501cef8d893b3ed18776201303d21a
+size 139179
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_006/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4a8a0af957b3bc2196da1eb41060ae90406e25b7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6a4dced1d4cbecd31e7131ff716c66241b6f2dd2d083a992337da2ce00a0ba2
+size 340150
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d9cae57dbeb029a77c6279fe5af7cbc5f7edd72d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04052cb3d83297ee45f1accdf1fbb2f0d23bb9e8bfd7334c20e5d0ee97d2ceab
+size 185518
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_007/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ec47264f17d2b27cdec624882732d9e8e90018c6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed700ed1fb08ae757c3e5e6b2bc075e7fe2cea4991625ad173ae4a0eb0bbb101
+size 479038
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f07107d680ae0edd7680eb78cb1b8705cacb5c8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df6c6c5d5a8d8550fc601da10eb92978c6c73a8aa9af2c338d3043745c2336b6
+size 325004
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_008/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e18e51b898a1ebb806267d02bb70c8b930c4be7e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:627f64dd9cb7fd4914c176e00dc77636594dc099939fb18cc4b016d5537284aa
+size 380127
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..517c8017442e6d0a4fd14c1f35ad938236961f4b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4982841d25aa2b55557bafc108e57604c0e98c22a37347b565e72cd2625cd4e1
+size 207251
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_009/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1c1aa8163489c51d3e6355ff50eaccc548168ff7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d92f4bc6d62966c9508823762bdc0d4194a236343bf1ccd7ec623c54fe4d9d0
+size 483964
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..600287868aab43fc421726a25ab7048642149546
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b97d32bfad496c01f03031ac4b792b37c715ba5e3e82e940b33387bc3ac25d75
+size 299929
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_010/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..823f3b5fb345fdda1a36ca79c2db03a0f748cae1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9458eca9ec95413991055ce1cf1a4478f91815c86591afafa12cfe63a40ce6d6
+size 465360
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..61ede5fa543c181e9fa1dda0159f174432a57c33
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0da8c30cf3746275adf015011ff6f4c7da8c8a5b02f40359c72b45dc6c8cc8cd
+size 327516
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_011/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8c8b348d197dbe7eaf7cd626cabb40062984df9c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:631586ea4f5f729681ab444c3fd8da5910e292b10b120427bb30185be10e3220
+size 215601
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..56150ce8d62fba5d5d289cf65ac78ab8972e8360
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2eeac130fe1c42c8db48c246f163aba4090ec387f5c1eb87cf14f508e96164e2
+size 114395
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_012/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4089c36ccd6084379f642c00670d6d8c026b63be
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76ce82791baf49cc6567c9208202b4dcfa3375d7c9021800be0b57ad370bd526
+size 444435
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..15427007616a97910bbf78056d3b36406b7a2ffa
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:205741e11eee24b5b3a555d33e4cd5ecdef9bea9b6134ab8fd75fc28d3067166
+size 221578
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_013/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..84122eb644ce340b2b31f858a6d47bd48d7fb615
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43fb863a8321756ff516f92c3cdfc46f209b809fb72541474f687fd90379b5aa
+size 270247
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f82ab674391bba0810463dc85823f4aff7f8730
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ace541dbd1d28113ebaf3bedfb89a1c39ab929e2dec723ec6cd2c98e6abc999c
+size 152435
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_014/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e3847bead6fd64302d654b18a153a1b53735c3e4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a05feb5c179408d069236315a56417973a84f44f76d1a49401a513bec0b789a
+size 451773
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0cb290c25717a400d38a12e4a078ca2f7a6550a2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:120edbba562bf96069662019058a01aabd8fc005550f53b0bd9c5ad8a4289c82
+size 176966
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_015/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ca6dc3846315aa78153cc5a10dd5a77ffd5287c6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bb6ef9af3932835bdbc11b85407cfd0d08bbf212f560eafa07f4bd8a5685099
+size 513787
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ff292d5e9a844140031af1f943939c3d7936d3f3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2eefa96a782155e96220c1474f0ec1c91651d0be95f416d14cb9cbcc1df39120
+size 383823
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_016/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f8ac777fac6ffcf8a1d08975fc6ca06ac3434df1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e39d73fadf5a2e673b3ae79959352d8ab16574e82bd853ac377930ad7574c154
+size 482440
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..793b18b2999acbff28005039b73b6e0a4460a8a3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b01_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fd1897f517e0622bdcf19bfc4b9b62eb54e7a56b8ab109cf4ae3025c7664755
+size 329212
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_001/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..615edb8b4d225e1dc13b8e5dc4b94446e38e37b0
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77f3d671081046e1a7248b6ea61fa247ea38d19362bae86553f68be609b2e1fc
+size 402025
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5460d152d64191cd440ac0660422b96788731a6c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2765f6239e700b6ced72308484f875e8cb01096d71bc80df53b3c5b6f14916e8
+size 285363
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_002/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c2e07c5058580426683455edfe8919006e0e4295
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43e8a87b106b825e466574cdeabaaa95f5f7e336e40526b27bb45dd6f7261c7e
+size 365600
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..933169ab5cce7351b3f9533ad84f815369c91055
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7537c460e81fa9fdf61d6c754f5c6554fc07f3e309928013a5ef53f0437445fb
+size 183282
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_003/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0a84995f310e10016a5151ac12973a6a6019d83e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8b7dca288d687c894ea6ec6a23724307f297754cae93802eb625a429bb3f36a
+size 341632
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..be4136766e41b35a248d0807cc78241c3a07712d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fcc91b2e04c83118afc5f58e46bb70028cc179f21c509e4ffff98beeabebee2
+size 249179
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_004/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..888a04a539465997cde15b34e0efb0671196f659
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c39fb7dda37a5f859a4d7c0af9d0e0c3c57e3285337e3b9fc2038760ad5df0bc
+size 494745
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9b373674c759c56886ff5703180f4a44a363a96b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a55b31b2b1c2660ff1abbf5796e48b062cba953f803bfcd5d36426e001b2fee
+size 345342
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_005/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..999d8531d203abcae506eff7244e0242b9de56e3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1dce60aff93eb06322bf6cc252df015b1df6d4b817e318d03fba0de8c49858d8
+size 259804
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c803b27ad82ed003b2953b84afbf73329511f85
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43250f795cc10e88bab4561bd43f644d114814ea9fc5f3599b22a35f35cda4bf
+size 116963
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_006/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..19bb5366a554e69acee0e5d57fdc0cacd5a4776c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bef96047dcda84ddd21f0a211ff034ba9279f5348f7150082c99a75c3e6661b1
+size 288573
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7616854b5e6331feeb0fb2b0d9ee644c4a07bf81
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72917cb4e00856e060e82f3dbba8271551c287ac1fe0191e22d6cdb4678653be
+size 183248
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_007/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a6ec8d8aab13aae33aa6732e12e6f1989083f687
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6dc30a417fd51f09b853b6772f4653b4e0fd5818f66e1054bdc68feeb19b7d94
+size 429416
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..04df1d2ec20f0243c9c0f26fcf6c8f2c01b069c5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9e1762b10183cd4f4169c606d8a66ed8e5c081768b5b1dd8d7e75db933e17f1
+size 267872
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_008/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..21ec5af5389f8b85f60f29c1cea70184a3c19b6d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01b81d432569b27293fd213c889d5b893203a7354becc6f5d5be2d5d5eaabbf4
+size 434218
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b40f76a278a5439e711a155ff1fa30452c73669
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:952923cfe0c90a1b3c3c88895d7afa74d9ed0c06c2e0ddad933a05e6f6bd606d
+size 284444
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_009/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7023f446c0bdd2c9d0693cf22f4b6be64b127d54
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83bb35e03e9729054e3ca879e6bc75f116ab87164e10ab9dc0c3dc4d2a3487fa
+size 415136
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a091494ccb695a0ddc4ac7de2dee02aeb1f766e7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c64c56d89761b2e696dc240bd5b0172d25c5fb221c236c7d6bb0e1d04e0a5db0
+size 183334
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_010/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b860039c0aded6ec52052f5e182f426acd04701b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85a7dd2f1677cd7b90a6929038234808d780810e411c5aa583f6328be875b56a
+size 270011
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..47d5f8a599d2efd54dc858fd0afd63bf30beb66f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4e5fa539088de5125af04bfe924cb94c7859130af164efcf056d20211a44bc0
+size 140748
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_011/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f33caa4bf22c232c458942d7da50b39186e8d733
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a583e79f5ef9647cc0d1fb258b38c53455dbfad78fdffdfe6f9d698a84785930
+size 353611
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..276af5caf81942ae4037be1c7e8e70ed27a66afe
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e99ba4cb403c11107ca66d22da1819ecbf3f455e9e4cb084718b4d97d9a164d
+size 194125
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_012/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1695476210d8aac496d5d5aa89488abd3f446d56
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00bfce68f2397c779b2287afc02d529cd8c6b47a8b820164a3d9b7eda9ede883
+size 416587
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b9bead5dd67fb0818317df3ba89c6152d11f8b0f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97a5bca88661fe2dfd061135c3a400237e0a026cf0d966d40fd0a31e19cea96a
+size 314100
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_013/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a23bc26e650ba658931b7698f4fddbe8f3b7862c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcfb19e68f4b1925e84f83ac0f19c7bea1e727bad03d22dd14bd327e57a9fb1b
+size 285555
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b7e697b5a271b64d2c012659cff5c3fba5ea766
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:501c0c465d899d05eade5478ed0ad709fc936c5706b2d1f9266dcde17c32b11a
+size 157753
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_014/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4094f28b3d81583dbed034192c26ed904b9045ba
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf50271f97c4d3b27a3ba247bd6ab09e870763759625d6c23d8f80481fce128c
+size 381895
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..b8bcfe4b6f9c3bae50b1a9d5d3609b0775a166c4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9bce7032293e69121b81af26bf20236a83dabb3e4527775488108b0ed125986
+size 239973
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_015/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..66af62f85fc5f7cd548a171b0bfe0b501deca508
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec98503f2dab066cee6edd6c7a6abcdc6dcc891f7aed4223f3345819748a455b
+size 443420
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc9888bf24dc22f11da057e96a00d2e6ef9b536c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aac4a66cb328f64f380946f3345089b1a45d4d3f3106554ea6e4a16ae8f7972d
+size 327335
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_016/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8857b4c0e8d6bae01cb22f3e15966b4107419e16
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b17b377060f1b7d1a7fa8b3cdf821587235cd4d370361c06211fb8711ad77f8
+size 444778
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7aab9989dcbb1bf3892562cf1d86aa4c82b7c99d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b02_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a007deea68b9b756c56fe5eaca0535e69f14a8e4798285e12e0a7796a5450f17
+size 232114
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_001/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..345ad9080deb43be3c24fd638f6826a928af1eda
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26c0a0fe4bc6a47130ba3730fdc04e5671614f6d4b7a6dba5498462b721fb903
+size 323777
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ff2664bef4f68c58b66a3ab51407a827fc3cb9c1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfe79ddb8f90adb30060e84f09ef6b4e1864b1888aaef8c112ee433f1851db19
+size 229286
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_002/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_002/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6b34acd465c6dfb9aed03ebed9c019afe6dac82f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_002/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9148071ce26caeb38923b24dbac29b763751c43f51fd49fa9ea063b273103b09
+size 375009
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_002/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_002/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe043e14b6ad85a03e96dad15817049322f078e8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_002/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:004390db7e0e725fbb3f0680f9eec346b5532a29127b9863ce0e2e37bab0f9c3
+size 246802
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_003/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..85c71d09aa33d08b32f5fc2e083558459f4cfb97
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ee40e2a402098ce87664f289e824e68ff8731071ec4e442b7de06316f96dcb4
+size 383251
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..29349bf77f715f922195c23abc676ba84bdd793b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:234a264dbd8b898c25c912e085fce84159cb6812928b448d43bce9448eb70d4a
+size 165862
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_004/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..244ef18dd760d43e885e8d05e19d678b7cd24b82
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e7ed9b68296a47c566e39cf69d3512498a2afd6eae96057e844aefc95946fb0
+size 373419
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f2eba37ced784bce4f094a871d904b7d8612ab2
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:991330696ab86a5e5a00f6353dcabace19c6eefe599e8a507bdb2a078437f671
+size 278458
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_005/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5a87baa85f873670e9b51d624ae8168d789aa83a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bed0c10f25bc2c64e1e6d03a44e412a9839ca97f9dedb3400790ae9e4837a2e
+size 296253
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..fa37470a83d4fe93bd60e4d37f261145aab55913
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:204c38672d205a0c1ac71ca53be57a50b2747115314a66c3a3e669b45b51e5f8
+size 151819
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_006/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4eaefa1cb2b3e65a04d3e98b2724699df223a424
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19fe060e20324f6564f45bfbb3bf170b8f50ac96c629db30dd0c4059c4ab959f
+size 381200
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d1bd2ae4e80f7926ec18652425b311d75ecb87ec
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28f400af21641a43b7dde23bbe405cddfc33af42fe218faef381462c951548fb
+size 169064
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_007/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8135c0220e7792b794b95a4597465344c273a04f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b86fe139654abab4f95922a4ffb4f6e39f37143dde2b5ee89e894c307cc0104
+size 356695
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..d61d6de5e2935c5250c7012568e007ae0e6f3b24
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d52f4ac9c3696a0d5d52e146a47e9c09cba1f0242490d415e8219ade58109b0a
+size 304749
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_008/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..85a91bb4bafe501ed852a90e425a5f00518dfde1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63a1b285efec2b8eb219e5deb9a76852cabb553b0f4f8bf26a687b02b14db816
+size 523395
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..65760fa67ef7cc45ccb7bbc8603b67fa066962ea
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11840f2f6d911befcf532462c8930e5281f5149f2f77925bee7df12fb771fc3b
+size 363433
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_009/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d0d8a7ea9687ee27948dc7ecbf2b0f586d38f729
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:368a51ae3cf0c10510b5ba9b141e83738381527f8c5004ad6d41a39e4a624adb
+size 447491
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd70af25c732dfbeaf3c7487105855708fafe5db
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c6c36f3787a57210a885e5d1e7f651a9e2a28cf94d93e33d95c7c7040eaa48a
+size 197415
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_010/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ef61b363c71b3e1bb5f31b16dc93b695bbfd723e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18de0b15a9217eaec8c1a2a18bb73dff094fa4805750ecb93a2219d65c29e551
+size 354480
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b57378e0ba4e0e23812b18fdcd99c1f1465d6e7
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f31e141142602b7c92e16733ab500f4ccd6b66c04b7dd07788ef81c4ca8a0b6f
+size 175648
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_011/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..713dd4043318d9f742b11573cde8bf998e90ae47
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3956d46807a677d43f69fbeb31adc3de42edc4247ac873e26582f84e860bd6b7
+size 372565
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c509e4c6dd972de716971b11546e57ee62c59f89
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec576b81b0b28ac1bd4653bbb9c9b9065874e505994b7c848c745ea81ef699f3
+size 267279
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_012/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ebdb9baaeac31e46367950ea17907c64a811058c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:196aff8a77dce238bb36d78001d2ca32fc34ecf79a38de5717379e076be9d099
+size 422279
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..7ab46bc2380b8c0daa77621377768d2ea29742cd
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dbce4f0dfef162153eccbe56b33266323acf386fc83a22033b740e06a94bb88
+size 232979
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_013/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..179fc8c49712bf737908d9e6470fa874a77066b5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19e780108ac7a490733527045ed05fd6923064c9d64720253c363272e53f1b81
+size 276453
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c41cd23ae8db8ee67bbaabc9de9f7b6575af5579
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc4e859c728206735f5345eae98b0143496103466df5574958ce74031ecb37d1
+size 153985
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_014/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5d5bf1f4bc2f0c1bac9e1b9550f3ad5ce7b06462
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdd3730f5c006834d0915f1866b9db65a25be36541b04b8766f5dc0239995098
+size 389197
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..34a22a5160987755586034284a7f63de846f8ebb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2fec99f078a0b3764fef732b979fba4035fff23dc309e34ca040c6117a19bf3
+size 254499
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_015/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bc71e30b233539c566eb4fe0ffee045e715fac89
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7053faa0392cb6ac8184c5c3aed0e6af4757a10df957dfc19dd37dbce22d03e
+size 468857
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..77063751998544f9457868e18011163ddc897a2c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0e2c7ed7f53e62b34d05e291ba40ce6e39debb418d5ada42bcc2fea0c117ff0
+size 310779
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_016/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..88111d09c387ca4d8045ac02c2ee4028756baddc
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:574b9899015e9f9fde8ea5ac43a3577676800947e063f274d5b287cce3fa1ec9
+size 450468
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..eef58fe75f1dcfffd201d4808063728bc3da4345
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001200/scene_b03_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a846a0a30721ae0c614f14cc293436479cb062d2523d2e86c90465b104eea5df
+size 317894
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b00_004/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b00_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..39bf80657e370948acf69a1f120ab605ec8d5e97
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b00_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cf39d9ada64cc8284b2f3630b54cc729651cab79411595edd632f846663248a
+size 388033
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b00_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b00_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d4c5b265f75537c6b85ae32e3ef26938ec09a62
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b00_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:111b210508ae00b5c29c288020abbb5f23e9db9e9ba07e1a6d7e518be7bb6f3c
+size 233049
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b00_008/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b00_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..09257daf06b6b1b8b49088f940558172b41f8dae
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b00_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b258916c9d0a5d37b69baf3773c657d6783b35145746fcb380bf0bcbda654580
+size 249353
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b00_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b00_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..daad403a6fb394560c8101e5fa014b0a57a8fa08
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b00_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cef7f835c6b6aaaf3505eda30e5df1d73de2138bb2fe86838fc0daabda27e34c
+size 190083
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b00_010/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b00_010/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8e631a06f714287b866ecda9430641feddfe2960
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b00_010/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e45bda76fe9a02995ce27607752c0151220fcbeff81356e5a38fee0067f3975c
+size 260195
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b00_010/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b00_010/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..25e3c17afd217837af2a4c7cfdb103a713f2c6f6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b00_010/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8dbdd8afced6a1259d86aa13164f6bcfe3fdd9030244fd7ac45548a8179e58a9
+size 188516
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b00_013/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b00_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f022b356bee1fa351f0ec17e189692eb6a18de9f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b00_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:752726957a8e41cc0662f17c2ac12d8cc5155f8e38fcb72e9c5d838aee604f6a
+size 363683
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b00_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b00_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a4a9c6766ad8a82e2bd3dcf56632702bab337804
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b00_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c65af143c8abefb5bb5aff5b13a336202002a8b1a67ffd3fa87e23095e3fbfb9
+size 229682
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b00_015/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b00_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..69c2fc0f574451a132bbcbe9504a21bbb86df8b3
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b00_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d5c3f8feec7f3db5e8e8783804ccf0a4644ba8907dcfc26f1a29bbf38d0057b
+size 509406
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b00_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b00_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..fce6c1bec6dc8472bece57a198f25c2053f99a29
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b00_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2764161b17028696f732b0062f3d1985b634f7f9fe100892d83f758126bd372f
+size 335957
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b01_005/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b01_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9d9b8668d0daa309249f87016a3204b8082a25e1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b01_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3641007e56910b86c2d7998564e48e5fbc84a05187b92a1d720e64f36daa401
+size 362434
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b01_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b01_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..9dbfb96058f3e8d94a200d340f0482ac1a1f1c8c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b01_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf06787a7040a198d3c1e9770ac8ec9bcde7fbf5b3c6162068be3255f2466d39
+size 251297
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b01_015/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b01_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..20be5c34390a71bcc979b6e6c6497e6610347446
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b01_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2481779636521503949f99fb8556e81beffdd993057f2acd998d5d484cc904cd
+size 209048
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b01_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b01_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..098804700dc75d1c9284d8c83f9c7369ec9ca42e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b01_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71a86abb25dbc9cca4d4d102a3a2949bf2f2d1ab07a3c06bed2694953aed3e65
+size 136671
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b01_016/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b01_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cbbd1770f9862824f7237f778cb4cf8c291201ee
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b01_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b47be3aa45d09b9bb0ae4b6ad2b27fb2d60cd8419ab9c05d29665dbc92119dc
+size 273906
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b01_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b01_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..a70c6c5763e0939c873eb82acb854adf003b3833
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b01_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:983fad068bb52b229f7ee751b6361b0cdd7dde945c5c8d3f48d6be6ec3d6ce01
+size 156072
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b04_004/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b04_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1ac170e697bc2decd6e1a081a269b87199af07df
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b04_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2507ce763f15f4521dda9948eaa06ff63f2857184d7c489f1f8c87b41b053b8
+size 341098
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b04_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b04_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ca1fd6e9cebd9a7c0b38a2bcb83daa7fec622fe4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b04_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:527d37a9035fd1e6443294fee2828c623a65b932c8bf58c5c572a22b33b82076
+size 225876
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b04_008/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b04_008/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..79e1ae63564e343a99208a123d2bebadc0858ac4
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b04_008/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:657a751b2bb6389c4a4c90ca08c755a57594af195f76737e471c0aa8219d4f66
+size 368843
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b04_008/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b04_008/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5814dd1d61cdf1283f70766f5818276d3d66aa92
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b04_008/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aba072bd3c5d9eb41c7d5105a0761a2f05306ed1c9293d9aee8ab2cc0e558367
+size 218332
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b04_009/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b04_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e0b6170843fe61ce6cb4c04244890b3490a66406
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b04_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:706a5ed9304ae97697ab35f8051eed68456265966fb63c5fec0bb3c146cb8c03
+size 365330
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b04_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b04_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ea7678a45cab18b3deaa4aec4b1e6c7b657a376
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b04_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:366ed7396ed82e2ee539ab99111e8865d4e7e537a8fa71882efa46a04e6cceb7
+size 277462
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b04_014/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b04_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..25ac98ed319272615663da7ad45d8e7d5a3d1d88
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b04_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9244bd43250150b3fffceb909c50ea888557558d2d463621647504456bc4cc0
+size 326937
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b04_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b04_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e797a82b328eb8c4b677927ff384059137c9afc1
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b04_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34a31ab6a4d0cd8d924df783a268671e4a6d68a306e99916a707df9f0de2841d
+size 205780
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b04_016/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b04_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bc10ec17bf72a367707aaf8f84f76c604952d2ad
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b04_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:258cfa5ad126e7cc84fcf109388e5e246d9f30dbde6d32f6be6ad820a6ba8b5e
+size 405716
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b04_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b04_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a189bb86988ea51588edb32adaafa450c058e73
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001568/scene_b04_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41f92865317c88416b18cc90ee74050275af1369d0f6d8ef3d0b2cbae4bce19e
+size 201786
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_003/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..94703ece946523794ae68884edf74354a325c439
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a8b01d6b7b07a4ac1b4f3c45216205ef99bab1b31d3c3631a3da77913e1c7f4
+size 602965
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..030f04eaa0d126df51bdf511ba61a88bebd23510
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99825c39ea5b5b2e8b7b44f9dc26a946bf946839b6fb4509cd594180b08ee932
+size 372884
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_004/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2c2e491d2abe79f0a64d4a9e1d3ff9309788863a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:145c56bee9329fcf4a46327cb11cbbc2638b082cff900be1f12dcdf111b9d779
+size 178295
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..925611bc7854cee750f2a1d0b77fdc6714ec234d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3659b8d966dec10d0f827603202409bf6970565cfe66984378b99d359d276e88
+size 111771
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_006/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_006/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..12dc57ba9b2761bb753724866c1dbc4d63971c4e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_006/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1ff25c58137712b82b7d924eb4ddbacd0685222c52d2c26197ff00e17b046f3
+size 370452
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_006/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_006/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..af7e3b8438d3689b9f9c2ca1e8d71939a7db307e
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_006/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bef6dfcd14e054dd25f73cda30335324b5ccf497264927394a9f19fb4153d403
+size 288729
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_007/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_007/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..98f2806d780c5f5a7944311d40eac854b5fee759
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_007/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d90bef597695e17f120240f7f585679400990a624e73791e36716bacd3726cf7
+size 306922
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_007/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_007/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..54cd382063085f373f9f7d7ff8fa66f02901a852
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_007/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:268b42ba08ac4dcd8286feebbc20cb67c9517eaf35db24e16dc5cf6be8e6eda3
+size 214011
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_009/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_009/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fffa43c069fd2de697d1afaf4b14d7bfbf017e92
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_009/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8c99413710b8c7d575ca0fed111881297a5f8116d93030e361b7fdc7567faa8
+size 480220
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_009/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_009/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..539b125a732c1fa979571632d38e0ec3f569f83c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_009/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7b584ba4a1ba6228316d2689baa2ebfe20a2703f881c7f9d18e217b6ed6cd11
+size 341488
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_011/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0910b6eae09b883ffefc7b6cd0bf3339c26f7902
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07a2878df74cd5cc335d72e33e20515bd29a4330dfb8f713d84633356c649475
+size 130929
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..c540f15d4c8bd05b60bdbe2e51f8fdde7cd0cb41
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e3d9a9a4798ab5b6cb8dac60d9adaee0104b30768a37f2abc281536a48b79e9
+size 82162
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_012/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e367d74e667cc56a993ab6598db0b2b166afd793
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c09eb1d532538e1295e5156c5ad05fd6539e2ba9bcb985fdc4478c0795c391b3
+size 260037
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0812f0ea4248565843eb12aa45d481e0c776ef42
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:617fa8c96f202b557cc542c23dfecb6622a10214276831826d7a5519acd406ba
+size 135737
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_013/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2885590f4212db82468b5586e60a593745f6d297
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0c1ec7737cbf4ae51d7ae27626b478dae209076f72ce5d431458582aaf9c278
+size 550319
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd3d5573da17f0ac9ec77e501222812bd9cfc233
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b00_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67f15da2c141ce89ce92e5a7328fb051e3acab22e67f63af3e86bb6b2db4a10c
+size 320535
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b01_001/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b01_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2968c82872cb45fb21d3ed113e852705ca708668
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b01_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81c84c7869a9177963db448332633c53616a78cc814f640fd49117cebee35e50
+size 333138
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b01_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b01_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..69adf1069f606fb4fcaf7e32c1b8da2c8005a9ae
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b01_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88a01125352c908667872227eef10f697ba112cf97a54be2c1c1e5e6cac1b8d5
+size 271029
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b01_003/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b01_003/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4ff22426a5dc477093d9236b80faea2fc9128170
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b01_003/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d39191e5562260323e583914f2a0c55067d17bf4c8a344d0a288712d65b39f5
+size 212505
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b01_003/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b01_003/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..0025ab347f9d1edd835481d2c15e6aa7441aebea
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b01_003/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20aeb15be0a4d323db51fb5c9e186aaa4a5efd9bd69568db16416b1f6334c522
+size 138041
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b01_004/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b01_004/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fda91fbdd9b4594a854e1b6e7f7863f4a6b5e4e9
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b01_004/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22a7d1b9a193f1e56cd4aab8cd9cc795e19a47b0e1496a50941c39b81954326a
+size 269457
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b01_004/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b01_004/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..94c314b86da6e761fc1f607de7efa31dc042b7d6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b01_004/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e649bd1989efbd58b2dae6a25550aae1c743f282995da58e3467473d915ad154
+size 159231
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b01_011/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b01_011/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f8b7978beadf234cdaae59c9bc2d48e03d4ba064
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b01_011/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd3936b4383923b5d89590e445a5ce1b1d6f6b1835882e6bfab7f8ca01d1c760
+size 338258
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b01_011/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b01_011/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..3650aaa1e726f83617aa3e0f4f1b9f07d5e8b92f
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b01_011/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0244e169b9c08696bd062634b8d630ff1a122865b438adb7e2c288a671f83dc
+size 299635
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b01_012/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b01_012/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ed4fb46ae8f94157a381b8ab3bafc3d7f32a8f6a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b01_012/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1944b55f591dc64de79eedc7bc491b3da90f394ec3a3151f2aaff4855b296250
+size 337199
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b01_012/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b01_012/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..1fd4cfd2302cf1ff1f539e52b36001fbbb4d8aee
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b01_012/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ea6fa6e2f7215a3f716d61e6da67f7ad2923ef2e41a5364671370e6974a1550
+size 270645
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b01_014/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b01_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6ee3bc674a70d2a0bff5fe27ecc2596515c118eb
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b01_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21ef0768ff469648f5eee037d92c1c119f3909ea8462e80dea8f325f87ce2088
+size 253026
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b01_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b01_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8580ee041dfb3887c274b2ae00e415610b297668
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b01_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3f812ef3fe5611a8ee73613dde1ed4acb4b1cd688722500856c0f6a50af23c8
+size 157365
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b01_015/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b01_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..58925f98f7227161fb4d31b5be374fb8e944752b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b01_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23ecb2e7f5cd93979338ee4b9e17a5c05a7e64620f402591042ec27b37df1071
+size 404016
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b01_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b01_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd21202926e7fffbc9edc7f6e8aea68b3cc73836
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b01_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bcaf20138a7a65576bb328da006cdad604411efb5d4ec8ff6c4333aff432d3e
+size 152101
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b04_001/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b04_001/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..63d9633b62b604d35a7440e5d09b9e1d581ebd9d
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b04_001/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88f4d72a53157a4156bbb6fe1a4b3065e5f0fca359465ecc4f55235ce7a8de72
+size 251369
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b04_001/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b04_001/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..e4c259f68ba00bf8acde39a49ab314bb9c8d608b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b04_001/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:174b446a4090bf2d5f2c9b3172681e5d2b47974a41cfd53f7f08f9a66c25ea86
+size 172708
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b04_005/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b04_005/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e4bdd5d461ea6a891475f58f5f494afb0403bb53
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b04_005/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afb8e938d9c305fd8cf8636ef4d25f7af555a9d17c06e773adaff144e618a44a
+size 375966
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b04_005/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b04_005/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..8c05aa16ab6b7c59ed2148b18d15d31fd163bba5
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b04_005/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bb000407e8b085bd15c62bbf7f67f7096b89ab631f0838639d37c236441aa48
+size 270358
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b04_013/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b04_013/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d6cd6fc30f3d9df82a71eefaf26d77be1b0a7c1b
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b04_013/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c40d530c4e4c0e5cd2e2f9133744cad0b5a1c4233e6dfb8f22a9a928053047e
+size 226987
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b04_013/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b04_013/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f2c6a7114bf5d19c45721eb8a4fa79f1fd9a557
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b04_013/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac441a9d46b2e1c0b51967f02a003491b3023f1f45601688e0d48c7f4a6e2f27
+size 170427
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b04_014/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b04_014/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a97dbcacb3400bc44cf454d24502541554367fee
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b04_014/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6264508978e592aca6a70a754ea5391aa04099655eafb677bb37272d272f9fb4
+size 292801
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b04_014/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b04_014/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f211ec0d5c350e100e5008797aafcb13348297c
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b04_014/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1564594237c581fa30efb1fe6905ef57562581c887935edb870953ebcaf14c9
+size 176529
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b04_015/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b04_015/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..07cbbce8b1b196ae76bdc05bf7e0b77904849653
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b04_015/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:282ebc4583763fde637ed7e43b0dd0a51d782b2737239f061c3ab76efd0bd911
+size 467772
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b04_015/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b04_015/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..762821a91b69fae8ac3562042df929e4cb8163c8
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b04_015/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56177811527b8eb5aad96252483b1e66ee25acfcc918b7842c08ddc61db3443e
+size 370680
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b04_016/data/000000.npz b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b04_016/data/000000.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6ab8622e1fc8960c0457ef437695a57358f5243a
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b04_016/data/000000.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcfcd6110628a9ea4693e1c703573cd70b3440282772611052000932742429b6
+size 522405
diff --git a/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b04_016/rgb/000000.png b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b04_016/rgb/000000.png
new file mode 100644
index 0000000000000000000000000000000000000000..ae2c9fb7002de8dd9938febf9b01fa7175cda5e6
--- /dev/null
+++ b/xarm6_robotiq/RoboCasa/test/bg_001607/scene_b04_016/rgb/000000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4dfb526c6592dd1d817fff3ae9189b033ed953c6cf292ef2c48988f593ea9d40
+size 344778