diff --git a/processed/009-yellow-cloth/episode_0/cameras.tar b/processed/009-yellow-cloth/episode_0/cameras.tar
new file mode 100644
index 0000000000000000000000000000000000000000..03ba3c8e66dc3d2e1fcd4fc487f7cb328c961e17
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_0/cameras.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40e3142b391980fc0348320b4c60dd0311b415ebf91f65da23e1af452db9c63b
+size 1234483200
diff --git a/processed/009-yellow-cloth/episode_0/metadata.json b/processed/009-yellow-cloth/episode_0/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cbe9d4fd5a9ce639adb0c8bdeea7037ac54e2a8
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_0/metadata.json
@@ -0,0 +1 @@
+{"intrinsics": [[[836.680396963516, 0.0, 639.5], [0.0, 835.700140390523, 359.5], [0.0, 0.0, 1.0]], [[1142.797002897219, 0.0, 639.5], [0.0, 1141.799060100665, 359.5], [0.0, 0.0, 1.0]], [[907.876942500946, 0.0, 639.5], [0.0, 906.295816472162, 359.5], [0.0, 0.0, 1.0]], [[887.775079860871, 0.0, 639.5], [0.0, 883.258048873426, 359.5], [0.0, 0.0, 1.0]], [[1005.256833748733, 0.0, 639.5], [0.0, 1003.304233049635, 359.5], [0.0, 0.0, 1.0]], [[930.381984285314, 0.0, 639.5], [0.0, 928.441276649211, 359.5], [0.0, 0.0, 1.0]], [[917.691930940131, 0.0, 639.5], [0.0, 913.45155666489, 359.5], [0.0, 0.0, 1.0]], [[978.761324441358, 0.0, 639.5], [0.0, 967.808999073207, 359.5], [0.0, 0.0, 1.0]], [[924.240452259708, 0.0, 639.5], [0.0, 916.847970945435, 359.5], [0.0, 0.0, 1.0]], [[928.318793983804, 0.0, 639.5], [0.0, 924.975123129267, 359.5], [0.0, 0.0, 1.0]], [[1014.066558872873, 0.0, 639.5], [0.0, 1008.968654443062, 359.5], [0.0, 0.0, 1.0]], [[898.17085087579, 0.0, 639.5], [0.0, 893.97260373269, 359.5], [0.0, 0.0, 1.0]], [[976.31523316351, 0.0, 639.5], [0.0, 973.266097601809, 359.5], [0.0, 0.0, 1.0]], [[942.364497116677, 0.0, 639.5], [0.0, 937.850675702226, 359.5], [0.0, 0.0, 1.0]], [[950.125227431998, 0.0, 639.5], [0.0, 945.062671985714, 359.5], [0.0, 0.0, 1.0]], [[896.530324948754, 0.0, 639.5], [0.0, 891.938415192759, 359.5], [0.0, 0.0, 1.0]], [[1156.806600140201, 0.0, 639.5], [0.0, 1155.363892317459, 359.5], [0.0, 0.0, 1.0]], [[856.146932879104, 0.0, 639.5], [0.0, 852.84069296188, 359.5], [0.0, 0.0, 1.0]], [[1037.176038000849, 0.0, 639.5], [0.0, 1033.201867590888, 359.5], [0.0, 0.0, 1.0]], [[938.669396345037, 0.0, 639.5], [0.0, 939.075758751898, 359.5], [0.0, 0.0, 1.0]], [[956.505886480202, 0.0, 639.5], [0.0, 953.611718347018, 359.5], [0.0, 0.0, 1.0]], [[924.669760060037, 0.0, 639.5], [0.0, 924.549923852754, 359.5], [0.0, 0.0, 1.0]], [[1050.174515172969, 0.0, 639.5], [0.0, 1047.45541882677, 359.5], [0.0, 0.0, 1.0]], [[1003.671880162206, 0.0, 639.5], [0.0, 1002.524428384158, 359.5], [0.0, 0.0, 1.0]], [[883.532092296697, 0.0, 639.5], [0.0, 885.959648843671, 359.5], [0.0, 0.0, 1.0]], [[1010.428809076191, 0.0, 639.5], [0.0, 1009.878386453617, 359.5], [0.0, 0.0, 1.0]], [[931.184521884731, 0.0, 639.5], [0.0, 931.092005812257, 359.5], [0.0, 0.0, 1.0]], [[994.228916679276, 0.0, 639.5], [0.0, 994.782134638899, 359.5], [0.0, 0.0, 1.0]], [[856.617795915458, 0.0, 639.5], [0.0, 856.062704001386, 359.5], [0.0, 0.0, 1.0]], [[884.766002540948, 0.0, 639.5], [0.0, 877.653848244253, 359.5], [0.0, 0.0, 1.0]], [[975.535695286329, 0.0, 639.5], [0.0, 972.470569816519, 359.5], [0.0, 0.0, 1.0]], [[877.132873574099, 0.0, 639.5], [0.0, 875.850700711846, 359.5], [0.0, 0.0, 1.0]]], "WH": [1280, 720], "fps": 30, "frame_num": 184, "start_frame": 94, "end_frame": 277, "cameras": ["brics-odroid-001_cam0", "brics-odroid-002_cam0", "brics-odroid-006_cam0", "brics-odroid-007_cam0", "brics-odroid-007_cam1", "brics-odroid-008_cam0", "brics-odroid-008_cam1", "brics-odroid-010_cam0", "brics-odroid-010_cam1", "brics-odroid-011_cam0", "brics-odroid-012_cam0", "brics-odroid-012_cam1", "brics-odroid-013_cam0", "brics-odroid-014_cam1", "brics-odroid-015_cam0", "brics-odroid-015_cam1", "brics-odroid-016_cam0", "brics-odroid-017_cam0", "brics-odroid-017_cam1", "brics-odroid-019_cam1", "brics-odroid-021_cam0", "brics-odroid-021_cam1", "brics-odroid-022_cam0", "brics-odroid-022_cam1", "brics-odroid-023_cam0", "brics-odroid-024_cam0", "brics-odroid-024_cam1", "brics-odroid-025_cam0", "brics-odroid-025_cam1", "brics-odroid-027_cam0", "brics-odroid-027_cam1", "brics-odroid-028_cam0"]}
\ No newline at end of file
diff --git a/processed/009-yellow-cloth/episode_0/metric_params_refined_undistorted.txt b/processed/009-yellow-cloth/episode_0/metric_params_refined_undistorted.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a28618edcbc9103ca344ed452c18b892a8bc6bd6
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_0/metric_params_refined_undistorted.txt
@@ -0,0 +1,42 @@
+# cam_id width height fx fy cx cy k1 k2 p1 p2 cam_name qvecw qvecx qvecy qvecz tvecx tvecy tvecz
+3 1280 720 1142.797002897219 1141.799060100665 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-002_cam0 0.002458822838 0.219227898012 -0.187746323391 0.957436369153 0.148126643066 0.272099191336 0.377564637117
+8 1280 720 930.381984285314 928.441276649211 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-008_cam0 0.044542031343 0.472543106448 0.190855966823 0.859239791863 0.092917632107 -0.033767955975 0.293361642204
+4 1280 720 1022.931874892199 1018.807042830697 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-004_cam0 -0.064724740997 -0.036483094817 0.217743164971 0.973173985372 -0.037378486419 0.003903288021 0.328140360275
+10 1280 720 931.966527339115 924.302672584629 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-009_cam0 0.208045306124 0.777696805666 0.074258041462 0.588549549601 -0.289734549572 0.043614437534 0.346561402371
+6 1280 720 887.775079860871 883.258048873426 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-007_cam0 -0.166305144898 0.791339871672 -0.173865321798 0.562045065950 -0.258376216182 0.214614704663 0.468311265911
+7 1280 720 1005.256833748733 1003.304233049635 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-007_cam1 -0.115851336603 0.680180080180 -0.166375836670 0.704451990774 -0.080518805923 0.293960255363 0.293187681903
+2 1280 720 1100.930815233789 1097.769941763063 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-001_cam1 0.031103174429 -0.275094815968 -0.234234852841 0.931927823644 0.299132895349 0.158626013226 0.590035386309
+5 1280 720 907.876942500946 906.295816472162 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-006_cam0 -0.174232517889 0.550467994953 -0.265573613699 0.772074265825 0.125213495330 0.182367115929 0.379504129366
+9 1280 720 917.691930940131 913.451556664890 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-008_cam1 0.213747856080 0.752407348022 0.177673349326 0.597182733845 -0.039993734574 -0.018306332154 0.239223185198
+1 1280 720 836.680396963516 835.700140390523 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-001_cam0 0.010103277652 -0.094435734273 -0.320192555678 0.942579727748 0.184525300249 0.134521115776 0.433599398705
+11 1280 720 994.010595847117 988.340865609786 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-009_cam1 -0.025928164203 0.858136771731 -0.004238232934 0.512748523827 -0.219429674683 0.090294252608 0.380414935018
+12 1280 720 978.761324441358 967.808999073207 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-010_cam0 -0.068705895060 0.821908033414 -0.027591150855 0.564787936298 -0.010490353366 0.084215266149 0.197020640410
+15 1280 720 1014.066558872873 1008.968654443062 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-012_cam0 -0.144559110941 0.978973815728 0.038631938491 -0.138638035515 -0.266473783429 0.165477595020 0.761098221340
+14 1280 720 928.318793983804 924.975123129267 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-011_cam0 -0.199202153831 0.945416758868 -0.030089679979 0.256125487055 -0.185544730712 0.151120290244 0.604707557493
+13 1280 720 924.240452259708 916.847970945435 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-010_cam1 -0.053400344800 0.588973299569 -0.026329698532 0.805956327939 0.120320214282 0.102939675138 0.188468911519
+16 1280 720 898.170850875790 893.972603732690 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-012_cam1 -0.131042631578 0.990322282456 -0.042101739381 0.017805873238 -0.153140481728 0.251473258968 0.616766399552
+18 1280 720 1065.162294482332 1059.511955344441 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-013_cam1 0.204974795922 0.932596640804 0.033950354150 0.295120673708 -0.209354217486 0.055348925463 0.507293702484
+19 1280 720 1174.045093274639 1169.032876949705 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-014_cam0 0.258560225740 0.949653677473 0.039313186567 -0.172507900946 -0.201190069309 0.163080816366 0.678318301248
+17 1280 720 976.315233163510 973.266097601809 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-013_cam0 0.124159731424 0.986775050477 0.086046791174 0.058781889877 -0.205846135095 -0.057768631702 0.533863051562
+20 1280 720 942.364497116677 937.850675702226 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-014_cam1 -0.055830110171 0.988617669051 -0.024781245165 -0.137491792943 -0.258885740835 0.057946689360 0.684784239760
+23 1280 720 1156.806600140201 1155.363892317459 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-016_cam0 -0.071504936427 0.902055331486 0.085277138836 -0.417026417144 -0.054779848049 0.237664057804 0.791221264649
+21 1280 720 950.125227431998 945.062671985714 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-015_cam0 -0.018497306591 0.998998901993 -0.002446805012 0.040657798893 -0.203737075393 0.091681592476 0.512198765447
+22 1280 720 896.530324948754 891.938415192759 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-015_cam1 -0.080100376375 0.972945021285 -0.007651465339 0.216571859529 -0.122608048570 0.021643129828 0.517357859086
+24 1280 720 856.146932879104 852.840692961880 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-017_cam0 0.152689066795 -0.582901454905 -0.205427326303 0.771175438119 0.096044498960 0.022950959865 0.724068664942
+25 1280 720 1037.176038000849 1033.201867590888 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-017_cam1 -0.160273899057 0.788557779047 0.185408225220 -0.564014801585 -0.044881740455 0.045464891448 0.724877994965
+34 1280 720 1050.174515172969 1047.455418826770 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-022_cam0 -0.422338605227 0.886333822796 -0.093597468845 0.165172548954 -0.036452223762 0.026761828898 0.616424905103
+35 1280 720 1003.671880162206 1002.524428384158 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-022_cam1 -0.465208937387 0.882288608542 -0.009646067400 0.071094368240 -0.259822261879 -0.025803734850 0.618098219989
+32 1280 720 956.505886480202 953.611718347018 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-021_cam0 -0.383728432995 0.744827289767 0.239402104392 -0.490582745867 -0.021901638343 -0.096634973402 0.698365138424
+27 1280 720 971.187166613045 966.299584921482 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-018_cam1 0.202540492680 0.864197744535 -0.091758710855 -0.451353460325 0.036647368521 0.184569080359 0.696205981131
+36 1280 720 883.532092296697 885.959648843671 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-023_cam0 0.296195955927 -0.574789250580 -0.377601147269 0.662799099797 -0.037542761940 -0.150487900126 0.697909598028
+28 1280 720 879.559747322529 875.417830389538 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-019_cam0 -0.186574905416 -0.605663011699 0.123005103129 0.763696186669 0.063173648898 0.141309133585 0.642049071509
+29 1280 720 938.669396345037 939.075758751898 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-019_cam1 -0.002946632376 -0.644568814067 -0.136075504423 0.752333581854 0.009635902135 -0.018079613469 0.619615281604
+26 1280 720 925.405178076134 922.941620332101 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-018_cam0 0.215782054925 0.792459346399 -0.154664928184 -0.549112965671 -0.047510523459 0.195000489013 0.620842692655
+38 1280 720 931.184521884731 931.092005812257 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-024_cam1 -0.394328303523 0.662068820110 -0.317110080955 0.552821185407 -0.107609502930 0.185580398678 0.471409650153
+33 1280 720 924.669760060037 924.549923852754 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-021_cam1 -0.400000003230 0.873172970973 0.155522739752 -0.231044665807 -0.188947424144 -0.155861595257 0.757431910370
+41 1280 720 884.766002540948 877.653848244253 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-027_cam0 0.440858373606 0.895106968407 -0.006451272218 -0.066225301936 -0.386981589824 0.220492815144 0.483174989370
+42 1280 720 975.535695286329 972.470569816519 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-027_cam1 0.456334574348 0.888564838095 0.015366544120 0.044442705560 -0.223125146375 0.164568384556 0.400170074988
+39 1280 720 994.228916679276 994.782134638899 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-025_cam0 0.008671772417 -0.075458190703 -0.673839110513 0.734963750781 0.171892482667 -0.111000549105 0.527792725872
+43 1280 720 877.132873574099 875.850700711846 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-028_cam0 0.200052550701 0.342941725376 0.396634063114 0.827678300991 0.086830439572 -0.046293996746 0.257128280933
+37 1280 720 1010.428809076191 1009.878386453617 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-024_cam0 -0.266760656253 0.399503731084 -0.399667573501 0.780705675538 0.067832302494 0.200808774086 0.490462041882
+40 1280 720 856.617795915458 856.062704001386 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-025_cam1 -0.545544267467 0.837070118439 0.016298405579 -0.037807816992 -0.188683614277 0.074681133556 0.519382012583
diff --git a/processed/009-yellow-cloth/episode_0/pcd_clean.tar b/processed/009-yellow-cloth/episode_0/pcd_clean.tar
new file mode 100644
index 0000000000000000000000000000000000000000..688a0292e90832edc5cb93ab0739ceba92a1bba2
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_0/pcd_clean.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25a18abd05241a4995477e39775ea536839b942dcec30430607f7373cbce7239
+size 87572480
diff --git a/processed/009-yellow-cloth/episode_0/render_4dgs.mp4 b/processed/009-yellow-cloth/episode_0/render_4dgs.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6aa6492fb390bd2dc6f0035960a32a9cc779a220
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_0/render_4dgs.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5e7adf6696c7b91751f5b9a11ec9b4ccfc8adb008986790e19f27e8e9c391f5
+size 1123255
diff --git a/processed/009-yellow-cloth/episode_0/robot/opening_dists.png b/processed/009-yellow-cloth/episode_0/robot/opening_dists.png
new file mode 100644
index 0000000000000000000000000000000000000000..f2a6be4dea100b9c8cca531350c45ba4c6100c25
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_0/robot/opening_dists.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30b9c7c1664488ad84e7a540d0d9f12aa949d1712b34155eff393feacf482fc4
+size 84906
diff --git a/processed/009-yellow-cloth/episode_0/robot/robot.npy b/processed/009-yellow-cloth/episode_0/robot/robot.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6a6c7f4dd732c3cc107e554aaa4e76935eedbb1a
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_0/robot/robot.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12ce47a2925c37fd1afb03922506cf6fa43f4b3102aad37ba08507ad8cb7ae7e
+size 90117
diff --git a/processed/009-yellow-cloth/episode_0/splatfacto.tar b/processed/009-yellow-cloth/episode_0/splatfacto.tar
new file mode 100644
index 0000000000000000000000000000000000000000..4f05d6684726586093384409b0671a479d6cda31
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_0/splatfacto.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b218d3ce910994b7b9099515b7400d4912bbcd086abaff723e287535e057cae3
+size 1394257920
diff --git a/processed/009-yellow-cloth/episode_0/split.json b/processed/009-yellow-cloth/episode_0/split.json
new file mode 100644
index 0000000000000000000000000000000000000000..e746bf56e59e3f58f30e3aef5a6b184593387984
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_0/split.json
@@ -0,0 +1 @@
+{"frame_len": 184, "train": [94, 241], "test": [241, 278]}
\ No newline at end of file
diff --git a/processed/009-yellow-cloth/episode_0/start_obj_pcd.ply b/processed/009-yellow-cloth/episode_0/start_obj_pcd.ply
new file mode 100644
index 0000000000000000000000000000000000000000..3a5a40b9a0964d269888750f5f51ca12edcf64ad
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_0/start_obj_pcd.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3cd93030a97160e1a838f72c3156213cbe22f62e4add5f4977f60b1ffa22f3b
+size 146683
diff --git a/processed/009-yellow-cloth/episode_0/tactile.mp4 b/processed/009-yellow-cloth/episode_0/tactile.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..56f110c1334bf76e214c4436b18d10c2300030c0
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_0/tactile.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0ae5d20d6fdf7b9152fc5d7202ce56146040696dcb760fd4e523293f76d4412
+size 1992859
diff --git a/processed/009-yellow-cloth/episode_0/tracking_video.mp4 b/processed/009-yellow-cloth/episode_0/tracking_video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9241b32253a6d1acf17a647830c4236d542a0186
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_0/tracking_video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d61289ef7c4b93e125fd4b9228b2e0d1fc5890ec7c059fcb2658d82b901af9fd
+size 6681743
diff --git a/processed/009-yellow-cloth/episode_0/visual_hull_simple_full.ply b/processed/009-yellow-cloth/episode_0/visual_hull_simple_full.ply
new file mode 100644
index 0000000000000000000000000000000000000000..91520152c2a917c5e92a0d3377fb9bafbf63a898
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_0/visual_hull_simple_full.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cc81b82c7859684c1c687ea896dc92f677f8027c586a0145162397c53ed50c4
+size 636524
diff --git a/processed/009-yellow-cloth/episode_1/cameras.tar b/processed/009-yellow-cloth/episode_1/cameras.tar
new file mode 100644
index 0000000000000000000000000000000000000000..056a4d6f53d7c44169ed52da5b5272d262948d6a
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_1/cameras.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:441a89964f8c3561ac9b265bc1b86dad979b61a2cd55f371e6fe781f791aa6ff
+size 1358458880
diff --git a/processed/009-yellow-cloth/episode_1/metadata.json b/processed/009-yellow-cloth/episode_1/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d771865f721fc5757e790970a89dd10aa0affe41
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_1/metadata.json
@@ -0,0 +1 @@
+{"intrinsics": [[[836.680396963516, 0.0, 639.5], [0.0, 835.700140390523, 359.5], [0.0, 0.0, 1.0]], [[1142.797002897219, 0.0, 639.5], [0.0, 1141.799060100665, 359.5], [0.0, 0.0, 1.0]], [[907.876942500946, 0.0, 639.5], [0.0, 906.295816472162, 359.5], [0.0, 0.0, 1.0]], [[887.775079860871, 0.0, 639.5], [0.0, 883.258048873426, 359.5], [0.0, 0.0, 1.0]], [[1005.256833748733, 0.0, 639.5], [0.0, 1003.304233049635, 359.5], [0.0, 0.0, 1.0]], [[930.381984285314, 0.0, 639.5], [0.0, 928.441276649211, 359.5], [0.0, 0.0, 1.0]], [[917.691930940131, 0.0, 639.5], [0.0, 913.45155666489, 359.5], [0.0, 0.0, 1.0]], [[978.761324441358, 0.0, 639.5], [0.0, 967.808999073207, 359.5], [0.0, 0.0, 1.0]], [[924.240452259708, 0.0, 639.5], [0.0, 916.847970945435, 359.5], [0.0, 0.0, 1.0]], [[928.318793983804, 0.0, 639.5], [0.0, 924.975123129267, 359.5], [0.0, 0.0, 1.0]], [[1014.066558872873, 0.0, 639.5], [0.0, 1008.968654443062, 359.5], [0.0, 0.0, 1.0]], [[898.17085087579, 0.0, 639.5], [0.0, 893.97260373269, 359.5], [0.0, 0.0, 1.0]], [[976.31523316351, 0.0, 639.5], [0.0, 973.266097601809, 359.5], [0.0, 0.0, 1.0]], [[942.364497116677, 0.0, 639.5], [0.0, 937.850675702226, 359.5], [0.0, 0.0, 1.0]], [[950.125227431998, 0.0, 639.5], [0.0, 945.062671985714, 359.5], [0.0, 0.0, 1.0]], [[896.530324948754, 0.0, 639.5], [0.0, 891.938415192759, 359.5], [0.0, 0.0, 1.0]], [[1156.806600140201, 0.0, 639.5], [0.0, 1155.363892317459, 359.5], [0.0, 0.0, 1.0]], [[856.146932879104, 0.0, 639.5], [0.0, 852.84069296188, 359.5], [0.0, 0.0, 1.0]], [[1037.176038000849, 0.0, 639.5], [0.0, 1033.201867590888, 359.5], [0.0, 0.0, 1.0]], [[938.669396345037, 0.0, 639.5], [0.0, 939.075758751898, 359.5], [0.0, 0.0, 1.0]], [[956.505886480202, 0.0, 639.5], [0.0, 953.611718347018, 359.5], [0.0, 0.0, 1.0]], [[924.669760060037, 0.0, 639.5], [0.0, 924.549923852754, 359.5], [0.0, 0.0, 1.0]], [[1050.174515172969, 0.0, 639.5], [0.0, 1047.45541882677, 359.5], [0.0, 0.0, 1.0]], [[1003.671880162206, 0.0, 639.5], [0.0, 1002.524428384158, 359.5], [0.0, 0.0, 1.0]], [[883.532092296697, 0.0, 639.5], [0.0, 885.959648843671, 359.5], [0.0, 0.0, 1.0]], [[1010.428809076191, 0.0, 639.5], [0.0, 1009.878386453617, 359.5], [0.0, 0.0, 1.0]], [[931.184521884731, 0.0, 639.5], [0.0, 931.092005812257, 359.5], [0.0, 0.0, 1.0]], [[994.228916679276, 0.0, 639.5], [0.0, 994.782134638899, 359.5], [0.0, 0.0, 1.0]], [[856.617795915458, 0.0, 639.5], [0.0, 856.062704001386, 359.5], [0.0, 0.0, 1.0]], [[884.766002540948, 0.0, 639.5], [0.0, 877.653848244253, 359.5], [0.0, 0.0, 1.0]], [[975.535695286329, 0.0, 639.5], [0.0, 972.470569816519, 359.5], [0.0, 0.0, 1.0]], [[877.132873574099, 0.0, 639.5], [0.0, 875.850700711846, 359.5], [0.0, 0.0, 1.0]]], "WH": [1280, 720], "fps": 30, "frame_num": 211, "start_frame": 87, "end_frame": 297, "cameras": ["brics-odroid-001_cam0", "brics-odroid-002_cam0", "brics-odroid-006_cam0", "brics-odroid-007_cam0", "brics-odroid-007_cam1", "brics-odroid-008_cam0", "brics-odroid-008_cam1", "brics-odroid-010_cam0", "brics-odroid-010_cam1", "brics-odroid-011_cam0", "brics-odroid-012_cam0", "brics-odroid-012_cam1", "brics-odroid-013_cam0", "brics-odroid-014_cam1", "brics-odroid-015_cam0", "brics-odroid-015_cam1", "brics-odroid-016_cam0", "brics-odroid-017_cam0", "brics-odroid-017_cam1", "brics-odroid-019_cam1", "brics-odroid-021_cam0", "brics-odroid-021_cam1", "brics-odroid-022_cam0", "brics-odroid-022_cam1", "brics-odroid-023_cam0", "brics-odroid-024_cam0", "brics-odroid-024_cam1", "brics-odroid-025_cam0", "brics-odroid-025_cam1", "brics-odroid-027_cam0", "brics-odroid-027_cam1", "brics-odroid-028_cam0"]}
\ No newline at end of file
diff --git a/processed/009-yellow-cloth/episode_1/metric_params_refined_undistorted.txt b/processed/009-yellow-cloth/episode_1/metric_params_refined_undistorted.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a28618edcbc9103ca344ed452c18b892a8bc6bd6
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_1/metric_params_refined_undistorted.txt
@@ -0,0 +1,42 @@
+# cam_id width height fx fy cx cy k1 k2 p1 p2 cam_name qvecw qvecx qvecy qvecz tvecx tvecy tvecz
+3 1280 720 1142.797002897219 1141.799060100665 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-002_cam0 0.002458822838 0.219227898012 -0.187746323391 0.957436369153 0.148126643066 0.272099191336 0.377564637117
+8 1280 720 930.381984285314 928.441276649211 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-008_cam0 0.044542031343 0.472543106448 0.190855966823 0.859239791863 0.092917632107 -0.033767955975 0.293361642204
+4 1280 720 1022.931874892199 1018.807042830697 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-004_cam0 -0.064724740997 -0.036483094817 0.217743164971 0.973173985372 -0.037378486419 0.003903288021 0.328140360275
+10 1280 720 931.966527339115 924.302672584629 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-009_cam0 0.208045306124 0.777696805666 0.074258041462 0.588549549601 -0.289734549572 0.043614437534 0.346561402371
+6 1280 720 887.775079860871 883.258048873426 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-007_cam0 -0.166305144898 0.791339871672 -0.173865321798 0.562045065950 -0.258376216182 0.214614704663 0.468311265911
+7 1280 720 1005.256833748733 1003.304233049635 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-007_cam1 -0.115851336603 0.680180080180 -0.166375836670 0.704451990774 -0.080518805923 0.293960255363 0.293187681903
+2 1280 720 1100.930815233789 1097.769941763063 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-001_cam1 0.031103174429 -0.275094815968 -0.234234852841 0.931927823644 0.299132895349 0.158626013226 0.590035386309
+5 1280 720 907.876942500946 906.295816472162 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-006_cam0 -0.174232517889 0.550467994953 -0.265573613699 0.772074265825 0.125213495330 0.182367115929 0.379504129366
+9 1280 720 917.691930940131 913.451556664890 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-008_cam1 0.213747856080 0.752407348022 0.177673349326 0.597182733845 -0.039993734574 -0.018306332154 0.239223185198
+1 1280 720 836.680396963516 835.700140390523 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-001_cam0 0.010103277652 -0.094435734273 -0.320192555678 0.942579727748 0.184525300249 0.134521115776 0.433599398705
+11 1280 720 994.010595847117 988.340865609786 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-009_cam1 -0.025928164203 0.858136771731 -0.004238232934 0.512748523827 -0.219429674683 0.090294252608 0.380414935018
+12 1280 720 978.761324441358 967.808999073207 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-010_cam0 -0.068705895060 0.821908033414 -0.027591150855 0.564787936298 -0.010490353366 0.084215266149 0.197020640410
+15 1280 720 1014.066558872873 1008.968654443062 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-012_cam0 -0.144559110941 0.978973815728 0.038631938491 -0.138638035515 -0.266473783429 0.165477595020 0.761098221340
+14 1280 720 928.318793983804 924.975123129267 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-011_cam0 -0.199202153831 0.945416758868 -0.030089679979 0.256125487055 -0.185544730712 0.151120290244 0.604707557493
+13 1280 720 924.240452259708 916.847970945435 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-010_cam1 -0.053400344800 0.588973299569 -0.026329698532 0.805956327939 0.120320214282 0.102939675138 0.188468911519
+16 1280 720 898.170850875790 893.972603732690 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-012_cam1 -0.131042631578 0.990322282456 -0.042101739381 0.017805873238 -0.153140481728 0.251473258968 0.616766399552
+18 1280 720 1065.162294482332 1059.511955344441 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-013_cam1 0.204974795922 0.932596640804 0.033950354150 0.295120673708 -0.209354217486 0.055348925463 0.507293702484
+19 1280 720 1174.045093274639 1169.032876949705 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-014_cam0 0.258560225740 0.949653677473 0.039313186567 -0.172507900946 -0.201190069309 0.163080816366 0.678318301248
+17 1280 720 976.315233163510 973.266097601809 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-013_cam0 0.124159731424 0.986775050477 0.086046791174 0.058781889877 -0.205846135095 -0.057768631702 0.533863051562
+20 1280 720 942.364497116677 937.850675702226 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-014_cam1 -0.055830110171 0.988617669051 -0.024781245165 -0.137491792943 -0.258885740835 0.057946689360 0.684784239760
+23 1280 720 1156.806600140201 1155.363892317459 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-016_cam0 -0.071504936427 0.902055331486 0.085277138836 -0.417026417144 -0.054779848049 0.237664057804 0.791221264649
+21 1280 720 950.125227431998 945.062671985714 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-015_cam0 -0.018497306591 0.998998901993 -0.002446805012 0.040657798893 -0.203737075393 0.091681592476 0.512198765447
+22 1280 720 896.530324948754 891.938415192759 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-015_cam1 -0.080100376375 0.972945021285 -0.007651465339 0.216571859529 -0.122608048570 0.021643129828 0.517357859086
+24 1280 720 856.146932879104 852.840692961880 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-017_cam0 0.152689066795 -0.582901454905 -0.205427326303 0.771175438119 0.096044498960 0.022950959865 0.724068664942
+25 1280 720 1037.176038000849 1033.201867590888 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-017_cam1 -0.160273899057 0.788557779047 0.185408225220 -0.564014801585 -0.044881740455 0.045464891448 0.724877994965
+34 1280 720 1050.174515172969 1047.455418826770 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-022_cam0 -0.422338605227 0.886333822796 -0.093597468845 0.165172548954 -0.036452223762 0.026761828898 0.616424905103
+35 1280 720 1003.671880162206 1002.524428384158 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-022_cam1 -0.465208937387 0.882288608542 -0.009646067400 0.071094368240 -0.259822261879 -0.025803734850 0.618098219989
+32 1280 720 956.505886480202 953.611718347018 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-021_cam0 -0.383728432995 0.744827289767 0.239402104392 -0.490582745867 -0.021901638343 -0.096634973402 0.698365138424
+27 1280 720 971.187166613045 966.299584921482 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-018_cam1 0.202540492680 0.864197744535 -0.091758710855 -0.451353460325 0.036647368521 0.184569080359 0.696205981131
+36 1280 720 883.532092296697 885.959648843671 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-023_cam0 0.296195955927 -0.574789250580 -0.377601147269 0.662799099797 -0.037542761940 -0.150487900126 0.697909598028
+28 1280 720 879.559747322529 875.417830389538 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-019_cam0 -0.186574905416 -0.605663011699 0.123005103129 0.763696186669 0.063173648898 0.141309133585 0.642049071509
+29 1280 720 938.669396345037 939.075758751898 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-019_cam1 -0.002946632376 -0.644568814067 -0.136075504423 0.752333581854 0.009635902135 -0.018079613469 0.619615281604
+26 1280 720 925.405178076134 922.941620332101 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-018_cam0 0.215782054925 0.792459346399 -0.154664928184 -0.549112965671 -0.047510523459 0.195000489013 0.620842692655
+38 1280 720 931.184521884731 931.092005812257 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-024_cam1 -0.394328303523 0.662068820110 -0.317110080955 0.552821185407 -0.107609502930 0.185580398678 0.471409650153
+33 1280 720 924.669760060037 924.549923852754 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-021_cam1 -0.400000003230 0.873172970973 0.155522739752 -0.231044665807 -0.188947424144 -0.155861595257 0.757431910370
+41 1280 720 884.766002540948 877.653848244253 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-027_cam0 0.440858373606 0.895106968407 -0.006451272218 -0.066225301936 -0.386981589824 0.220492815144 0.483174989370
+42 1280 720 975.535695286329 972.470569816519 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-027_cam1 0.456334574348 0.888564838095 0.015366544120 0.044442705560 -0.223125146375 0.164568384556 0.400170074988
+39 1280 720 994.228916679276 994.782134638899 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-025_cam0 0.008671772417 -0.075458190703 -0.673839110513 0.734963750781 0.171892482667 -0.111000549105 0.527792725872
+43 1280 720 877.132873574099 875.850700711846 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-028_cam0 0.200052550701 0.342941725376 0.396634063114 0.827678300991 0.086830439572 -0.046293996746 0.257128280933
+37 1280 720 1010.428809076191 1009.878386453617 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-024_cam0 -0.266760656253 0.399503731084 -0.399667573501 0.780705675538 0.067832302494 0.200808774086 0.490462041882
+40 1280 720 856.617795915458 856.062704001386 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-025_cam1 -0.545544267467 0.837070118439 0.016298405579 -0.037807816992 -0.188683614277 0.074681133556 0.519382012583
diff --git a/processed/009-yellow-cloth/episode_1/pcd_clean.tar b/processed/009-yellow-cloth/episode_1/pcd_clean.tar
new file mode 100644
index 0000000000000000000000000000000000000000..eb810b8d2ee7520432806cdf00f5b7950394add1
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_1/pcd_clean.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a6a1f5648165030aa5c7c460529aea42a2e1b4f9377fd6e3e7bde941071dd28
+size 95948800
diff --git a/processed/009-yellow-cloth/episode_1/render_4dgs.mp4 b/processed/009-yellow-cloth/episode_1/render_4dgs.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fb1d0c350971570cd11baaed388e30251be21d0f
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_1/render_4dgs.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31ddc2be42295c4d6aa1bfee741bb8accb144dfc199638e6347f3aa14dfd227b
+size 1313484
diff --git a/processed/009-yellow-cloth/episode_1/robot/opening_dists.png b/processed/009-yellow-cloth/episode_1/robot/opening_dists.png
new file mode 100644
index 0000000000000000000000000000000000000000..7d4b38fb8f4fe860ba0aee40dc50adc54d40fabe
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_1/robot/opening_dists.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:782e1fc0f505ce389bf31ec37fd48759d8bd14dd414e9703e253c2e4bbc10438
+size 85319
diff --git a/processed/009-yellow-cloth/episode_1/robot/robot.npy b/processed/009-yellow-cloth/episode_1/robot/robot.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e8f709f6e4e115e24266bdabc830c8a3bd9d6484
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_1/robot/robot.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02483ace1ac16d284875ff6776441c249b506212c32de1549cfd5e4c17c81d94
+size 98821
diff --git a/processed/009-yellow-cloth/episode_1/splatfacto.tar b/processed/009-yellow-cloth/episode_1/splatfacto.tar
new file mode 100644
index 0000000000000000000000000000000000000000..0592348da715f0d5670f50c9dbefe8df232bf727
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_1/splatfacto.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa6e7700edaf697140649506db039a86ca4dd9e9d32c47d6ed6c1724ce7923b8
+size 1389107200
diff --git a/processed/009-yellow-cloth/episode_1/split.json b/processed/009-yellow-cloth/episode_1/split.json
new file mode 100644
index 0000000000000000000000000000000000000000..cedc4082b857e220e32eaf77721d58ec24eeada6
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_1/split.json
@@ -0,0 +1 @@
+{"frame_len": 211, "train": [87, 255], "test": [255, 298]}
\ No newline at end of file
diff --git a/processed/009-yellow-cloth/episode_1/start_obj_pcd.ply b/processed/009-yellow-cloth/episode_1/start_obj_pcd.ply
new file mode 100644
index 0000000000000000000000000000000000000000..29aedd9e45d0e6fea4f498d25c41b675b4b3efe7
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_1/start_obj_pcd.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2ee446d3c3d4a26fbd67bb14639a9de8be841136e06ac89f973c1e401783094
+size 145228
diff --git a/processed/009-yellow-cloth/episode_1/tactile.mp4 b/processed/009-yellow-cloth/episode_1/tactile.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2dc9ba17427ce938a959a4a000f5c266d0fadade
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_1/tactile.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6cf016e6fe878165126e3f03a215c0560ef098d3892e919ed8896e2a19d1208
+size 2189151
diff --git a/processed/009-yellow-cloth/episode_1/tracking_video.mp4 b/processed/009-yellow-cloth/episode_1/tracking_video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0de3eff794d26b0a5623cce7949957bf113c0356
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_1/tracking_video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:567d733a6a1fce0621be95fc47ab8062a5e686fbb3a00b43a73d357b098b8d23
+size 8663548
diff --git a/processed/009-yellow-cloth/episode_1/visual_hull_simple_full.ply b/processed/009-yellow-cloth/episode_1/visual_hull_simple_full.ply
new file mode 100644
index 0000000000000000000000000000000000000000..2809bf4ca9a1fd7861b7427b37b368594d83f832
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_1/visual_hull_simple_full.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92b548059cd90d3b2f7858897fe1a9fa50582922ded29d40f7b5081121bc84fd
+size 738269
diff --git a/processed/009-yellow-cloth/episode_3/cameras.tar b/processed/009-yellow-cloth/episode_3/cameras.tar
new file mode 100644
index 0000000000000000000000000000000000000000..fc41a9354ea90d02ee95830b260329b50b382211
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_3/cameras.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90e7e72ba85b6cf7e9f7bb0a637b7d9e2f4461837c54d96118446c680738f7c8
+size 1367019520
diff --git a/processed/009-yellow-cloth/episode_3/metadata.json b/processed/009-yellow-cloth/episode_3/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae7f9504e5b7af9809f6dd46b86f23e483d7df37
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_3/metadata.json
@@ -0,0 +1 @@
+{"intrinsics": [[[836.680396963516, 0.0, 639.5], [0.0, 835.700140390523, 359.5], [0.0, 0.0, 1.0]], [[1142.797002897219, 0.0, 639.5], [0.0, 1141.799060100665, 359.5], [0.0, 0.0, 1.0]], [[907.876942500946, 0.0, 639.5], [0.0, 906.295816472162, 359.5], [0.0, 0.0, 1.0]], [[887.775079860871, 0.0, 639.5], [0.0, 883.258048873426, 359.5], [0.0, 0.0, 1.0]], [[1005.256833748733, 0.0, 639.5], [0.0, 1003.304233049635, 359.5], [0.0, 0.0, 1.0]], [[930.381984285314, 0.0, 639.5], [0.0, 928.441276649211, 359.5], [0.0, 0.0, 1.0]], [[917.691930940131, 0.0, 639.5], [0.0, 913.45155666489, 359.5], [0.0, 0.0, 1.0]], [[978.761324441358, 0.0, 639.5], [0.0, 967.808999073207, 359.5], [0.0, 0.0, 1.0]], [[924.240452259708, 0.0, 639.5], [0.0, 916.847970945435, 359.5], [0.0, 0.0, 1.0]], [[928.318793983804, 0.0, 639.5], [0.0, 924.975123129267, 359.5], [0.0, 0.0, 1.0]], [[1014.066558872873, 0.0, 639.5], [0.0, 1008.968654443062, 359.5], [0.0, 0.0, 1.0]], [[898.17085087579, 0.0, 639.5], [0.0, 893.97260373269, 359.5], [0.0, 0.0, 1.0]], [[976.31523316351, 0.0, 639.5], [0.0, 973.266097601809, 359.5], [0.0, 0.0, 1.0]], [[942.364497116677, 0.0, 639.5], [0.0, 937.850675702226, 359.5], [0.0, 0.0, 1.0]], [[950.125227431998, 0.0, 639.5], [0.0, 945.062671985714, 359.5], [0.0, 0.0, 1.0]], [[896.530324948754, 0.0, 639.5], [0.0, 891.938415192759, 359.5], [0.0, 0.0, 1.0]], [[1156.806600140201, 0.0, 639.5], [0.0, 1155.363892317459, 359.5], [0.0, 0.0, 1.0]], [[856.146932879104, 0.0, 639.5], [0.0, 852.84069296188, 359.5], [0.0, 0.0, 1.0]], [[1037.176038000849, 0.0, 639.5], [0.0, 1033.201867590888, 359.5], [0.0, 0.0, 1.0]], [[938.669396345037, 0.0, 639.5], [0.0, 939.075758751898, 359.5], [0.0, 0.0, 1.0]], [[956.505886480202, 0.0, 639.5], [0.0, 953.611718347018, 359.5], [0.0, 0.0, 1.0]], [[924.669760060037, 0.0, 639.5], [0.0, 924.549923852754, 359.5], [0.0, 0.0, 1.0]], [[1050.174515172969, 0.0, 639.5], [0.0, 1047.45541882677, 359.5], [0.0, 0.0, 1.0]], [[1003.671880162206, 0.0, 639.5], [0.0, 1002.524428384158, 359.5], [0.0, 0.0, 1.0]], [[883.532092296697, 0.0, 639.5], [0.0, 885.959648843671, 359.5], [0.0, 0.0, 1.0]], [[1010.428809076191, 0.0, 639.5], [0.0, 1009.878386453617, 359.5], [0.0, 0.0, 1.0]], [[931.184521884731, 0.0, 639.5], [0.0, 931.092005812257, 359.5], [0.0, 0.0, 1.0]], [[994.228916679276, 0.0, 639.5], [0.0, 994.782134638899, 359.5], [0.0, 0.0, 1.0]], [[856.617795915458, 0.0, 639.5], [0.0, 856.062704001386, 359.5], [0.0, 0.0, 1.0]], [[884.766002540948, 0.0, 639.5], [0.0, 877.653848244253, 359.5], [0.0, 0.0, 1.0]], [[975.535695286329, 0.0, 639.5], [0.0, 972.470569816519, 359.5], [0.0, 0.0, 1.0]], [[877.132873574099, 0.0, 639.5], [0.0, 875.850700711846, 359.5], [0.0, 0.0, 1.0]]], "WH": [1280, 720], "fps": 30, "frame_num": 231, "start_frame": 82, "end_frame": 312, "cameras": ["brics-odroid-001_cam0", "brics-odroid-002_cam0", "brics-odroid-006_cam0", "brics-odroid-007_cam0", "brics-odroid-007_cam1", "brics-odroid-008_cam0", "brics-odroid-008_cam1", "brics-odroid-010_cam0", "brics-odroid-010_cam1", "brics-odroid-011_cam0", "brics-odroid-012_cam0", "brics-odroid-012_cam1", "brics-odroid-013_cam0", "brics-odroid-014_cam1", "brics-odroid-015_cam0", "brics-odroid-015_cam1", "brics-odroid-016_cam0", "brics-odroid-017_cam0", "brics-odroid-017_cam1", "brics-odroid-019_cam1", "brics-odroid-021_cam0", "brics-odroid-021_cam1", "brics-odroid-022_cam0", "brics-odroid-022_cam1", "brics-odroid-023_cam0", "brics-odroid-024_cam0", "brics-odroid-024_cam1", "brics-odroid-025_cam0", "brics-odroid-025_cam1", "brics-odroid-027_cam0", "brics-odroid-027_cam1", "brics-odroid-028_cam0"]}
\ No newline at end of file
diff --git a/processed/009-yellow-cloth/episode_3/metric_params_refined_undistorted.txt b/processed/009-yellow-cloth/episode_3/metric_params_refined_undistorted.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a28618edcbc9103ca344ed452c18b892a8bc6bd6
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_3/metric_params_refined_undistorted.txt
@@ -0,0 +1,42 @@
+# cam_id width height fx fy cx cy k1 k2 p1 p2 cam_name qvecw qvecx qvecy qvecz tvecx tvecy tvecz
+3 1280 720 1142.797002897219 1141.799060100665 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-002_cam0 0.002458822838 0.219227898012 -0.187746323391 0.957436369153 0.148126643066 0.272099191336 0.377564637117
+8 1280 720 930.381984285314 928.441276649211 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-008_cam0 0.044542031343 0.472543106448 0.190855966823 0.859239791863 0.092917632107 -0.033767955975 0.293361642204
+4 1280 720 1022.931874892199 1018.807042830697 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-004_cam0 -0.064724740997 -0.036483094817 0.217743164971 0.973173985372 -0.037378486419 0.003903288021 0.328140360275
+10 1280 720 931.966527339115 924.302672584629 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-009_cam0 0.208045306124 0.777696805666 0.074258041462 0.588549549601 -0.289734549572 0.043614437534 0.346561402371
+6 1280 720 887.775079860871 883.258048873426 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-007_cam0 -0.166305144898 0.791339871672 -0.173865321798 0.562045065950 -0.258376216182 0.214614704663 0.468311265911
+7 1280 720 1005.256833748733 1003.304233049635 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-007_cam1 -0.115851336603 0.680180080180 -0.166375836670 0.704451990774 -0.080518805923 0.293960255363 0.293187681903
+2 1280 720 1100.930815233789 1097.769941763063 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-001_cam1 0.031103174429 -0.275094815968 -0.234234852841 0.931927823644 0.299132895349 0.158626013226 0.590035386309
+5 1280 720 907.876942500946 906.295816472162 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-006_cam0 -0.174232517889 0.550467994953 -0.265573613699 0.772074265825 0.125213495330 0.182367115929 0.379504129366
+9 1280 720 917.691930940131 913.451556664890 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-008_cam1 0.213747856080 0.752407348022 0.177673349326 0.597182733845 -0.039993734574 -0.018306332154 0.239223185198
+1 1280 720 836.680396963516 835.700140390523 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-001_cam0 0.010103277652 -0.094435734273 -0.320192555678 0.942579727748 0.184525300249 0.134521115776 0.433599398705
+11 1280 720 994.010595847117 988.340865609786 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-009_cam1 -0.025928164203 0.858136771731 -0.004238232934 0.512748523827 -0.219429674683 0.090294252608 0.380414935018
+12 1280 720 978.761324441358 967.808999073207 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-010_cam0 -0.068705895060 0.821908033414 -0.027591150855 0.564787936298 -0.010490353366 0.084215266149 0.197020640410
+15 1280 720 1014.066558872873 1008.968654443062 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-012_cam0 -0.144559110941 0.978973815728 0.038631938491 -0.138638035515 -0.266473783429 0.165477595020 0.761098221340
+14 1280 720 928.318793983804 924.975123129267 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-011_cam0 -0.199202153831 0.945416758868 -0.030089679979 0.256125487055 -0.185544730712 0.151120290244 0.604707557493
+13 1280 720 924.240452259708 916.847970945435 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-010_cam1 -0.053400344800 0.588973299569 -0.026329698532 0.805956327939 0.120320214282 0.102939675138 0.188468911519
+16 1280 720 898.170850875790 893.972603732690 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-012_cam1 -0.131042631578 0.990322282456 -0.042101739381 0.017805873238 -0.153140481728 0.251473258968 0.616766399552
+18 1280 720 1065.162294482332 1059.511955344441 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-013_cam1 0.204974795922 0.932596640804 0.033950354150 0.295120673708 -0.209354217486 0.055348925463 0.507293702484
+19 1280 720 1174.045093274639 1169.032876949705 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-014_cam0 0.258560225740 0.949653677473 0.039313186567 -0.172507900946 -0.201190069309 0.163080816366 0.678318301248
+17 1280 720 976.315233163510 973.266097601809 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-013_cam0 0.124159731424 0.986775050477 0.086046791174 0.058781889877 -0.205846135095 -0.057768631702 0.533863051562
+20 1280 720 942.364497116677 937.850675702226 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-014_cam1 -0.055830110171 0.988617669051 -0.024781245165 -0.137491792943 -0.258885740835 0.057946689360 0.684784239760
+23 1280 720 1156.806600140201 1155.363892317459 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-016_cam0 -0.071504936427 0.902055331486 0.085277138836 -0.417026417144 -0.054779848049 0.237664057804 0.791221264649
+21 1280 720 950.125227431998 945.062671985714 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-015_cam0 -0.018497306591 0.998998901993 -0.002446805012 0.040657798893 -0.203737075393 0.091681592476 0.512198765447
+22 1280 720 896.530324948754 891.938415192759 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-015_cam1 -0.080100376375 0.972945021285 -0.007651465339 0.216571859529 -0.122608048570 0.021643129828 0.517357859086
+24 1280 720 856.146932879104 852.840692961880 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-017_cam0 0.152689066795 -0.582901454905 -0.205427326303 0.771175438119 0.096044498960 0.022950959865 0.724068664942
+25 1280 720 1037.176038000849 1033.201867590888 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-017_cam1 -0.160273899057 0.788557779047 0.185408225220 -0.564014801585 -0.044881740455 0.045464891448 0.724877994965
+34 1280 720 1050.174515172969 1047.455418826770 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-022_cam0 -0.422338605227 0.886333822796 -0.093597468845 0.165172548954 -0.036452223762 0.026761828898 0.616424905103
+35 1280 720 1003.671880162206 1002.524428384158 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-022_cam1 -0.465208937387 0.882288608542 -0.009646067400 0.071094368240 -0.259822261879 -0.025803734850 0.618098219989
+32 1280 720 956.505886480202 953.611718347018 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-021_cam0 -0.383728432995 0.744827289767 0.239402104392 -0.490582745867 -0.021901638343 -0.096634973402 0.698365138424
+27 1280 720 971.187166613045 966.299584921482 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-018_cam1 0.202540492680 0.864197744535 -0.091758710855 -0.451353460325 0.036647368521 0.184569080359 0.696205981131
+36 1280 720 883.532092296697 885.959648843671 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-023_cam0 0.296195955927 -0.574789250580 -0.377601147269 0.662799099797 -0.037542761940 -0.150487900126 0.697909598028
+28 1280 720 879.559747322529 875.417830389538 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-019_cam0 -0.186574905416 -0.605663011699 0.123005103129 0.763696186669 0.063173648898 0.141309133585 0.642049071509
+29 1280 720 938.669396345037 939.075758751898 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-019_cam1 -0.002946632376 -0.644568814067 -0.136075504423 0.752333581854 0.009635902135 -0.018079613469 0.619615281604
+26 1280 720 925.405178076134 922.941620332101 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-018_cam0 0.215782054925 0.792459346399 -0.154664928184 -0.549112965671 -0.047510523459 0.195000489013 0.620842692655
+38 1280 720 931.184521884731 931.092005812257 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-024_cam1 -0.394328303523 0.662068820110 -0.317110080955 0.552821185407 -0.107609502930 0.185580398678 0.471409650153
+33 1280 720 924.669760060037 924.549923852754 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-021_cam1 -0.400000003230 0.873172970973 0.155522739752 -0.231044665807 -0.188947424144 -0.155861595257 0.757431910370
+41 1280 720 884.766002540948 877.653848244253 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-027_cam0 0.440858373606 0.895106968407 -0.006451272218 -0.066225301936 -0.386981589824 0.220492815144 0.483174989370
+42 1280 720 975.535695286329 972.470569816519 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-027_cam1 0.456334574348 0.888564838095 0.015366544120 0.044442705560 -0.223125146375 0.164568384556 0.400170074988
+39 1280 720 994.228916679276 994.782134638899 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-025_cam0 0.008671772417 -0.075458190703 -0.673839110513 0.734963750781 0.171892482667 -0.111000549105 0.527792725872
+43 1280 720 877.132873574099 875.850700711846 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-028_cam0 0.200052550701 0.342941725376 0.396634063114 0.827678300991 0.086830439572 -0.046293996746 0.257128280933
+37 1280 720 1010.428809076191 1009.878386453617 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-024_cam0 -0.266760656253 0.399503731084 -0.399667573501 0.780705675538 0.067832302494 0.200808774086 0.490462041882
+40 1280 720 856.617795915458 856.062704001386 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-025_cam1 -0.545544267467 0.837070118439 0.016298405579 -0.037807816992 -0.188683614277 0.074681133556 0.519382012583
diff --git a/processed/009-yellow-cloth/episode_3/pcd_clean.tar b/processed/009-yellow-cloth/episode_3/pcd_clean.tar
new file mode 100644
index 0000000000000000000000000000000000000000..521a52bbc48f05bdcc91b8853b39782f60b4a42a
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_3/pcd_clean.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed15a827a0385894680972a9dfdc88dac052cd4b10b95a39ab80739165cb72a2
+size 105410560
diff --git a/processed/009-yellow-cloth/episode_3/render_4dgs.mp4 b/processed/009-yellow-cloth/episode_3/render_4dgs.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..05486ac8b94acdf324b61660c34371e7075687b0
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_3/render_4dgs.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48a3a54373720823c952b8ab88adacdeff6b5d3bbd6960ea005af62ef624ed77
+size 912500
diff --git a/processed/009-yellow-cloth/episode_3/robot/opening_dists.png b/processed/009-yellow-cloth/episode_3/robot/opening_dists.png
new file mode 100644
index 0000000000000000000000000000000000000000..802089409567b17e0a851c583709b69f857ea379
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_3/robot/opening_dists.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5089acbe48eb0538d3fbcd833a6d283ce2282231680beeea35a343300932fcc3
+size 81458
diff --git a/processed/009-yellow-cloth/episode_3/robot/robot.npy b/processed/009-yellow-cloth/episode_3/robot/robot.npy
new file mode 100644
index 0000000000000000000000000000000000000000..898ab1e375340f3629c102d390784bf00b0894b6
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_3/robot/robot.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4dfc15fa04bf56f439eb009c40bc8a914136e58fe7c474c92e24539b554c67b8
+size 108293
diff --git a/processed/009-yellow-cloth/episode_3/splatfacto.tar b/processed/009-yellow-cloth/episode_3/splatfacto.tar
new file mode 100644
index 0000000000000000000000000000000000000000..d1dfb7139cd8d89bf43a4b01c3d9ac03d5ded857
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_3/splatfacto.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba4e033aca366cdb246bbd00358c64e12a22f6f2ec1822c5b52dbfc05ab84b54
+size 1191874560
diff --git a/processed/009-yellow-cloth/episode_3/split.json b/processed/009-yellow-cloth/episode_3/split.json
new file mode 100644
index 0000000000000000000000000000000000000000..40611a87afb68fece9b415b5d2afb30ed45f36b8
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_3/split.json
@@ -0,0 +1 @@
+{"frame_len": 231, "train": [82, 266], "test": [266, 313]}
\ No newline at end of file
diff --git a/processed/009-yellow-cloth/episode_3/start_obj_pcd.ply b/processed/009-yellow-cloth/episode_3/start_obj_pcd.ply
new file mode 100644
index 0000000000000000000000000000000000000000..c2e0f3aeae25430a351eb74bcfc56906511e168e
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_3/start_obj_pcd.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc873742dc95184789fafc6e30bcf8e4ee6d46b244513be57d7d2591ca421e4c
+size 146368
diff --git a/processed/009-yellow-cloth/episode_3/tactile.mp4 b/processed/009-yellow-cloth/episode_3/tactile.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f59dc19b23df78011d93929ddbdc4503821e531f
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_3/tactile.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac7132f1a35b96035ff2ba873b1e8ba183c5c2f281bfb2d7d4d21fd949befca5
+size 2394446
diff --git a/processed/009-yellow-cloth/episode_3/tracking_video.mp4 b/processed/009-yellow-cloth/episode_3/tracking_video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3a46d3f113f9044306dcf0189b2ae5183e1f93be
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_3/tracking_video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa16506c0b8f32a8f8211b6234df05e14de25fdf013f863ecf776f0b3de14663
+size 9198122
diff --git a/processed/009-yellow-cloth/episode_3/visual_hull_simple_full.ply b/processed/009-yellow-cloth/episode_3/visual_hull_simple_full.ply
new file mode 100644
index 0000000000000000000000000000000000000000..0d339757bee7798226b048e1a76e0385e1f1bb7b
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_3/visual_hull_simple_full.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a9126c8cb8a37d00c88e85149ab66f5c82bfce8cef42b53b963c1902426caaf
+size 669584
diff --git a/processed/009-yellow-cloth/episode_4/cameras.tar b/processed/009-yellow-cloth/episode_4/cameras.tar
new file mode 100644
index 0000000000000000000000000000000000000000..3e6241a884315fed9c4ddd42ce39dd5dfceac0ce
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_4/cameras.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f06a8b09343fb05fe6cee1a3d66ae1fd3b1fea42b78f2a41a02965454d5cdb6c
+size 1518786560
diff --git a/processed/009-yellow-cloth/episode_4/metadata.json b/processed/009-yellow-cloth/episode_4/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc92aca1a293068499546a3dab4d1d7c0764d0e3
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_4/metadata.json
@@ -0,0 +1 @@
+{"intrinsics": [[[836.680396963516, 0.0, 639.5], [0.0, 835.700140390523, 359.5], [0.0, 0.0, 1.0]], [[1142.797002897219, 0.0, 639.5], [0.0, 1141.799060100665, 359.5], [0.0, 0.0, 1.0]], [[907.876942500946, 0.0, 639.5], [0.0, 906.295816472162, 359.5], [0.0, 0.0, 1.0]], [[887.775079860871, 0.0, 639.5], [0.0, 883.258048873426, 359.5], [0.0, 0.0, 1.0]], [[1005.256833748733, 0.0, 639.5], [0.0, 1003.304233049635, 359.5], [0.0, 0.0, 1.0]], [[930.381984285314, 0.0, 639.5], [0.0, 928.441276649211, 359.5], [0.0, 0.0, 1.0]], [[917.691930940131, 0.0, 639.5], [0.0, 913.45155666489, 359.5], [0.0, 0.0, 1.0]], [[978.761324441358, 0.0, 639.5], [0.0, 967.808999073207, 359.5], [0.0, 0.0, 1.0]], [[924.240452259708, 0.0, 639.5], [0.0, 916.847970945435, 359.5], [0.0, 0.0, 1.0]], [[928.318793983804, 0.0, 639.5], [0.0, 924.975123129267, 359.5], [0.0, 0.0, 1.0]], [[1014.066558872873, 0.0, 639.5], [0.0, 1008.968654443062, 359.5], [0.0, 0.0, 1.0]], [[898.17085087579, 0.0, 639.5], [0.0, 893.97260373269, 359.5], [0.0, 0.0, 1.0]], [[976.31523316351, 0.0, 639.5], [0.0, 973.266097601809, 359.5], [0.0, 0.0, 1.0]], [[942.364497116677, 0.0, 639.5], [0.0, 937.850675702226, 359.5], [0.0, 0.0, 1.0]], [[950.125227431998, 0.0, 639.5], [0.0, 945.062671985714, 359.5], [0.0, 0.0, 1.0]], [[896.530324948754, 0.0, 639.5], [0.0, 891.938415192759, 359.5], [0.0, 0.0, 1.0]], [[1156.806600140201, 0.0, 639.5], [0.0, 1155.363892317459, 359.5], [0.0, 0.0, 1.0]], [[856.146932879104, 0.0, 639.5], [0.0, 852.84069296188, 359.5], [0.0, 0.0, 1.0]], [[1037.176038000849, 0.0, 639.5], [0.0, 1033.201867590888, 359.5], [0.0, 0.0, 1.0]], [[938.669396345037, 0.0, 639.5], [0.0, 939.075758751898, 359.5], [0.0, 0.0, 1.0]], [[956.505886480202, 0.0, 639.5], [0.0, 953.611718347018, 359.5], [0.0, 0.0, 1.0]], [[924.669760060037, 0.0, 639.5], [0.0, 924.549923852754, 359.5], [0.0, 0.0, 1.0]], [[1050.174515172969, 0.0, 639.5], [0.0, 1047.45541882677, 359.5], [0.0, 0.0, 1.0]], [[1003.671880162206, 0.0, 639.5], [0.0, 1002.524428384158, 359.5], [0.0, 0.0, 1.0]], [[883.532092296697, 0.0, 639.5], [0.0, 885.959648843671, 359.5], [0.0, 0.0, 1.0]], [[1010.428809076191, 0.0, 639.5], [0.0, 1009.878386453617, 359.5], [0.0, 0.0, 1.0]], [[931.184521884731, 0.0, 639.5], [0.0, 931.092005812257, 359.5], [0.0, 0.0, 1.0]], [[994.228916679276, 0.0, 639.5], [0.0, 994.782134638899, 359.5], [0.0, 0.0, 1.0]], [[856.617795915458, 0.0, 639.5], [0.0, 856.062704001386, 359.5], [0.0, 0.0, 1.0]], [[884.766002540948, 0.0, 639.5], [0.0, 877.653848244253, 359.5], [0.0, 0.0, 1.0]], [[975.535695286329, 0.0, 639.5], [0.0, 972.470569816519, 359.5], [0.0, 0.0, 1.0]], [[877.132873574099, 0.0, 639.5], [0.0, 875.850700711846, 359.5], [0.0, 0.0, 1.0]]], "WH": [1280, 720], "fps": 30, "frame_num": 242, "start_frame": 102, "end_frame": 343, "cameras": ["brics-odroid-001_cam0", "brics-odroid-002_cam0", "brics-odroid-006_cam0", "brics-odroid-007_cam0", "brics-odroid-007_cam1", "brics-odroid-008_cam0", "brics-odroid-008_cam1", "brics-odroid-010_cam0", "brics-odroid-010_cam1", "brics-odroid-011_cam0", "brics-odroid-012_cam0", "brics-odroid-012_cam1", "brics-odroid-013_cam0", "brics-odroid-014_cam1", "brics-odroid-015_cam0", "brics-odroid-015_cam1", "brics-odroid-016_cam0", "brics-odroid-017_cam0", "brics-odroid-017_cam1", "brics-odroid-019_cam1", "brics-odroid-021_cam0", "brics-odroid-021_cam1", "brics-odroid-022_cam0", "brics-odroid-022_cam1", "brics-odroid-023_cam0", "brics-odroid-024_cam0", "brics-odroid-024_cam1", "brics-odroid-025_cam0", "brics-odroid-025_cam1", "brics-odroid-027_cam0", "brics-odroid-027_cam1", "brics-odroid-028_cam0"]}
\ No newline at end of file
diff --git a/processed/009-yellow-cloth/episode_4/metric_params_refined_undistorted.txt b/processed/009-yellow-cloth/episode_4/metric_params_refined_undistorted.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a28618edcbc9103ca344ed452c18b892a8bc6bd6
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_4/metric_params_refined_undistorted.txt
@@ -0,0 +1,42 @@
+# cam_id width height fx fy cx cy k1 k2 p1 p2 cam_name qvecw qvecx qvecy qvecz tvecx tvecy tvecz
+3 1280 720 1142.797002897219 1141.799060100665 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-002_cam0 0.002458822838 0.219227898012 -0.187746323391 0.957436369153 0.148126643066 0.272099191336 0.377564637117
+8 1280 720 930.381984285314 928.441276649211 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-008_cam0 0.044542031343 0.472543106448 0.190855966823 0.859239791863 0.092917632107 -0.033767955975 0.293361642204
+4 1280 720 1022.931874892199 1018.807042830697 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-004_cam0 -0.064724740997 -0.036483094817 0.217743164971 0.973173985372 -0.037378486419 0.003903288021 0.328140360275
+10 1280 720 931.966527339115 924.302672584629 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-009_cam0 0.208045306124 0.777696805666 0.074258041462 0.588549549601 -0.289734549572 0.043614437534 0.346561402371
+6 1280 720 887.775079860871 883.258048873426 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-007_cam0 -0.166305144898 0.791339871672 -0.173865321798 0.562045065950 -0.258376216182 0.214614704663 0.468311265911
+7 1280 720 1005.256833748733 1003.304233049635 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-007_cam1 -0.115851336603 0.680180080180 -0.166375836670 0.704451990774 -0.080518805923 0.293960255363 0.293187681903
+2 1280 720 1100.930815233789 1097.769941763063 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-001_cam1 0.031103174429 -0.275094815968 -0.234234852841 0.931927823644 0.299132895349 0.158626013226 0.590035386309
+5 1280 720 907.876942500946 906.295816472162 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-006_cam0 -0.174232517889 0.550467994953 -0.265573613699 0.772074265825 0.125213495330 0.182367115929 0.379504129366
+9 1280 720 917.691930940131 913.451556664890 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-008_cam1 0.213747856080 0.752407348022 0.177673349326 0.597182733845 -0.039993734574 -0.018306332154 0.239223185198
+1 1280 720 836.680396963516 835.700140390523 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-001_cam0 0.010103277652 -0.094435734273 -0.320192555678 0.942579727748 0.184525300249 0.134521115776 0.433599398705
+11 1280 720 994.010595847117 988.340865609786 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-009_cam1 -0.025928164203 0.858136771731 -0.004238232934 0.512748523827 -0.219429674683 0.090294252608 0.380414935018
+12 1280 720 978.761324441358 967.808999073207 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-010_cam0 -0.068705895060 0.821908033414 -0.027591150855 0.564787936298 -0.010490353366 0.084215266149 0.197020640410
+15 1280 720 1014.066558872873 1008.968654443062 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-012_cam0 -0.144559110941 0.978973815728 0.038631938491 -0.138638035515 -0.266473783429 0.165477595020 0.761098221340
+14 1280 720 928.318793983804 924.975123129267 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-011_cam0 -0.199202153831 0.945416758868 -0.030089679979 0.256125487055 -0.185544730712 0.151120290244 0.604707557493
+13 1280 720 924.240452259708 916.847970945435 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-010_cam1 -0.053400344800 0.588973299569 -0.026329698532 0.805956327939 0.120320214282 0.102939675138 0.188468911519
+16 1280 720 898.170850875790 893.972603732690 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-012_cam1 -0.131042631578 0.990322282456 -0.042101739381 0.017805873238 -0.153140481728 0.251473258968 0.616766399552
+18 1280 720 1065.162294482332 1059.511955344441 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-013_cam1 0.204974795922 0.932596640804 0.033950354150 0.295120673708 -0.209354217486 0.055348925463 0.507293702484
+19 1280 720 1174.045093274639 1169.032876949705 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-014_cam0 0.258560225740 0.949653677473 0.039313186567 -0.172507900946 -0.201190069309 0.163080816366 0.678318301248
+17 1280 720 976.315233163510 973.266097601809 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-013_cam0 0.124159731424 0.986775050477 0.086046791174 0.058781889877 -0.205846135095 -0.057768631702 0.533863051562
+20 1280 720 942.364497116677 937.850675702226 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-014_cam1 -0.055830110171 0.988617669051 -0.024781245165 -0.137491792943 -0.258885740835 0.057946689360 0.684784239760
+23 1280 720 1156.806600140201 1155.363892317459 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-016_cam0 -0.071504936427 0.902055331486 0.085277138836 -0.417026417144 -0.054779848049 0.237664057804 0.791221264649
+21 1280 720 950.125227431998 945.062671985714 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-015_cam0 -0.018497306591 0.998998901993 -0.002446805012 0.040657798893 -0.203737075393 0.091681592476 0.512198765447
+22 1280 720 896.530324948754 891.938415192759 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-015_cam1 -0.080100376375 0.972945021285 -0.007651465339 0.216571859529 -0.122608048570 0.021643129828 0.517357859086
+24 1280 720 856.146932879104 852.840692961880 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-017_cam0 0.152689066795 -0.582901454905 -0.205427326303 0.771175438119 0.096044498960 0.022950959865 0.724068664942
+25 1280 720 1037.176038000849 1033.201867590888 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-017_cam1 -0.160273899057 0.788557779047 0.185408225220 -0.564014801585 -0.044881740455 0.045464891448 0.724877994965
+34 1280 720 1050.174515172969 1047.455418826770 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-022_cam0 -0.422338605227 0.886333822796 -0.093597468845 0.165172548954 -0.036452223762 0.026761828898 0.616424905103
+35 1280 720 1003.671880162206 1002.524428384158 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-022_cam1 -0.465208937387 0.882288608542 -0.009646067400 0.071094368240 -0.259822261879 -0.025803734850 0.618098219989
+32 1280 720 956.505886480202 953.611718347018 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-021_cam0 -0.383728432995 0.744827289767 0.239402104392 -0.490582745867 -0.021901638343 -0.096634973402 0.698365138424
+27 1280 720 971.187166613045 966.299584921482 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-018_cam1 0.202540492680 0.864197744535 -0.091758710855 -0.451353460325 0.036647368521 0.184569080359 0.696205981131
+36 1280 720 883.532092296697 885.959648843671 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-023_cam0 0.296195955927 -0.574789250580 -0.377601147269 0.662799099797 -0.037542761940 -0.150487900126 0.697909598028
+28 1280 720 879.559747322529 875.417830389538 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-019_cam0 -0.186574905416 -0.605663011699 0.123005103129 0.763696186669 0.063173648898 0.141309133585 0.642049071509
+29 1280 720 938.669396345037 939.075758751898 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-019_cam1 -0.002946632376 -0.644568814067 -0.136075504423 0.752333581854 0.009635902135 -0.018079613469 0.619615281604
+26 1280 720 925.405178076134 922.941620332101 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-018_cam0 0.215782054925 0.792459346399 -0.154664928184 -0.549112965671 -0.047510523459 0.195000489013 0.620842692655
+38 1280 720 931.184521884731 931.092005812257 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-024_cam1 -0.394328303523 0.662068820110 -0.317110080955 0.552821185407 -0.107609502930 0.185580398678 0.471409650153
+33 1280 720 924.669760060037 924.549923852754 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-021_cam1 -0.400000003230 0.873172970973 0.155522739752 -0.231044665807 -0.188947424144 -0.155861595257 0.757431910370
+41 1280 720 884.766002540948 877.653848244253 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-027_cam0 0.440858373606 0.895106968407 -0.006451272218 -0.066225301936 -0.386981589824 0.220492815144 0.483174989370
+42 1280 720 975.535695286329 972.470569816519 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-027_cam1 0.456334574348 0.888564838095 0.015366544120 0.044442705560 -0.223125146375 0.164568384556 0.400170074988
+39 1280 720 994.228916679276 994.782134638899 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-025_cam0 0.008671772417 -0.075458190703 -0.673839110513 0.734963750781 0.171892482667 -0.111000549105 0.527792725872
+43 1280 720 877.132873574099 875.850700711846 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-028_cam0 0.200052550701 0.342941725376 0.396634063114 0.827678300991 0.086830439572 -0.046293996746 0.257128280933
+37 1280 720 1010.428809076191 1009.878386453617 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-024_cam0 -0.266760656253 0.399503731084 -0.399667573501 0.780705675538 0.067832302494 0.200808774086 0.490462041882
+40 1280 720 856.617795915458 856.062704001386 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-025_cam1 -0.545544267467 0.837070118439 0.016298405579 -0.037807816992 -0.188683614277 0.074681133556 0.519382012583
diff --git a/processed/009-yellow-cloth/episode_4/pcd_clean.tar b/processed/009-yellow-cloth/episode_4/pcd_clean.tar
new file mode 100644
index 0000000000000000000000000000000000000000..eaee94c82597d28d82534545868042e59f8ba713
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_4/pcd_clean.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f215a4a248668f466e4f556a76c259855402f6bdb2d58886fcce98849aeaefb
+size 111370240
diff --git a/processed/009-yellow-cloth/episode_4/render_4dgs.mp4 b/processed/009-yellow-cloth/episode_4/render_4dgs.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ad7c0a0bc283b1efebae10b58e2d5ba56e9fe640
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_4/render_4dgs.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:849b7f8fe8fd9819ee7de2e84bf62ca02ca92a40a1fc017c687b789c131a5982
+size 925162
diff --git a/processed/009-yellow-cloth/episode_4/robot/opening_dists.png b/processed/009-yellow-cloth/episode_4/robot/opening_dists.png
new file mode 100644
index 0000000000000000000000000000000000000000..d89a1a83638156fd6545466ab08acbd8eac6f3e8
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_4/robot/opening_dists.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25e8169a3aec4ae57c3af6070a58ba98a8d99ff4e89c313a9cc2d9f87b72d945
+size 86250
diff --git a/processed/009-yellow-cloth/episode_4/robot/robot.npy b/processed/009-yellow-cloth/episode_4/robot/robot.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9db25156cbde055dbeff69601deaa36413908189
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_4/robot/robot.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fecad42109b3f68280f7aeca87812025ffff74f5d691658f30e9cbb17f6d2c7
+size 114693
diff --git a/processed/009-yellow-cloth/episode_4/splatfacto.tar b/processed/009-yellow-cloth/episode_4/splatfacto.tar
new file mode 100644
index 0000000000000000000000000000000000000000..136d2aed4858dc947e96dd9b690691d02e370002
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_4/splatfacto.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e82fbc338bc2d94158ef4c2bd8813531efc8c294180c1a9d6e7201e5ecba3343
+size 1155655680
diff --git a/processed/009-yellow-cloth/episode_4/split.json b/processed/009-yellow-cloth/episode_4/split.json
new file mode 100644
index 0000000000000000000000000000000000000000..20692ae7082647c9018265146b26f9c40dd8600c
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_4/split.json
@@ -0,0 +1 @@
+{"frame_len": 242, "train": [102, 295], "test": [295, 344]}
\ No newline at end of file
diff --git a/processed/009-yellow-cloth/episode_4/start_obj_pcd.ply b/processed/009-yellow-cloth/episode_4/start_obj_pcd.ply
new file mode 100644
index 0000000000000000000000000000000000000000..d27ddf5c464a880307c7c6c809e4e632c29b95df
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_4/start_obj_pcd.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75e729f860cee57bbf82cd66839f8cba03fa0e500b7239f727738721925c24d9
+size 145003
diff --git a/processed/009-yellow-cloth/episode_4/tactile.mp4 b/processed/009-yellow-cloth/episode_4/tactile.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..34df92d900397a1b97d4e2a374f7ea7c37c4e685
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_4/tactile.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c049f6a627495b0b10b48a9ee82510b9d30d81094990738075a0e041264a15dd
+size 2501936
diff --git a/processed/009-yellow-cloth/episode_4/tracking_video.mp4 b/processed/009-yellow-cloth/episode_4/tracking_video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6abe3b2f5f06eb099069d9aab55cf971cf6b1b3a
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_4/tracking_video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fc97ff6b97ba14c865c02e2acabc4c3d03cc9cd0014bd3be4f170cea08fff8c
+size 9928168
diff --git a/processed/009-yellow-cloth/episode_4/visual_hull_simple_full.ply b/processed/009-yellow-cloth/episode_4/visual_hull_simple_full.ply
new file mode 100644
index 0000000000000000000000000000000000000000..bc84a09d2c74ff4b12714291979f99e0f475dafd
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_4/visual_hull_simple_full.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3258819514184bbb9f555f49195ddedb025120fe5adf726e42213f5efff9f28c
+size 694409
diff --git a/processed/009-yellow-cloth/episode_5/cameras.tar b/processed/009-yellow-cloth/episode_5/cameras.tar
new file mode 100644
index 0000000000000000000000000000000000000000..f9bb0958ebb13ab2fc416ba60e7073059afa16d0
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_5/cameras.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:555bac4975503675a6cf4f2b034b6f793ace89ebe8538bb4a034d3642a364e9d
+size 1363445760
diff --git a/processed/009-yellow-cloth/episode_5/metadata.json b/processed/009-yellow-cloth/episode_5/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4fd152b845af81280796c6cff60237e34fdb77c
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_5/metadata.json
@@ -0,0 +1 @@
+{"intrinsics": [[[836.680396963516, 0.0, 639.5], [0.0, 835.700140390523, 359.5], [0.0, 0.0, 1.0]], [[1142.797002897219, 0.0, 639.5], [0.0, 1141.799060100665, 359.5], [0.0, 0.0, 1.0]], [[907.876942500946, 0.0, 639.5], [0.0, 906.295816472162, 359.5], [0.0, 0.0, 1.0]], [[887.775079860871, 0.0, 639.5], [0.0, 883.258048873426, 359.5], [0.0, 0.0, 1.0]], [[1005.256833748733, 0.0, 639.5], [0.0, 1003.304233049635, 359.5], [0.0, 0.0, 1.0]], [[930.381984285314, 0.0, 639.5], [0.0, 928.441276649211, 359.5], [0.0, 0.0, 1.0]], [[917.691930940131, 0.0, 639.5], [0.0, 913.45155666489, 359.5], [0.0, 0.0, 1.0]], [[978.761324441358, 0.0, 639.5], [0.0, 967.808999073207, 359.5], [0.0, 0.0, 1.0]], [[924.240452259708, 0.0, 639.5], [0.0, 916.847970945435, 359.5], [0.0, 0.0, 1.0]], [[928.318793983804, 0.0, 639.5], [0.0, 924.975123129267, 359.5], [0.0, 0.0, 1.0]], [[1014.066558872873, 0.0, 639.5], [0.0, 1008.968654443062, 359.5], [0.0, 0.0, 1.0]], [[898.17085087579, 0.0, 639.5], [0.0, 893.97260373269, 359.5], [0.0, 0.0, 1.0]], [[976.31523316351, 0.0, 639.5], [0.0, 973.266097601809, 359.5], [0.0, 0.0, 1.0]], [[942.364497116677, 0.0, 639.5], [0.0, 937.850675702226, 359.5], [0.0, 0.0, 1.0]], [[950.125227431998, 0.0, 639.5], [0.0, 945.062671985714, 359.5], [0.0, 0.0, 1.0]], [[896.530324948754, 0.0, 639.5], [0.0, 891.938415192759, 359.5], [0.0, 0.0, 1.0]], [[1156.806600140201, 0.0, 639.5], [0.0, 1155.363892317459, 359.5], [0.0, 0.0, 1.0]], [[856.146932879104, 0.0, 639.5], [0.0, 852.84069296188, 359.5], [0.0, 0.0, 1.0]], [[1037.176038000849, 0.0, 639.5], [0.0, 1033.201867590888, 359.5], [0.0, 0.0, 1.0]], [[938.669396345037, 0.0, 639.5], [0.0, 939.075758751898, 359.5], [0.0, 0.0, 1.0]], [[956.505886480202, 0.0, 639.5], [0.0, 953.611718347018, 359.5], [0.0, 0.0, 1.0]], [[924.669760060037, 0.0, 639.5], [0.0, 924.549923852754, 359.5], [0.0, 0.0, 1.0]], [[1050.174515172969, 0.0, 639.5], [0.0, 1047.45541882677, 359.5], [0.0, 0.0, 1.0]], [[1003.671880162206, 0.0, 639.5], [0.0, 1002.524428384158, 359.5], [0.0, 0.0, 1.0]], [[883.532092296697, 0.0, 639.5], [0.0, 885.959648843671, 359.5], [0.0, 0.0, 1.0]], [[1010.428809076191, 0.0, 639.5], [0.0, 1009.878386453617, 359.5], [0.0, 0.0, 1.0]], [[931.184521884731, 0.0, 639.5], [0.0, 931.092005812257, 359.5], [0.0, 0.0, 1.0]], [[994.228916679276, 0.0, 639.5], [0.0, 994.782134638899, 359.5], [0.0, 0.0, 1.0]], [[856.617795915458, 0.0, 639.5], [0.0, 856.062704001386, 359.5], [0.0, 0.0, 1.0]], [[884.766002540948, 0.0, 639.5], [0.0, 877.653848244253, 359.5], [0.0, 0.0, 1.0]], [[975.535695286329, 0.0, 639.5], [0.0, 972.470569816519, 359.5], [0.0, 0.0, 1.0]], [[877.132873574099, 0.0, 639.5], [0.0, 875.850700711846, 359.5], [0.0, 0.0, 1.0]]], "WH": [1280, 720], "fps": 30, "frame_num": 214, "start_frame": 88, "end_frame": 301, "cameras": ["brics-odroid-001_cam0", "brics-odroid-002_cam0", "brics-odroid-006_cam0", "brics-odroid-007_cam0", "brics-odroid-007_cam1", "brics-odroid-008_cam0", "brics-odroid-008_cam1", "brics-odroid-010_cam0", "brics-odroid-010_cam1", "brics-odroid-011_cam0", "brics-odroid-012_cam0", "brics-odroid-012_cam1", "brics-odroid-013_cam0", "brics-odroid-014_cam1", "brics-odroid-015_cam0", "brics-odroid-015_cam1", "brics-odroid-016_cam0", "brics-odroid-017_cam0", "brics-odroid-017_cam1", "brics-odroid-019_cam1", "brics-odroid-021_cam0", "brics-odroid-021_cam1", "brics-odroid-022_cam0", "brics-odroid-022_cam1", "brics-odroid-023_cam0", "brics-odroid-024_cam0", "brics-odroid-024_cam1", "brics-odroid-025_cam0", "brics-odroid-025_cam1", "brics-odroid-027_cam0", "brics-odroid-027_cam1", "brics-odroid-028_cam0"]}
\ No newline at end of file
diff --git a/processed/009-yellow-cloth/episode_5/metric_params_refined_undistorted.txt b/processed/009-yellow-cloth/episode_5/metric_params_refined_undistorted.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a28618edcbc9103ca344ed452c18b892a8bc6bd6
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_5/metric_params_refined_undistorted.txt
@@ -0,0 +1,42 @@
+# cam_id width height fx fy cx cy k1 k2 p1 p2 cam_name qvecw qvecx qvecy qvecz tvecx tvecy tvecz
+3 1280 720 1142.797002897219 1141.799060100665 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-002_cam0 0.002458822838 0.219227898012 -0.187746323391 0.957436369153 0.148126643066 0.272099191336 0.377564637117
+8 1280 720 930.381984285314 928.441276649211 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-008_cam0 0.044542031343 0.472543106448 0.190855966823 0.859239791863 0.092917632107 -0.033767955975 0.293361642204
+4 1280 720 1022.931874892199 1018.807042830697 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-004_cam0 -0.064724740997 -0.036483094817 0.217743164971 0.973173985372 -0.037378486419 0.003903288021 0.328140360275
+10 1280 720 931.966527339115 924.302672584629 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-009_cam0 0.208045306124 0.777696805666 0.074258041462 0.588549549601 -0.289734549572 0.043614437534 0.346561402371
+6 1280 720 887.775079860871 883.258048873426 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-007_cam0 -0.166305144898 0.791339871672 -0.173865321798 0.562045065950 -0.258376216182 0.214614704663 0.468311265911
+7 1280 720 1005.256833748733 1003.304233049635 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-007_cam1 -0.115851336603 0.680180080180 -0.166375836670 0.704451990774 -0.080518805923 0.293960255363 0.293187681903
+2 1280 720 1100.930815233789 1097.769941763063 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-001_cam1 0.031103174429 -0.275094815968 -0.234234852841 0.931927823644 0.299132895349 0.158626013226 0.590035386309
+5 1280 720 907.876942500946 906.295816472162 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-006_cam0 -0.174232517889 0.550467994953 -0.265573613699 0.772074265825 0.125213495330 0.182367115929 0.379504129366
+9 1280 720 917.691930940131 913.451556664890 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-008_cam1 0.213747856080 0.752407348022 0.177673349326 0.597182733845 -0.039993734574 -0.018306332154 0.239223185198
+1 1280 720 836.680396963516 835.700140390523 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-001_cam0 0.010103277652 -0.094435734273 -0.320192555678 0.942579727748 0.184525300249 0.134521115776 0.433599398705
+11 1280 720 994.010595847117 988.340865609786 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-009_cam1 -0.025928164203 0.858136771731 -0.004238232934 0.512748523827 -0.219429674683 0.090294252608 0.380414935018
+12 1280 720 978.761324441358 967.808999073207 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-010_cam0 -0.068705895060 0.821908033414 -0.027591150855 0.564787936298 -0.010490353366 0.084215266149 0.197020640410
+15 1280 720 1014.066558872873 1008.968654443062 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-012_cam0 -0.144559110941 0.978973815728 0.038631938491 -0.138638035515 -0.266473783429 0.165477595020 0.761098221340
+14 1280 720 928.318793983804 924.975123129267 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-011_cam0 -0.199202153831 0.945416758868 -0.030089679979 0.256125487055 -0.185544730712 0.151120290244 0.604707557493
+13 1280 720 924.240452259708 916.847970945435 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-010_cam1 -0.053400344800 0.588973299569 -0.026329698532 0.805956327939 0.120320214282 0.102939675138 0.188468911519
+16 1280 720 898.170850875790 893.972603732690 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-012_cam1 -0.131042631578 0.990322282456 -0.042101739381 0.017805873238 -0.153140481728 0.251473258968 0.616766399552
+18 1280 720 1065.162294482332 1059.511955344441 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-013_cam1 0.204974795922 0.932596640804 0.033950354150 0.295120673708 -0.209354217486 0.055348925463 0.507293702484
+19 1280 720 1174.045093274639 1169.032876949705 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-014_cam0 0.258560225740 0.949653677473 0.039313186567 -0.172507900946 -0.201190069309 0.163080816366 0.678318301248
+17 1280 720 976.315233163510 973.266097601809 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-013_cam0 0.124159731424 0.986775050477 0.086046791174 0.058781889877 -0.205846135095 -0.057768631702 0.533863051562
+20 1280 720 942.364497116677 937.850675702226 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-014_cam1 -0.055830110171 0.988617669051 -0.024781245165 -0.137491792943 -0.258885740835 0.057946689360 0.684784239760
+23 1280 720 1156.806600140201 1155.363892317459 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-016_cam0 -0.071504936427 0.902055331486 0.085277138836 -0.417026417144 -0.054779848049 0.237664057804 0.791221264649
+21 1280 720 950.125227431998 945.062671985714 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-015_cam0 -0.018497306591 0.998998901993 -0.002446805012 0.040657798893 -0.203737075393 0.091681592476 0.512198765447
+22 1280 720 896.530324948754 891.938415192759 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-015_cam1 -0.080100376375 0.972945021285 -0.007651465339 0.216571859529 -0.122608048570 0.021643129828 0.517357859086
+24 1280 720 856.146932879104 852.840692961880 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-017_cam0 0.152689066795 -0.582901454905 -0.205427326303 0.771175438119 0.096044498960 0.022950959865 0.724068664942
+25 1280 720 1037.176038000849 1033.201867590888 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-017_cam1 -0.160273899057 0.788557779047 0.185408225220 -0.564014801585 -0.044881740455 0.045464891448 0.724877994965
+34 1280 720 1050.174515172969 1047.455418826770 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-022_cam0 -0.422338605227 0.886333822796 -0.093597468845 0.165172548954 -0.036452223762 0.026761828898 0.616424905103
+35 1280 720 1003.671880162206 1002.524428384158 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-022_cam1 -0.465208937387 0.882288608542 -0.009646067400 0.071094368240 -0.259822261879 -0.025803734850 0.618098219989
+32 1280 720 956.505886480202 953.611718347018 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-021_cam0 -0.383728432995 0.744827289767 0.239402104392 -0.490582745867 -0.021901638343 -0.096634973402 0.698365138424
+27 1280 720 971.187166613045 966.299584921482 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-018_cam1 0.202540492680 0.864197744535 -0.091758710855 -0.451353460325 0.036647368521 0.184569080359 0.696205981131
+36 1280 720 883.532092296697 885.959648843671 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-023_cam0 0.296195955927 -0.574789250580 -0.377601147269 0.662799099797 -0.037542761940 -0.150487900126 0.697909598028
+28 1280 720 879.559747322529 875.417830389538 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-019_cam0 -0.186574905416 -0.605663011699 0.123005103129 0.763696186669 0.063173648898 0.141309133585 0.642049071509
+29 1280 720 938.669396345037 939.075758751898 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-019_cam1 -0.002946632376 -0.644568814067 -0.136075504423 0.752333581854 0.009635902135 -0.018079613469 0.619615281604
+26 1280 720 925.405178076134 922.941620332101 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-018_cam0 0.215782054925 0.792459346399 -0.154664928184 -0.549112965671 -0.047510523459 0.195000489013 0.620842692655
+38 1280 720 931.184521884731 931.092005812257 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-024_cam1 -0.394328303523 0.662068820110 -0.317110080955 0.552821185407 -0.107609502930 0.185580398678 0.471409650153
+33 1280 720 924.669760060037 924.549923852754 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-021_cam1 -0.400000003230 0.873172970973 0.155522739752 -0.231044665807 -0.188947424144 -0.155861595257 0.757431910370
+41 1280 720 884.766002540948 877.653848244253 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-027_cam0 0.440858373606 0.895106968407 -0.006451272218 -0.066225301936 -0.386981589824 0.220492815144 0.483174989370
+42 1280 720 975.535695286329 972.470569816519 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-027_cam1 0.456334574348 0.888564838095 0.015366544120 0.044442705560 -0.223125146375 0.164568384556 0.400170074988
+39 1280 720 994.228916679276 994.782134638899 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-025_cam0 0.008671772417 -0.075458190703 -0.673839110513 0.734963750781 0.171892482667 -0.111000549105 0.527792725872
+43 1280 720 877.132873574099 875.850700711846 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-028_cam0 0.200052550701 0.342941725376 0.396634063114 0.827678300991 0.086830439572 -0.046293996746 0.257128280933
+37 1280 720 1010.428809076191 1009.878386453617 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-024_cam0 -0.266760656253 0.399503731084 -0.399667573501 0.780705675538 0.067832302494 0.200808774086 0.490462041882
+40 1280 720 856.617795915458 856.062704001386 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-025_cam1 -0.545544267467 0.837070118439 0.016298405579 -0.037807816992 -0.188683614277 0.074681133556 0.519382012583
diff --git a/processed/009-yellow-cloth/episode_5/pcd_clean.tar b/processed/009-yellow-cloth/episode_5/pcd_clean.tar
new file mode 100644
index 0000000000000000000000000000000000000000..b05f950e4096616ee61e676c788891d9044fef7b
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_5/pcd_clean.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d15cfe1c4ab8a7deb485ed2da57b915b13fdca684e7d0a8895ab21d2c0ef377
+size 91596800
diff --git a/processed/009-yellow-cloth/episode_5/render_4dgs.mp4 b/processed/009-yellow-cloth/episode_5/render_4dgs.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..29e08c233a977b0fe35c8581d2385db80db58dce
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_5/render_4dgs.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbc53900517a9440ce6922f7dd1cd74980132fc0558784d05fb1594b6695f15a
+size 1357604
diff --git a/processed/009-yellow-cloth/episode_5/robot/opening_dists.png b/processed/009-yellow-cloth/episode_5/robot/opening_dists.png
new file mode 100644
index 0000000000000000000000000000000000000000..69268dc4ccea1709338e3ca19bac828e0845b4fd
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_5/robot/opening_dists.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9e2bae44bd59cf7368969a8a47a14e912bdaf39fb2cfe94970070d859574d22
+size 117075
diff --git a/processed/009-yellow-cloth/episode_5/robot/robot.npy b/processed/009-yellow-cloth/episode_5/robot/robot.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2986c6b05078e159933260f660415e31871ea98d
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_5/robot/robot.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24b072b754087014f1c03dc09404804bffa734f5073a94aae57b7efa43e80c37
+size 191501
diff --git a/processed/009-yellow-cloth/episode_5/splatfacto.tar b/processed/009-yellow-cloth/episode_5/splatfacto.tar
new file mode 100644
index 0000000000000000000000000000000000000000..a91575dc54c048e7073786dc28ca40d1cb2caa0b
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_5/splatfacto.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:598f7e1886f143790bb2549ac22d276ed1426613b8525a11303be445b99d5339
+size 1613803520
diff --git a/processed/009-yellow-cloth/episode_5/split.json b/processed/009-yellow-cloth/episode_5/split.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee452300aa11905d4c9832c9cd64ab06592a2fd2
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_5/split.json
@@ -0,0 +1 @@
+{"frame_len": 214, "train": [88, 259], "test": [259, 302]}
\ No newline at end of file
diff --git a/processed/009-yellow-cloth/episode_5/start_obj_pcd.ply b/processed/009-yellow-cloth/episode_5/start_obj_pcd.ply
new file mode 100644
index 0000000000000000000000000000000000000000..33fdbf98aba3c9fd20e31b85d2b166056d2cafc0
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_5/start_obj_pcd.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3032219a37215125ebf26f3bd5ca0863666b89ccd73db630b05afeffb61ae952
+size 145258
diff --git a/processed/009-yellow-cloth/episode_5/tactile.mp4 b/processed/009-yellow-cloth/episode_5/tactile.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..022b5564dc7f4070d15b46df6f330e37d5a2186a
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_5/tactile.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0342f995ed1f456d1ebb372eba7c93b8b24df776c6a02173ae5efd79d26d3247
+size 2520006
diff --git a/processed/009-yellow-cloth/episode_5/tracking_video.mp4 b/processed/009-yellow-cloth/episode_5/tracking_video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fd0bb2f2f986c6853084afb38eee5273334115e9
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_5/tracking_video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78a26091fc80d5177d053275a0b6e7209e92982a5033dea32222ca61582b54fd
+size 9438463
diff --git a/processed/009-yellow-cloth/episode_5/visual_hull_simple_full.ply b/processed/009-yellow-cloth/episode_5/visual_hull_simple_full.ply
new file mode 100644
index 0000000000000000000000000000000000000000..054ee2238513818997af1506253e5d0e84bf37fe
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_5/visual_hull_simple_full.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe31a8953de8b703a3190539a74a2c53883b62d7669b3402deb0c88518d09c55
+size 665099
diff --git a/processed/009-yellow-cloth/episode_6/cameras.tar b/processed/009-yellow-cloth/episode_6/cameras.tar
new file mode 100644
index 0000000000000000000000000000000000000000..c2968e1a3e4ce501348361be74c3efeaf686279b
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_6/cameras.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:140b35058653e82ce986606e26ccec003d1143ce01742cbf8d1557d2e39026a1
+size 1221949440
diff --git a/processed/009-yellow-cloth/episode_6/metadata.json b/processed/009-yellow-cloth/episode_6/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..117d331161913a984668179c381a6b1ac11a9e38
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_6/metadata.json
@@ -0,0 +1 @@
+{"intrinsics": [[[836.680396963516, 0.0, 639.5], [0.0, 835.700140390523, 359.5], [0.0, 0.0, 1.0]], [[1142.797002897219, 0.0, 639.5], [0.0, 1141.799060100665, 359.5], [0.0, 0.0, 1.0]], [[907.876942500946, 0.0, 639.5], [0.0, 906.295816472162, 359.5], [0.0, 0.0, 1.0]], [[887.775079860871, 0.0, 639.5], [0.0, 883.258048873426, 359.5], [0.0, 0.0, 1.0]], [[1005.256833748733, 0.0, 639.5], [0.0, 1003.304233049635, 359.5], [0.0, 0.0, 1.0]], [[930.381984285314, 0.0, 639.5], [0.0, 928.441276649211, 359.5], [0.0, 0.0, 1.0]], [[917.691930940131, 0.0, 639.5], [0.0, 913.45155666489, 359.5], [0.0, 0.0, 1.0]], [[978.761324441358, 0.0, 639.5], [0.0, 967.808999073207, 359.5], [0.0, 0.0, 1.0]], [[924.240452259708, 0.0, 639.5], [0.0, 916.847970945435, 359.5], [0.0, 0.0, 1.0]], [[928.318793983804, 0.0, 639.5], [0.0, 924.975123129267, 359.5], [0.0, 0.0, 1.0]], [[1014.066558872873, 0.0, 639.5], [0.0, 1008.968654443062, 359.5], [0.0, 0.0, 1.0]], [[898.17085087579, 0.0, 639.5], [0.0, 893.97260373269, 359.5], [0.0, 0.0, 1.0]], [[976.31523316351, 0.0, 639.5], [0.0, 973.266097601809, 359.5], [0.0, 0.0, 1.0]], [[942.364497116677, 0.0, 639.5], [0.0, 937.850675702226, 359.5], [0.0, 0.0, 1.0]], [[950.125227431998, 0.0, 639.5], [0.0, 945.062671985714, 359.5], [0.0, 0.0, 1.0]], [[896.530324948754, 0.0, 639.5], [0.0, 891.938415192759, 359.5], [0.0, 0.0, 1.0]], [[1156.806600140201, 0.0, 639.5], [0.0, 1155.363892317459, 359.5], [0.0, 0.0, 1.0]], [[856.146932879104, 0.0, 639.5], [0.0, 852.84069296188, 359.5], [0.0, 0.0, 1.0]], [[1037.176038000849, 0.0, 639.5], [0.0, 1033.201867590888, 359.5], [0.0, 0.0, 1.0]], [[938.669396345037, 0.0, 639.5], [0.0, 939.075758751898, 359.5], [0.0, 0.0, 1.0]], [[956.505886480202, 0.0, 639.5], [0.0, 953.611718347018, 359.5], [0.0, 0.0, 1.0]], [[924.669760060037, 0.0, 639.5], [0.0, 924.549923852754, 359.5], [0.0, 0.0, 1.0]], [[1050.174515172969, 0.0, 639.5], [0.0, 1047.45541882677, 359.5], [0.0, 0.0, 1.0]], [[1003.671880162206, 0.0, 639.5], [0.0, 1002.524428384158, 359.5], [0.0, 0.0, 1.0]], [[883.532092296697, 0.0, 639.5], [0.0, 885.959648843671, 359.5], [0.0, 0.0, 1.0]], [[1010.428809076191, 0.0, 639.5], [0.0, 1009.878386453617, 359.5], [0.0, 0.0, 1.0]], [[931.184521884731, 0.0, 639.5], [0.0, 931.092005812257, 359.5], [0.0, 0.0, 1.0]], [[994.228916679276, 0.0, 639.5], [0.0, 994.782134638899, 359.5], [0.0, 0.0, 1.0]], [[856.617795915458, 0.0, 639.5], [0.0, 856.062704001386, 359.5], [0.0, 0.0, 1.0]], [[884.766002540948, 0.0, 639.5], [0.0, 877.653848244253, 359.5], [0.0, 0.0, 1.0]], [[975.535695286329, 0.0, 639.5], [0.0, 972.470569816519, 359.5], [0.0, 0.0, 1.0]], [[877.132873574099, 0.0, 639.5], [0.0, 875.850700711846, 359.5], [0.0, 0.0, 1.0]]], "WH": [1280, 720], "fps": 30, "frame_num": 150, "start_frame": 86, "end_frame": 235, "cameras": ["brics-odroid-001_cam0", "brics-odroid-002_cam0", "brics-odroid-006_cam0", "brics-odroid-007_cam0", "brics-odroid-007_cam1", "brics-odroid-008_cam0", "brics-odroid-008_cam1", "brics-odroid-010_cam0", "brics-odroid-010_cam1", "brics-odroid-011_cam0", "brics-odroid-012_cam0", "brics-odroid-012_cam1", "brics-odroid-013_cam0", "brics-odroid-014_cam1", "brics-odroid-015_cam0", "brics-odroid-015_cam1", "brics-odroid-016_cam0", "brics-odroid-017_cam0", "brics-odroid-017_cam1", "brics-odroid-019_cam1", "brics-odroid-021_cam0", "brics-odroid-021_cam1", "brics-odroid-022_cam0", "brics-odroid-022_cam1", "brics-odroid-023_cam0", "brics-odroid-024_cam0", "brics-odroid-024_cam1", "brics-odroid-025_cam0", "brics-odroid-025_cam1", "brics-odroid-027_cam0", "brics-odroid-027_cam1", "brics-odroid-028_cam0"]}
\ No newline at end of file
diff --git a/processed/009-yellow-cloth/episode_6/metric_params_refined_undistorted.txt b/processed/009-yellow-cloth/episode_6/metric_params_refined_undistorted.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a28618edcbc9103ca344ed452c18b892a8bc6bd6
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_6/metric_params_refined_undistorted.txt
@@ -0,0 +1,42 @@
+# cam_id width height fx fy cx cy k1 k2 p1 p2 cam_name qvecw qvecx qvecy qvecz tvecx tvecy tvecz
+3 1280 720 1142.797002897219 1141.799060100665 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-002_cam0 0.002458822838 0.219227898012 -0.187746323391 0.957436369153 0.148126643066 0.272099191336 0.377564637117
+8 1280 720 930.381984285314 928.441276649211 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-008_cam0 0.044542031343 0.472543106448 0.190855966823 0.859239791863 0.092917632107 -0.033767955975 0.293361642204
+4 1280 720 1022.931874892199 1018.807042830697 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-004_cam0 -0.064724740997 -0.036483094817 0.217743164971 0.973173985372 -0.037378486419 0.003903288021 0.328140360275
+10 1280 720 931.966527339115 924.302672584629 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-009_cam0 0.208045306124 0.777696805666 0.074258041462 0.588549549601 -0.289734549572 0.043614437534 0.346561402371
+6 1280 720 887.775079860871 883.258048873426 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-007_cam0 -0.166305144898 0.791339871672 -0.173865321798 0.562045065950 -0.258376216182 0.214614704663 0.468311265911
+7 1280 720 1005.256833748733 1003.304233049635 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-007_cam1 -0.115851336603 0.680180080180 -0.166375836670 0.704451990774 -0.080518805923 0.293960255363 0.293187681903
+2 1280 720 1100.930815233789 1097.769941763063 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-001_cam1 0.031103174429 -0.275094815968 -0.234234852841 0.931927823644 0.299132895349 0.158626013226 0.590035386309
+5 1280 720 907.876942500946 906.295816472162 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-006_cam0 -0.174232517889 0.550467994953 -0.265573613699 0.772074265825 0.125213495330 0.182367115929 0.379504129366
+9 1280 720 917.691930940131 913.451556664890 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-008_cam1 0.213747856080 0.752407348022 0.177673349326 0.597182733845 -0.039993734574 -0.018306332154 0.239223185198
+1 1280 720 836.680396963516 835.700140390523 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-001_cam0 0.010103277652 -0.094435734273 -0.320192555678 0.942579727748 0.184525300249 0.134521115776 0.433599398705
+11 1280 720 994.010595847117 988.340865609786 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-009_cam1 -0.025928164203 0.858136771731 -0.004238232934 0.512748523827 -0.219429674683 0.090294252608 0.380414935018
+12 1280 720 978.761324441358 967.808999073207 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-010_cam0 -0.068705895060 0.821908033414 -0.027591150855 0.564787936298 -0.010490353366 0.084215266149 0.197020640410
+15 1280 720 1014.066558872873 1008.968654443062 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-012_cam0 -0.144559110941 0.978973815728 0.038631938491 -0.138638035515 -0.266473783429 0.165477595020 0.761098221340
+14 1280 720 928.318793983804 924.975123129267 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-011_cam0 -0.199202153831 0.945416758868 -0.030089679979 0.256125487055 -0.185544730712 0.151120290244 0.604707557493
+13 1280 720 924.240452259708 916.847970945435 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-010_cam1 -0.053400344800 0.588973299569 -0.026329698532 0.805956327939 0.120320214282 0.102939675138 0.188468911519
+16 1280 720 898.170850875790 893.972603732690 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-012_cam1 -0.131042631578 0.990322282456 -0.042101739381 0.017805873238 -0.153140481728 0.251473258968 0.616766399552
+18 1280 720 1065.162294482332 1059.511955344441 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-013_cam1 0.204974795922 0.932596640804 0.033950354150 0.295120673708 -0.209354217486 0.055348925463 0.507293702484
+19 1280 720 1174.045093274639 1169.032876949705 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-014_cam0 0.258560225740 0.949653677473 0.039313186567 -0.172507900946 -0.201190069309 0.163080816366 0.678318301248
+17 1280 720 976.315233163510 973.266097601809 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-013_cam0 0.124159731424 0.986775050477 0.086046791174 0.058781889877 -0.205846135095 -0.057768631702 0.533863051562
+20 1280 720 942.364497116677 937.850675702226 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-014_cam1 -0.055830110171 0.988617669051 -0.024781245165 -0.137491792943 -0.258885740835 0.057946689360 0.684784239760
+23 1280 720 1156.806600140201 1155.363892317459 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-016_cam0 -0.071504936427 0.902055331486 0.085277138836 -0.417026417144 -0.054779848049 0.237664057804 0.791221264649
+21 1280 720 950.125227431998 945.062671985714 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-015_cam0 -0.018497306591 0.998998901993 -0.002446805012 0.040657798893 -0.203737075393 0.091681592476 0.512198765447
+22 1280 720 896.530324948754 891.938415192759 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-015_cam1 -0.080100376375 0.972945021285 -0.007651465339 0.216571859529 -0.122608048570 0.021643129828 0.517357859086
+24 1280 720 856.146932879104 852.840692961880 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-017_cam0 0.152689066795 -0.582901454905 -0.205427326303 0.771175438119 0.096044498960 0.022950959865 0.724068664942
+25 1280 720 1037.176038000849 1033.201867590888 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-017_cam1 -0.160273899057 0.788557779047 0.185408225220 -0.564014801585 -0.044881740455 0.045464891448 0.724877994965
+34 1280 720 1050.174515172969 1047.455418826770 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-022_cam0 -0.422338605227 0.886333822796 -0.093597468845 0.165172548954 -0.036452223762 0.026761828898 0.616424905103
+35 1280 720 1003.671880162206 1002.524428384158 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-022_cam1 -0.465208937387 0.882288608542 -0.009646067400 0.071094368240 -0.259822261879 -0.025803734850 0.618098219989
+32 1280 720 956.505886480202 953.611718347018 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-021_cam0 -0.383728432995 0.744827289767 0.239402104392 -0.490582745867 -0.021901638343 -0.096634973402 0.698365138424
+27 1280 720 971.187166613045 966.299584921482 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-018_cam1 0.202540492680 0.864197744535 -0.091758710855 -0.451353460325 0.036647368521 0.184569080359 0.696205981131
+36 1280 720 883.532092296697 885.959648843671 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-023_cam0 0.296195955927 -0.574789250580 -0.377601147269 0.662799099797 -0.037542761940 -0.150487900126 0.697909598028
+28 1280 720 879.559747322529 875.417830389538 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-019_cam0 -0.186574905416 -0.605663011699 0.123005103129 0.763696186669 0.063173648898 0.141309133585 0.642049071509
+29 1280 720 938.669396345037 939.075758751898 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-019_cam1 -0.002946632376 -0.644568814067 -0.136075504423 0.752333581854 0.009635902135 -0.018079613469 0.619615281604
+26 1280 720 925.405178076134 922.941620332101 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-018_cam0 0.215782054925 0.792459346399 -0.154664928184 -0.549112965671 -0.047510523459 0.195000489013 0.620842692655
+38 1280 720 931.184521884731 931.092005812257 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-024_cam1 -0.394328303523 0.662068820110 -0.317110080955 0.552821185407 -0.107609502930 0.185580398678 0.471409650153
+33 1280 720 924.669760060037 924.549923852754 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-021_cam1 -0.400000003230 0.873172970973 0.155522739752 -0.231044665807 -0.188947424144 -0.155861595257 0.757431910370
+41 1280 720 884.766002540948 877.653848244253 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-027_cam0 0.440858373606 0.895106968407 -0.006451272218 -0.066225301936 -0.386981589824 0.220492815144 0.483174989370
+42 1280 720 975.535695286329 972.470569816519 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-027_cam1 0.456334574348 0.888564838095 0.015366544120 0.044442705560 -0.223125146375 0.164568384556 0.400170074988
+39 1280 720 994.228916679276 994.782134638899 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-025_cam0 0.008671772417 -0.075458190703 -0.673839110513 0.734963750781 0.171892482667 -0.111000549105 0.527792725872
+43 1280 720 877.132873574099 875.850700711846 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-028_cam0 0.200052550701 0.342941725376 0.396634063114 0.827678300991 0.086830439572 -0.046293996746 0.257128280933
+37 1280 720 1010.428809076191 1009.878386453617 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-024_cam0 -0.266760656253 0.399503731084 -0.399667573501 0.780705675538 0.067832302494 0.200808774086 0.490462041882
+40 1280 720 856.617795915458 856.062704001386 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-025_cam1 -0.545544267467 0.837070118439 0.016298405579 -0.037807816992 -0.188683614277 0.074681133556 0.519382012583
diff --git a/processed/009-yellow-cloth/episode_6/pcd_clean.tar b/processed/009-yellow-cloth/episode_6/pcd_clean.tar
new file mode 100644
index 0000000000000000000000000000000000000000..78b6375eba5e8ab0a89a6ff6455309993c4560be
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_6/pcd_clean.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e65862dceb63ce81b6cbd653f05ec7cfedee5d6d4e9010a07e1bf0af53c893cf
+size 80353280
diff --git a/processed/009-yellow-cloth/episode_6/render_4dgs.mp4 b/processed/009-yellow-cloth/episode_6/render_4dgs.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a6360b31aa6ea171bde1d09a33736d886a7fc111
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_6/render_4dgs.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a7308a7d2d0dba81e546b8a4af19b90cae3be0f2fd32722afd76a7ad2434cc4
+size 1066802
diff --git a/processed/009-yellow-cloth/episode_6/robot/opening_dists.png b/processed/009-yellow-cloth/episode_6/robot/opening_dists.png
new file mode 100644
index 0000000000000000000000000000000000000000..d016db1270ec8bf78e748e1cca517eb2c25cbbcc
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_6/robot/opening_dists.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3b4fec41693672ea87aea755f14632bf47bb536088c157a8910d0d08dce6ce3
+size 116592
diff --git a/processed/009-yellow-cloth/episode_6/robot/robot.npy b/processed/009-yellow-cloth/episode_6/robot/robot.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6e7c94346509943caa6d49a9d5d64351d3be01b9
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_6/robot/robot.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e9732a17d915cb098c5896e325f576543cad42f4050f779cd5c66ea62f27a66
+size 164877
diff --git a/processed/009-yellow-cloth/episode_6/splatfacto.tar b/processed/009-yellow-cloth/episode_6/splatfacto.tar
new file mode 100644
index 0000000000000000000000000000000000000000..71300dc43f87516cde39b9d51b62895597b2efe7
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_6/splatfacto.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4527ae7438dc1daeab18f4a629276c8ba117e51f2ef268d01568a4869af1d4de
+size 1178255360
diff --git a/processed/009-yellow-cloth/episode_6/split.json b/processed/009-yellow-cloth/episode_6/split.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb5b334d56f449d920f92aed909700854c6bdff5
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_6/split.json
@@ -0,0 +1 @@
+{"frame_len": 150, "train": [86, 206], "test": [206, 236]}
\ No newline at end of file
diff --git a/processed/009-yellow-cloth/episode_6/start_obj_pcd.ply b/processed/009-yellow-cloth/episode_6/start_obj_pcd.ply
new file mode 100644
index 0000000000000000000000000000000000000000..a2112232e2b041acea5e876112a40e83ce6deb2a
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_6/start_obj_pcd.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef0c123238995b3a800bffe68a12e13699b268dca2fe6c60136bceb6f125b5f6
+size 146158
diff --git a/processed/009-yellow-cloth/episode_6/tactile.mp4 b/processed/009-yellow-cloth/episode_6/tactile.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dae6ec33825d76375d47938b007317404a52b94d
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_6/tactile.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:041bf39824498d5f9544e8ec997be0f268187cd5c25871caacf62bec822f27ed
+size 2197637
diff --git a/processed/009-yellow-cloth/episode_6/tracking_video.mp4 b/processed/009-yellow-cloth/episode_6/tracking_video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..883fe40eed75fc043ac00e32d357bfa4a4812ee4
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_6/tracking_video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3314e8b0798c8f3631b0ad35266574a6a63e9e9841e89ecdd018ac45e3ea287
+size 8121301
diff --git a/processed/009-yellow-cloth/episode_6/visual_hull_simple_full.ply b/processed/009-yellow-cloth/episode_6/visual_hull_simple_full.ply
new file mode 100644
index 0000000000000000000000000000000000000000..d4d484d8aef35fceb8d49e8569716bd3432fcbaf
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_6/visual_hull_simple_full.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d44cd29a7cf147b7546dd3468283a8ed33b8e8d2f8a0f359acc49ff22079a7e2
+size 643574
diff --git a/processed/009-yellow-cloth/episode_7/cameras.tar b/processed/009-yellow-cloth/episode_7/cameras.tar
new file mode 100644
index 0000000000000000000000000000000000000000..e627002163ed56f962af0be654a61d693b3ec2a0
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_7/cameras.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a097fd53f167062927e19af5339674e25cc4974ef74fe04af63e4569536c3cea
+size 1457172480
diff --git a/processed/009-yellow-cloth/episode_7/metadata.json b/processed/009-yellow-cloth/episode_7/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fe79822adf67a94bbfa7156025ea4a6a9e115dd
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_7/metadata.json
@@ -0,0 +1 @@
+{"intrinsics": [[[836.680396963516, 0.0, 639.5], [0.0, 835.700140390523, 359.5], [0.0, 0.0, 1.0]], [[1142.797002897219, 0.0, 639.5], [0.0, 1141.799060100665, 359.5], [0.0, 0.0, 1.0]], [[907.876942500946, 0.0, 639.5], [0.0, 906.295816472162, 359.5], [0.0, 0.0, 1.0]], [[887.775079860871, 0.0, 639.5], [0.0, 883.258048873426, 359.5], [0.0, 0.0, 1.0]], [[1005.256833748733, 0.0, 639.5], [0.0, 1003.304233049635, 359.5], [0.0, 0.0, 1.0]], [[930.381984285314, 0.0, 639.5], [0.0, 928.441276649211, 359.5], [0.0, 0.0, 1.0]], [[917.691930940131, 0.0, 639.5], [0.0, 913.45155666489, 359.5], [0.0, 0.0, 1.0]], [[978.761324441358, 0.0, 639.5], [0.0, 967.808999073207, 359.5], [0.0, 0.0, 1.0]], [[924.240452259708, 0.0, 639.5], [0.0, 916.847970945435, 359.5], [0.0, 0.0, 1.0]], [[928.318793983804, 0.0, 639.5], [0.0, 924.975123129267, 359.5], [0.0, 0.0, 1.0]], [[1014.066558872873, 0.0, 639.5], [0.0, 1008.968654443062, 359.5], [0.0, 0.0, 1.0]], [[898.17085087579, 0.0, 639.5], [0.0, 893.97260373269, 359.5], [0.0, 0.0, 1.0]], [[976.31523316351, 0.0, 639.5], [0.0, 973.266097601809, 359.5], [0.0, 0.0, 1.0]], [[942.364497116677, 0.0, 639.5], [0.0, 937.850675702226, 359.5], [0.0, 0.0, 1.0]], [[950.125227431998, 0.0, 639.5], [0.0, 945.062671985714, 359.5], [0.0, 0.0, 1.0]], [[896.530324948754, 0.0, 639.5], [0.0, 891.938415192759, 359.5], [0.0, 0.0, 1.0]], [[1156.806600140201, 0.0, 639.5], [0.0, 1155.363892317459, 359.5], [0.0, 0.0, 1.0]], [[856.146932879104, 0.0, 639.5], [0.0, 852.84069296188, 359.5], [0.0, 0.0, 1.0]], [[1037.176038000849, 0.0, 639.5], [0.0, 1033.201867590888, 359.5], [0.0, 0.0, 1.0]], [[938.669396345037, 0.0, 639.5], [0.0, 939.075758751898, 359.5], [0.0, 0.0, 1.0]], [[956.505886480202, 0.0, 639.5], [0.0, 953.611718347018, 359.5], [0.0, 0.0, 1.0]], [[924.669760060037, 0.0, 639.5], [0.0, 924.549923852754, 359.5], [0.0, 0.0, 1.0]], [[1050.174515172969, 0.0, 639.5], [0.0, 1047.45541882677, 359.5], [0.0, 0.0, 1.0]], [[1003.671880162206, 0.0, 639.5], [0.0, 1002.524428384158, 359.5], [0.0, 0.0, 1.0]], [[883.532092296697, 0.0, 639.5], [0.0, 885.959648843671, 359.5], [0.0, 0.0, 1.0]], [[1010.428809076191, 0.0, 639.5], [0.0, 1009.878386453617, 359.5], [0.0, 0.0, 1.0]], [[931.184521884731, 0.0, 639.5], [0.0, 931.092005812257, 359.5], [0.0, 0.0, 1.0]], [[994.228916679276, 0.0, 639.5], [0.0, 994.782134638899, 359.5], [0.0, 0.0, 1.0]], [[856.617795915458, 0.0, 639.5], [0.0, 856.062704001386, 359.5], [0.0, 0.0, 1.0]], [[884.766002540948, 0.0, 639.5], [0.0, 877.653848244253, 359.5], [0.0, 0.0, 1.0]], [[975.535695286329, 0.0, 639.5], [0.0, 972.470569816519, 359.5], [0.0, 0.0, 1.0]], [[877.132873574099, 0.0, 639.5], [0.0, 875.850700711846, 359.5], [0.0, 0.0, 1.0]]], "WH": [1280, 720], "fps": 30, "frame_num": 191, "start_frame": 106, "end_frame": 296, "cameras": ["brics-odroid-001_cam0", "brics-odroid-002_cam0", "brics-odroid-006_cam0", "brics-odroid-007_cam0", "brics-odroid-007_cam1", "brics-odroid-008_cam0", "brics-odroid-008_cam1", "brics-odroid-010_cam0", "brics-odroid-010_cam1", "brics-odroid-011_cam0", "brics-odroid-012_cam0", "brics-odroid-012_cam1", "brics-odroid-013_cam0", "brics-odroid-014_cam1", "brics-odroid-015_cam0", "brics-odroid-015_cam1", "brics-odroid-016_cam0", "brics-odroid-017_cam0", "brics-odroid-017_cam1", "brics-odroid-019_cam1", "brics-odroid-021_cam0", "brics-odroid-021_cam1", "brics-odroid-022_cam0", "brics-odroid-022_cam1", "brics-odroid-023_cam0", "brics-odroid-024_cam0", "brics-odroid-024_cam1", "brics-odroid-025_cam0", "brics-odroid-025_cam1", "brics-odroid-027_cam0", "brics-odroid-027_cam1", "brics-odroid-028_cam0"]}
\ No newline at end of file
diff --git a/processed/009-yellow-cloth/episode_7/metric_params_refined_undistorted.txt b/processed/009-yellow-cloth/episode_7/metric_params_refined_undistorted.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a28618edcbc9103ca344ed452c18b892a8bc6bd6
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_7/metric_params_refined_undistorted.txt
@@ -0,0 +1,42 @@
+# cam_id width height fx fy cx cy k1 k2 p1 p2 cam_name qvecw qvecx qvecy qvecz tvecx tvecy tvecz
+3 1280 720 1142.797002897219 1141.799060100665 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-002_cam0 0.002458822838 0.219227898012 -0.187746323391 0.957436369153 0.148126643066 0.272099191336 0.377564637117
+8 1280 720 930.381984285314 928.441276649211 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-008_cam0 0.044542031343 0.472543106448 0.190855966823 0.859239791863 0.092917632107 -0.033767955975 0.293361642204
+4 1280 720 1022.931874892199 1018.807042830697 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-004_cam0 -0.064724740997 -0.036483094817 0.217743164971 0.973173985372 -0.037378486419 0.003903288021 0.328140360275
+10 1280 720 931.966527339115 924.302672584629 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-009_cam0 0.208045306124 0.777696805666 0.074258041462 0.588549549601 -0.289734549572 0.043614437534 0.346561402371
+6 1280 720 887.775079860871 883.258048873426 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-007_cam0 -0.166305144898 0.791339871672 -0.173865321798 0.562045065950 -0.258376216182 0.214614704663 0.468311265911
+7 1280 720 1005.256833748733 1003.304233049635 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-007_cam1 -0.115851336603 0.680180080180 -0.166375836670 0.704451990774 -0.080518805923 0.293960255363 0.293187681903
+2 1280 720 1100.930815233789 1097.769941763063 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-001_cam1 0.031103174429 -0.275094815968 -0.234234852841 0.931927823644 0.299132895349 0.158626013226 0.590035386309
+5 1280 720 907.876942500946 906.295816472162 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-006_cam0 -0.174232517889 0.550467994953 -0.265573613699 0.772074265825 0.125213495330 0.182367115929 0.379504129366
+9 1280 720 917.691930940131 913.451556664890 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-008_cam1 0.213747856080 0.752407348022 0.177673349326 0.597182733845 -0.039993734574 -0.018306332154 0.239223185198
+1 1280 720 836.680396963516 835.700140390523 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-001_cam0 0.010103277652 -0.094435734273 -0.320192555678 0.942579727748 0.184525300249 0.134521115776 0.433599398705
+11 1280 720 994.010595847117 988.340865609786 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-009_cam1 -0.025928164203 0.858136771731 -0.004238232934 0.512748523827 -0.219429674683 0.090294252608 0.380414935018
+12 1280 720 978.761324441358 967.808999073207 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-010_cam0 -0.068705895060 0.821908033414 -0.027591150855 0.564787936298 -0.010490353366 0.084215266149 0.197020640410
+15 1280 720 1014.066558872873 1008.968654443062 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-012_cam0 -0.144559110941 0.978973815728 0.038631938491 -0.138638035515 -0.266473783429 0.165477595020 0.761098221340
+14 1280 720 928.318793983804 924.975123129267 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-011_cam0 -0.199202153831 0.945416758868 -0.030089679979 0.256125487055 -0.185544730712 0.151120290244 0.604707557493
+13 1280 720 924.240452259708 916.847970945435 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-010_cam1 -0.053400344800 0.588973299569 -0.026329698532 0.805956327939 0.120320214282 0.102939675138 0.188468911519
+16 1280 720 898.170850875790 893.972603732690 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-012_cam1 -0.131042631578 0.990322282456 -0.042101739381 0.017805873238 -0.153140481728 0.251473258968 0.616766399552
+18 1280 720 1065.162294482332 1059.511955344441 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-013_cam1 0.204974795922 0.932596640804 0.033950354150 0.295120673708 -0.209354217486 0.055348925463 0.507293702484
+19 1280 720 1174.045093274639 1169.032876949705 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-014_cam0 0.258560225740 0.949653677473 0.039313186567 -0.172507900946 -0.201190069309 0.163080816366 0.678318301248
+17 1280 720 976.315233163510 973.266097601809 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-013_cam0 0.124159731424 0.986775050477 0.086046791174 0.058781889877 -0.205846135095 -0.057768631702 0.533863051562
+20 1280 720 942.364497116677 937.850675702226 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-014_cam1 -0.055830110171 0.988617669051 -0.024781245165 -0.137491792943 -0.258885740835 0.057946689360 0.684784239760
+23 1280 720 1156.806600140201 1155.363892317459 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-016_cam0 -0.071504936427 0.902055331486 0.085277138836 -0.417026417144 -0.054779848049 0.237664057804 0.791221264649
+21 1280 720 950.125227431998 945.062671985714 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-015_cam0 -0.018497306591 0.998998901993 -0.002446805012 0.040657798893 -0.203737075393 0.091681592476 0.512198765447
+22 1280 720 896.530324948754 891.938415192759 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-015_cam1 -0.080100376375 0.972945021285 -0.007651465339 0.216571859529 -0.122608048570 0.021643129828 0.517357859086
+24 1280 720 856.146932879104 852.840692961880 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-017_cam0 0.152689066795 -0.582901454905 -0.205427326303 0.771175438119 0.096044498960 0.022950959865 0.724068664942
+25 1280 720 1037.176038000849 1033.201867590888 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-017_cam1 -0.160273899057 0.788557779047 0.185408225220 -0.564014801585 -0.044881740455 0.045464891448 0.724877994965
+34 1280 720 1050.174515172969 1047.455418826770 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-022_cam0 -0.422338605227 0.886333822796 -0.093597468845 0.165172548954 -0.036452223762 0.026761828898 0.616424905103
+35 1280 720 1003.671880162206 1002.524428384158 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-022_cam1 -0.465208937387 0.882288608542 -0.009646067400 0.071094368240 -0.259822261879 -0.025803734850 0.618098219989
+32 1280 720 956.505886480202 953.611718347018 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-021_cam0 -0.383728432995 0.744827289767 0.239402104392 -0.490582745867 -0.021901638343 -0.096634973402 0.698365138424
+27 1280 720 971.187166613045 966.299584921482 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-018_cam1 0.202540492680 0.864197744535 -0.091758710855 -0.451353460325 0.036647368521 0.184569080359 0.696205981131
+36 1280 720 883.532092296697 885.959648843671 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-023_cam0 0.296195955927 -0.574789250580 -0.377601147269 0.662799099797 -0.037542761940 -0.150487900126 0.697909598028
+28 1280 720 879.559747322529 875.417830389538 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-019_cam0 -0.186574905416 -0.605663011699 0.123005103129 0.763696186669 0.063173648898 0.141309133585 0.642049071509
+29 1280 720 938.669396345037 939.075758751898 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-019_cam1 -0.002946632376 -0.644568814067 -0.136075504423 0.752333581854 0.009635902135 -0.018079613469 0.619615281604
+26 1280 720 925.405178076134 922.941620332101 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-018_cam0 0.215782054925 0.792459346399 -0.154664928184 -0.549112965671 -0.047510523459 0.195000489013 0.620842692655
+38 1280 720 931.184521884731 931.092005812257 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-024_cam1 -0.394328303523 0.662068820110 -0.317110080955 0.552821185407 -0.107609502930 0.185580398678 0.471409650153
+33 1280 720 924.669760060037 924.549923852754 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-021_cam1 -0.400000003230 0.873172970973 0.155522739752 -0.231044665807 -0.188947424144 -0.155861595257 0.757431910370
+41 1280 720 884.766002540948 877.653848244253 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-027_cam0 0.440858373606 0.895106968407 -0.006451272218 -0.066225301936 -0.386981589824 0.220492815144 0.483174989370
+42 1280 720 975.535695286329 972.470569816519 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-027_cam1 0.456334574348 0.888564838095 0.015366544120 0.044442705560 -0.223125146375 0.164568384556 0.400170074988
+39 1280 720 994.228916679276 994.782134638899 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-025_cam0 0.008671772417 -0.075458190703 -0.673839110513 0.734963750781 0.171892482667 -0.111000549105 0.527792725872
+43 1280 720 877.132873574099 875.850700711846 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-028_cam0 0.200052550701 0.342941725376 0.396634063114 0.827678300991 0.086830439572 -0.046293996746 0.257128280933
+37 1280 720 1010.428809076191 1009.878386453617 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-024_cam0 -0.266760656253 0.399503731084 -0.399667573501 0.780705675538 0.067832302494 0.200808774086 0.490462041882
+40 1280 720 856.617795915458 856.062704001386 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-025_cam1 -0.545544267467 0.837070118439 0.016298405579 -0.037807816992 -0.188683614277 0.074681133556 0.519382012583
diff --git a/processed/009-yellow-cloth/episode_7/pcd_clean.tar b/processed/009-yellow-cloth/episode_7/pcd_clean.tar
new file mode 100644
index 0000000000000000000000000000000000000000..35496ec78558d168bea5c2902179ee5c3c6246d4
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_7/pcd_clean.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f85f54e431e5f1a789dc79dcfc709630ba9a9cb295ea90b5687fc4babc260afd
+size 96849920
diff --git a/processed/009-yellow-cloth/episode_7/render_4dgs.mp4 b/processed/009-yellow-cloth/episode_7/render_4dgs.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ca6fead8a5a0afa886198e541a9126afba215d7d
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_7/render_4dgs.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17536c5a5920666fc4fce88691b29452fb7ce1768fc667b39f401af1ee86f912
+size 1044969
diff --git a/processed/009-yellow-cloth/episode_7/robot/opening_dists.png b/processed/009-yellow-cloth/episode_7/robot/opening_dists.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b7d3df1d35bc5ccb96b0cc90f785ec9624d5376
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_7/robot/opening_dists.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7862bb50bfbcc11e708f64bc5d52b55dade4d451b181c598adaaee475acdf723
+size 115183
diff --git a/processed/009-yellow-cloth/episode_7/robot/robot.npy b/processed/009-yellow-cloth/episode_7/robot/robot.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7996a64703bedce1d6ea4473b50a21d8bc1c89df
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_7/robot/robot.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:751eb9909da5951dc6db78f2cc386c6b9dcb37a9d68f93fd967c0772c3feb94a
+size 196621
diff --git a/processed/009-yellow-cloth/episode_7/splatfacto.tar b/processed/009-yellow-cloth/episode_7/splatfacto.tar
new file mode 100644
index 0000000000000000000000000000000000000000..f082496c7d97f4d9c0c8d9ff263fb016ba0e00f0
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_7/splatfacto.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd7b115aad9b0ffd079e115af9a4fb4f2f78a28333f7b00bebd5fb044aa0d180
+size 1346641920
diff --git a/processed/009-yellow-cloth/episode_7/split.json b/processed/009-yellow-cloth/episode_7/split.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ca160353c0ffa174f683d29cadae7c5e1a83e04
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_7/split.json
@@ -0,0 +1 @@
+{"frame_len": 191, "train": [106, 258], "test": [258, 297]}
\ No newline at end of file
diff --git a/processed/009-yellow-cloth/episode_7/start_obj_pcd.ply b/processed/009-yellow-cloth/episode_7/start_obj_pcd.ply
new file mode 100644
index 0000000000000000000000000000000000000000..41a88f19ec986e5b76cc6507b30ee27ce2614cc4
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_7/start_obj_pcd.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b03ac8426ab4a35ed9bbe4d06ec08e3785bee49e657da01c57428d12389442ea
+size 146923
diff --git a/processed/009-yellow-cloth/episode_7/tactile.mp4 b/processed/009-yellow-cloth/episode_7/tactile.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3d040b6a9aec82c104bf11f0429f524c4950b966
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_7/tactile.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edad8014558256573795f4a81183cca4f12fb8f20a44fe56f4f7029098a7a0f1
+size 2623041
diff --git a/processed/009-yellow-cloth/episode_7/tracking_video.mp4 b/processed/009-yellow-cloth/episode_7/tracking_video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5179246ea96d5d6537b5502886907d25bd506fa3
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_7/tracking_video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a47d571adb929b0080a425ea70e0c3bf98200a0f8ae7a34d3a7ecb5687c3f1fd
+size 9743811
diff --git a/processed/009-yellow-cloth/episode_7/visual_hull_simple_full.ply b/processed/009-yellow-cloth/episode_7/visual_hull_simple_full.ply
new file mode 100644
index 0000000000000000000000000000000000000000..2f111ea8482c8fcfb81e1abbb34baafce493f2b4
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_7/visual_hull_simple_full.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:361edce2ab3ea29c654e4fee4d7c3731e4008d7552e0f9edc323fd3813c534f7
+size 713339
diff --git a/processed/009-yellow-cloth/episode_8/cameras.tar b/processed/009-yellow-cloth/episode_8/cameras.tar
new file mode 100644
index 0000000000000000000000000000000000000000..5bcb717d20e744fd3c15817eede52cde757d7061
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_8/cameras.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:798e2f209bc097c6628e04bd6b4833a172b86774ec9f615dc137511329b91160
+size 1328957440
diff --git a/processed/009-yellow-cloth/episode_8/metadata.json b/processed/009-yellow-cloth/episode_8/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2b4d8b8f2199ff69c113023c0dc00dafe8a42ac
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_8/metadata.json
@@ -0,0 +1 @@
+{"intrinsics": [[[836.680396963516, 0.0, 639.5], [0.0, 835.700140390523, 359.5], [0.0, 0.0, 1.0]], [[1142.797002897219, 0.0, 639.5], [0.0, 1141.799060100665, 359.5], [0.0, 0.0, 1.0]], [[907.876942500946, 0.0, 639.5], [0.0, 906.295816472162, 359.5], [0.0, 0.0, 1.0]], [[887.775079860871, 0.0, 639.5], [0.0, 883.258048873426, 359.5], [0.0, 0.0, 1.0]], [[1005.256833748733, 0.0, 639.5], [0.0, 1003.304233049635, 359.5], [0.0, 0.0, 1.0]], [[930.381984285314, 0.0, 639.5], [0.0, 928.441276649211, 359.5], [0.0, 0.0, 1.0]], [[917.691930940131, 0.0, 639.5], [0.0, 913.45155666489, 359.5], [0.0, 0.0, 1.0]], [[978.761324441358, 0.0, 639.5], [0.0, 967.808999073207, 359.5], [0.0, 0.0, 1.0]], [[924.240452259708, 0.0, 639.5], [0.0, 916.847970945435, 359.5], [0.0, 0.0, 1.0]], [[928.318793983804, 0.0, 639.5], [0.0, 924.975123129267, 359.5], [0.0, 0.0, 1.0]], [[1014.066558872873, 0.0, 639.5], [0.0, 1008.968654443062, 359.5], [0.0, 0.0, 1.0]], [[898.17085087579, 0.0, 639.5], [0.0, 893.97260373269, 359.5], [0.0, 0.0, 1.0]], [[976.31523316351, 0.0, 639.5], [0.0, 973.266097601809, 359.5], [0.0, 0.0, 1.0]], [[942.364497116677, 0.0, 639.5], [0.0, 937.850675702226, 359.5], [0.0, 0.0, 1.0]], [[950.125227431998, 0.0, 639.5], [0.0, 945.062671985714, 359.5], [0.0, 0.0, 1.0]], [[896.530324948754, 0.0, 639.5], [0.0, 891.938415192759, 359.5], [0.0, 0.0, 1.0]], [[1156.806600140201, 0.0, 639.5], [0.0, 1155.363892317459, 359.5], [0.0, 0.0, 1.0]], [[856.146932879104, 0.0, 639.5], [0.0, 852.84069296188, 359.5], [0.0, 0.0, 1.0]], [[1037.176038000849, 0.0, 639.5], [0.0, 1033.201867590888, 359.5], [0.0, 0.0, 1.0]], [[938.669396345037, 0.0, 639.5], [0.0, 939.075758751898, 359.5], [0.0, 0.0, 1.0]], [[956.505886480202, 0.0, 639.5], [0.0, 953.611718347018, 359.5], [0.0, 0.0, 1.0]], [[924.669760060037, 0.0, 639.5], [0.0, 924.549923852754, 359.5], [0.0, 0.0, 1.0]], [[1050.174515172969, 0.0, 639.5], [0.0, 1047.45541882677, 359.5], [0.0, 0.0, 1.0]], [[1003.671880162206, 0.0, 639.5], [0.0, 1002.524428384158, 359.5], [0.0, 0.0, 1.0]], [[883.532092296697, 0.0, 639.5], [0.0, 885.959648843671, 359.5], [0.0, 0.0, 1.0]], [[1010.428809076191, 0.0, 639.5], [0.0, 1009.878386453617, 359.5], [0.0, 0.0, 1.0]], [[931.184521884731, 0.0, 639.5], [0.0, 931.092005812257, 359.5], [0.0, 0.0, 1.0]], [[994.228916679276, 0.0, 639.5], [0.0, 994.782134638899, 359.5], [0.0, 0.0, 1.0]], [[856.617795915458, 0.0, 639.5], [0.0, 856.062704001386, 359.5], [0.0, 0.0, 1.0]], [[884.766002540948, 0.0, 639.5], [0.0, 877.653848244253, 359.5], [0.0, 0.0, 1.0]], [[975.535695286329, 0.0, 639.5], [0.0, 972.470569816519, 359.5], [0.0, 0.0, 1.0]], [[877.132873574099, 0.0, 639.5], [0.0, 875.850700711846, 359.5], [0.0, 0.0, 1.0]]], "WH": [1280, 720], "fps": 30, "frame_num": 183, "start_frame": 99, "end_frame": 281, "cameras": ["brics-odroid-001_cam0", "brics-odroid-002_cam0", "brics-odroid-006_cam0", "brics-odroid-007_cam0", "brics-odroid-007_cam1", "brics-odroid-008_cam0", "brics-odroid-008_cam1", "brics-odroid-010_cam0", "brics-odroid-010_cam1", "brics-odroid-011_cam0", "brics-odroid-012_cam0", "brics-odroid-012_cam1", "brics-odroid-013_cam0", "brics-odroid-014_cam1", "brics-odroid-015_cam0", "brics-odroid-015_cam1", "brics-odroid-016_cam0", "brics-odroid-017_cam0", "brics-odroid-017_cam1", "brics-odroid-019_cam1", "brics-odroid-021_cam0", "brics-odroid-021_cam1", "brics-odroid-022_cam0", "brics-odroid-022_cam1", "brics-odroid-023_cam0", "brics-odroid-024_cam0", "brics-odroid-024_cam1", "brics-odroid-025_cam0", "brics-odroid-025_cam1", "brics-odroid-027_cam0", "brics-odroid-027_cam1", "brics-odroid-028_cam0"]}
\ No newline at end of file
diff --git a/processed/009-yellow-cloth/episode_8/metric_params_refined_undistorted.txt b/processed/009-yellow-cloth/episode_8/metric_params_refined_undistorted.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a28618edcbc9103ca344ed452c18b892a8bc6bd6
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_8/metric_params_refined_undistorted.txt
@@ -0,0 +1,42 @@
+# cam_id width height fx fy cx cy k1 k2 p1 p2 cam_name qvecw qvecx qvecy qvecz tvecx tvecy tvecz
+3 1280 720 1142.797002897219 1141.799060100665 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-002_cam0 0.002458822838 0.219227898012 -0.187746323391 0.957436369153 0.148126643066 0.272099191336 0.377564637117
+8 1280 720 930.381984285314 928.441276649211 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-008_cam0 0.044542031343 0.472543106448 0.190855966823 0.859239791863 0.092917632107 -0.033767955975 0.293361642204
+4 1280 720 1022.931874892199 1018.807042830697 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-004_cam0 -0.064724740997 -0.036483094817 0.217743164971 0.973173985372 -0.037378486419 0.003903288021 0.328140360275
+10 1280 720 931.966527339115 924.302672584629 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-009_cam0 0.208045306124 0.777696805666 0.074258041462 0.588549549601 -0.289734549572 0.043614437534 0.346561402371
+6 1280 720 887.775079860871 883.258048873426 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-007_cam0 -0.166305144898 0.791339871672 -0.173865321798 0.562045065950 -0.258376216182 0.214614704663 0.468311265911
+7 1280 720 1005.256833748733 1003.304233049635 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-007_cam1 -0.115851336603 0.680180080180 -0.166375836670 0.704451990774 -0.080518805923 0.293960255363 0.293187681903
+2 1280 720 1100.930815233789 1097.769941763063 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-001_cam1 0.031103174429 -0.275094815968 -0.234234852841 0.931927823644 0.299132895349 0.158626013226 0.590035386309
+5 1280 720 907.876942500946 906.295816472162 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-006_cam0 -0.174232517889 0.550467994953 -0.265573613699 0.772074265825 0.125213495330 0.182367115929 0.379504129366
+9 1280 720 917.691930940131 913.451556664890 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-008_cam1 0.213747856080 0.752407348022 0.177673349326 0.597182733845 -0.039993734574 -0.018306332154 0.239223185198
+1 1280 720 836.680396963516 835.700140390523 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-001_cam0 0.010103277652 -0.094435734273 -0.320192555678 0.942579727748 0.184525300249 0.134521115776 0.433599398705
+11 1280 720 994.010595847117 988.340865609786 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-009_cam1 -0.025928164203 0.858136771731 -0.004238232934 0.512748523827 -0.219429674683 0.090294252608 0.380414935018
+12 1280 720 978.761324441358 967.808999073207 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-010_cam0 -0.068705895060 0.821908033414 -0.027591150855 0.564787936298 -0.010490353366 0.084215266149 0.197020640410
+15 1280 720 1014.066558872873 1008.968654443062 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-012_cam0 -0.144559110941 0.978973815728 0.038631938491 -0.138638035515 -0.266473783429 0.165477595020 0.761098221340
+14 1280 720 928.318793983804 924.975123129267 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-011_cam0 -0.199202153831 0.945416758868 -0.030089679979 0.256125487055 -0.185544730712 0.151120290244 0.604707557493
+13 1280 720 924.240452259708 916.847970945435 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-010_cam1 -0.053400344800 0.588973299569 -0.026329698532 0.805956327939 0.120320214282 0.102939675138 0.188468911519
+16 1280 720 898.170850875790 893.972603732690 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-012_cam1 -0.131042631578 0.990322282456 -0.042101739381 0.017805873238 -0.153140481728 0.251473258968 0.616766399552
+18 1280 720 1065.162294482332 1059.511955344441 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-013_cam1 0.204974795922 0.932596640804 0.033950354150 0.295120673708 -0.209354217486 0.055348925463 0.507293702484
+19 1280 720 1174.045093274639 1169.032876949705 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-014_cam0 0.258560225740 0.949653677473 0.039313186567 -0.172507900946 -0.201190069309 0.163080816366 0.678318301248
+17 1280 720 976.315233163510 973.266097601809 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-013_cam0 0.124159731424 0.986775050477 0.086046791174 0.058781889877 -0.205846135095 -0.057768631702 0.533863051562
+20 1280 720 942.364497116677 937.850675702226 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-014_cam1 -0.055830110171 0.988617669051 -0.024781245165 -0.137491792943 -0.258885740835 0.057946689360 0.684784239760
+23 1280 720 1156.806600140201 1155.363892317459 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-016_cam0 -0.071504936427 0.902055331486 0.085277138836 -0.417026417144 -0.054779848049 0.237664057804 0.791221264649
+21 1280 720 950.125227431998 945.062671985714 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-015_cam0 -0.018497306591 0.998998901993 -0.002446805012 0.040657798893 -0.203737075393 0.091681592476 0.512198765447
+22 1280 720 896.530324948754 891.938415192759 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-015_cam1 -0.080100376375 0.972945021285 -0.007651465339 0.216571859529 -0.122608048570 0.021643129828 0.517357859086
+24 1280 720 856.146932879104 852.840692961880 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-017_cam0 0.152689066795 -0.582901454905 -0.205427326303 0.771175438119 0.096044498960 0.022950959865 0.724068664942
+25 1280 720 1037.176038000849 1033.201867590888 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-017_cam1 -0.160273899057 0.788557779047 0.185408225220 -0.564014801585 -0.044881740455 0.045464891448 0.724877994965
+34 1280 720 1050.174515172969 1047.455418826770 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-022_cam0 -0.422338605227 0.886333822796 -0.093597468845 0.165172548954 -0.036452223762 0.026761828898 0.616424905103
+35 1280 720 1003.671880162206 1002.524428384158 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-022_cam1 -0.465208937387 0.882288608542 -0.009646067400 0.071094368240 -0.259822261879 -0.025803734850 0.618098219989
+32 1280 720 956.505886480202 953.611718347018 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-021_cam0 -0.383728432995 0.744827289767 0.239402104392 -0.490582745867 -0.021901638343 -0.096634973402 0.698365138424
+27 1280 720 971.187166613045 966.299584921482 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-018_cam1 0.202540492680 0.864197744535 -0.091758710855 -0.451353460325 0.036647368521 0.184569080359 0.696205981131
+36 1280 720 883.532092296697 885.959648843671 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-023_cam0 0.296195955927 -0.574789250580 -0.377601147269 0.662799099797 -0.037542761940 -0.150487900126 0.697909598028
+28 1280 720 879.559747322529 875.417830389538 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-019_cam0 -0.186574905416 -0.605663011699 0.123005103129 0.763696186669 0.063173648898 0.141309133585 0.642049071509
+29 1280 720 938.669396345037 939.075758751898 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-019_cam1 -0.002946632376 -0.644568814067 -0.136075504423 0.752333581854 0.009635902135 -0.018079613469 0.619615281604
+26 1280 720 925.405178076134 922.941620332101 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-018_cam0 0.215782054925 0.792459346399 -0.154664928184 -0.549112965671 -0.047510523459 0.195000489013 0.620842692655
+38 1280 720 931.184521884731 931.092005812257 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-024_cam1 -0.394328303523 0.662068820110 -0.317110080955 0.552821185407 -0.107609502930 0.185580398678 0.471409650153
+33 1280 720 924.669760060037 924.549923852754 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-021_cam1 -0.400000003230 0.873172970973 0.155522739752 -0.231044665807 -0.188947424144 -0.155861595257 0.757431910370
+41 1280 720 884.766002540948 877.653848244253 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-027_cam0 0.440858373606 0.895106968407 -0.006451272218 -0.066225301936 -0.386981589824 0.220492815144 0.483174989370
+42 1280 720 975.535695286329 972.470569816519 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-027_cam1 0.456334574348 0.888564838095 0.015366544120 0.044442705560 -0.223125146375 0.164568384556 0.400170074988
+39 1280 720 994.228916679276 994.782134638899 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-025_cam0 0.008671772417 -0.075458190703 -0.673839110513 0.734963750781 0.171892482667 -0.111000549105 0.527792725872
+43 1280 720 877.132873574099 875.850700711846 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-028_cam0 0.200052550701 0.342941725376 0.396634063114 0.827678300991 0.086830439572 -0.046293996746 0.257128280933
+37 1280 720 1010.428809076191 1009.878386453617 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-024_cam0 -0.266760656253 0.399503731084 -0.399667573501 0.780705675538 0.067832302494 0.200808774086 0.490462041882
+40 1280 720 856.617795915458 856.062704001386 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-025_cam1 -0.545544267467 0.837070118439 0.016298405579 -0.037807816992 -0.188683614277 0.074681133556 0.519382012583
diff --git a/processed/009-yellow-cloth/episode_8/pcd_clean.tar b/processed/009-yellow-cloth/episode_8/pcd_clean.tar
new file mode 100644
index 0000000000000000000000000000000000000000..93aa9d645e261049cab798e52e3d00e4051c3338
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_8/pcd_clean.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d5ce2d6f5f99bf03ab77dcbda1189b6eaa9477e617376ed751f02e2a9fe1993
+size 92293120
diff --git a/processed/009-yellow-cloth/episode_8/render_4dgs.mp4 b/processed/009-yellow-cloth/episode_8/render_4dgs.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e531b25a5baaa7841e95adfac224f0869b5715f7
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_8/render_4dgs.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25a5436a278a12155a49565e04e4b92438c61866b3c2a5c6704887cbeef8f698
+size 1063457
diff --git a/processed/009-yellow-cloth/episode_8/robot/opening_dists.png b/processed/009-yellow-cloth/episode_8/robot/opening_dists.png
new file mode 100644
index 0000000000000000000000000000000000000000..06e17804de1190d648848a0e2a6756d607143e03
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_8/robot/opening_dists.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:493aa57714e3fec1be6190c57ec92a8b71752c6ab302f52500970661e2244067
+size 113146
diff --git a/processed/009-yellow-cloth/episode_8/robot/robot.npy b/processed/009-yellow-cloth/episode_8/robot/robot.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d8250db120fedec13b8fcced8ee3c81b5de82726
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_8/robot/robot.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d67cb32a34643e9fa66d8d0342b4c11ad7a9336bb56a6a13a89a941bb160a14a
+size 186893
diff --git a/processed/009-yellow-cloth/episode_8/splatfacto.tar b/processed/009-yellow-cloth/episode_8/splatfacto.tar
new file mode 100644
index 0000000000000000000000000000000000000000..10afe78816a3345f723f95e17d03872a241eaa8c
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_8/splatfacto.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cc8066b23046de8903e84e32c009cb3001738f4a464a80b147156cc72b6c4fd
+size 1092403200
diff --git a/processed/009-yellow-cloth/episode_8/split.json b/processed/009-yellow-cloth/episode_8/split.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b958fa40249509f39f741a61400489ae26a086a
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_8/split.json
@@ -0,0 +1 @@
+{"frame_len": 183, "train": [99, 245], "test": [245, 282]}
\ No newline at end of file
diff --git a/processed/009-yellow-cloth/episode_8/start_obj_pcd.ply b/processed/009-yellow-cloth/episode_8/start_obj_pcd.ply
new file mode 100644
index 0000000000000000000000000000000000000000..1ab1502d4ba66085d31fdf49e71c4f889700eea4
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_8/start_obj_pcd.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb4848f23d39fd1df5b1085617f7668139abba346089ec5c41975a0dd7d36414
+size 146548
diff --git a/processed/009-yellow-cloth/episode_8/tactile.mp4 b/processed/009-yellow-cloth/episode_8/tactile.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a649a9a0effbdf9a752d7bd73f6a8d08a60fe41d
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_8/tactile.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d96e389e6eaf079df4fda37ded08ccfc64a9434326a267c6026de572255c278
+size 2552843
diff --git a/processed/009-yellow-cloth/episode_8/tracking_video.mp4 b/processed/009-yellow-cloth/episode_8/tracking_video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c0f4d89d59e5ba0c28d74ffb217c4800f250fee3
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_8/tracking_video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c459450cf36f829c10c659f705d11002501ea790670f7f7896ef3460bc61e46
+size 9222173
diff --git a/processed/009-yellow-cloth/episode_8/visual_hull_simple_full.ply b/processed/009-yellow-cloth/episode_8/visual_hull_simple_full.ply
new file mode 100644
index 0000000000000000000000000000000000000000..a77ac45a0500f9053e6b969269652b47d4f75aca
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_8/visual_hull_simple_full.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3514028c9244c16aadaf5e8af0b1e7778eaf80a11e6d7475e354060425c2223
+size 665444
diff --git a/processed/009-yellow-cloth/episode_9/cameras.tar b/processed/009-yellow-cloth/episode_9/cameras.tar
new file mode 100644
index 0000000000000000000000000000000000000000..df90348c1812e6bdf6db794048c098430effb010
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_9/cameras.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:223001c927504f7d6a609ab914cf87bbededbc42d293c2f7df9cbc9a61c613ab
+size 1948723200
diff --git a/processed/009-yellow-cloth/episode_9/metadata.json b/processed/009-yellow-cloth/episode_9/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..60f2ba2fc53229f617d9503b345e6178d86a04bd
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_9/metadata.json
@@ -0,0 +1 @@
+{"intrinsics": [[[836.680396963516, 0.0, 639.5], [0.0, 835.700140390523, 359.5], [0.0, 0.0, 1.0]], [[1142.797002897219, 0.0, 639.5], [0.0, 1141.799060100665, 359.5], [0.0, 0.0, 1.0]], [[907.876942500946, 0.0, 639.5], [0.0, 906.295816472162, 359.5], [0.0, 0.0, 1.0]], [[887.775079860871, 0.0, 639.5], [0.0, 883.258048873426, 359.5], [0.0, 0.0, 1.0]], [[1005.256833748733, 0.0, 639.5], [0.0, 1003.304233049635, 359.5], [0.0, 0.0, 1.0]], [[930.381984285314, 0.0, 639.5], [0.0, 928.441276649211, 359.5], [0.0, 0.0, 1.0]], [[917.691930940131, 0.0, 639.5], [0.0, 913.45155666489, 359.5], [0.0, 0.0, 1.0]], [[978.761324441358, 0.0, 639.5], [0.0, 967.808999073207, 359.5], [0.0, 0.0, 1.0]], [[924.240452259708, 0.0, 639.5], [0.0, 916.847970945435, 359.5], [0.0, 0.0, 1.0]], [[928.318793983804, 0.0, 639.5], [0.0, 924.975123129267, 359.5], [0.0, 0.0, 1.0]], [[1014.066558872873, 0.0, 639.5], [0.0, 1008.968654443062, 359.5], [0.0, 0.0, 1.0]], [[898.17085087579, 0.0, 639.5], [0.0, 893.97260373269, 359.5], [0.0, 0.0, 1.0]], [[976.31523316351, 0.0, 639.5], [0.0, 973.266097601809, 359.5], [0.0, 0.0, 1.0]], [[942.364497116677, 0.0, 639.5], [0.0, 937.850675702226, 359.5], [0.0, 0.0, 1.0]], [[950.125227431998, 0.0, 639.5], [0.0, 945.062671985714, 359.5], [0.0, 0.0, 1.0]], [[896.530324948754, 0.0, 639.5], [0.0, 891.938415192759, 359.5], [0.0, 0.0, 1.0]], [[1156.806600140201, 0.0, 639.5], [0.0, 1155.363892317459, 359.5], [0.0, 0.0, 1.0]], [[856.146932879104, 0.0, 639.5], [0.0, 852.84069296188, 359.5], [0.0, 0.0, 1.0]], [[1037.176038000849, 0.0, 639.5], [0.0, 1033.201867590888, 359.5], [0.0, 0.0, 1.0]], [[938.669396345037, 0.0, 639.5], [0.0, 939.075758751898, 359.5], [0.0, 0.0, 1.0]], [[956.505886480202, 0.0, 639.5], [0.0, 953.611718347018, 359.5], [0.0, 0.0, 1.0]], [[924.669760060037, 0.0, 639.5], [0.0, 924.549923852754, 359.5], [0.0, 0.0, 1.0]], [[1050.174515172969, 0.0, 639.5], [0.0, 1047.45541882677, 359.5], [0.0, 0.0, 1.0]], [[1003.671880162206, 0.0, 639.5], [0.0, 1002.524428384158, 359.5], [0.0, 0.0, 1.0]], [[883.532092296697, 0.0, 639.5], [0.0, 885.959648843671, 359.5], [0.0, 0.0, 1.0]], [[1010.428809076191, 0.0, 639.5], [0.0, 1009.878386453617, 359.5], [0.0, 0.0, 1.0]], [[931.184521884731, 0.0, 639.5], [0.0, 931.092005812257, 359.5], [0.0, 0.0, 1.0]], [[994.228916679276, 0.0, 639.5], [0.0, 994.782134638899, 359.5], [0.0, 0.0, 1.0]], [[856.617795915458, 0.0, 639.5], [0.0, 856.062704001386, 359.5], [0.0, 0.0, 1.0]], [[884.766002540948, 0.0, 639.5], [0.0, 877.653848244253, 359.5], [0.0, 0.0, 1.0]], [[975.535695286329, 0.0, 639.5], [0.0, 972.470569816519, 359.5], [0.0, 0.0, 1.0]], [[877.132873574099, 0.0, 639.5], [0.0, 875.850700711846, 359.5], [0.0, 0.0, 1.0]]], "WH": [1280, 720], "fps": 30, "frame_num": 323, "start_frame": 104, "end_frame": 426, "cameras": ["brics-odroid-001_cam0", "brics-odroid-002_cam0", "brics-odroid-006_cam0", "brics-odroid-007_cam0", "brics-odroid-007_cam1", "brics-odroid-008_cam0", "brics-odroid-008_cam1", "brics-odroid-010_cam0", "brics-odroid-010_cam1", "brics-odroid-011_cam0", "brics-odroid-012_cam0", "brics-odroid-012_cam1", "brics-odroid-013_cam0", "brics-odroid-014_cam1", "brics-odroid-015_cam0", "brics-odroid-015_cam1", "brics-odroid-016_cam0", "brics-odroid-017_cam0", "brics-odroid-017_cam1", "brics-odroid-019_cam1", "brics-odroid-021_cam0", "brics-odroid-021_cam1", "brics-odroid-022_cam0", "brics-odroid-022_cam1", "brics-odroid-023_cam0", "brics-odroid-024_cam0", "brics-odroid-024_cam1", "brics-odroid-025_cam0", "brics-odroid-025_cam1", "brics-odroid-027_cam0", "brics-odroid-027_cam1", "brics-odroid-028_cam0"]}
\ No newline at end of file
diff --git a/processed/009-yellow-cloth/episode_9/metric_params_refined_undistorted.txt b/processed/009-yellow-cloth/episode_9/metric_params_refined_undistorted.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a28618edcbc9103ca344ed452c18b892a8bc6bd6
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_9/metric_params_refined_undistorted.txt
@@ -0,0 +1,42 @@
+# cam_id width height fx fy cx cy k1 k2 p1 p2 cam_name qvecw qvecx qvecy qvecz tvecx tvecy tvecz
+3 1280 720 1142.797002897219 1141.799060100665 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-002_cam0 0.002458822838 0.219227898012 -0.187746323391 0.957436369153 0.148126643066 0.272099191336 0.377564637117
+8 1280 720 930.381984285314 928.441276649211 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-008_cam0 0.044542031343 0.472543106448 0.190855966823 0.859239791863 0.092917632107 -0.033767955975 0.293361642204
+4 1280 720 1022.931874892199 1018.807042830697 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-004_cam0 -0.064724740997 -0.036483094817 0.217743164971 0.973173985372 -0.037378486419 0.003903288021 0.328140360275
+10 1280 720 931.966527339115 924.302672584629 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-009_cam0 0.208045306124 0.777696805666 0.074258041462 0.588549549601 -0.289734549572 0.043614437534 0.346561402371
+6 1280 720 887.775079860871 883.258048873426 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-007_cam0 -0.166305144898 0.791339871672 -0.173865321798 0.562045065950 -0.258376216182 0.214614704663 0.468311265911
+7 1280 720 1005.256833748733 1003.304233049635 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-007_cam1 -0.115851336603 0.680180080180 -0.166375836670 0.704451990774 -0.080518805923 0.293960255363 0.293187681903
+2 1280 720 1100.930815233789 1097.769941763063 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-001_cam1 0.031103174429 -0.275094815968 -0.234234852841 0.931927823644 0.299132895349 0.158626013226 0.590035386309
+5 1280 720 907.876942500946 906.295816472162 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-006_cam0 -0.174232517889 0.550467994953 -0.265573613699 0.772074265825 0.125213495330 0.182367115929 0.379504129366
+9 1280 720 917.691930940131 913.451556664890 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-008_cam1 0.213747856080 0.752407348022 0.177673349326 0.597182733845 -0.039993734574 -0.018306332154 0.239223185198
+1 1280 720 836.680396963516 835.700140390523 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-001_cam0 0.010103277652 -0.094435734273 -0.320192555678 0.942579727748 0.184525300249 0.134521115776 0.433599398705
+11 1280 720 994.010595847117 988.340865609786 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-009_cam1 -0.025928164203 0.858136771731 -0.004238232934 0.512748523827 -0.219429674683 0.090294252608 0.380414935018
+12 1280 720 978.761324441358 967.808999073207 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-010_cam0 -0.068705895060 0.821908033414 -0.027591150855 0.564787936298 -0.010490353366 0.084215266149 0.197020640410
+15 1280 720 1014.066558872873 1008.968654443062 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-012_cam0 -0.144559110941 0.978973815728 0.038631938491 -0.138638035515 -0.266473783429 0.165477595020 0.761098221340
+14 1280 720 928.318793983804 924.975123129267 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-011_cam0 -0.199202153831 0.945416758868 -0.030089679979 0.256125487055 -0.185544730712 0.151120290244 0.604707557493
+13 1280 720 924.240452259708 916.847970945435 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-010_cam1 -0.053400344800 0.588973299569 -0.026329698532 0.805956327939 0.120320214282 0.102939675138 0.188468911519
+16 1280 720 898.170850875790 893.972603732690 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-012_cam1 -0.131042631578 0.990322282456 -0.042101739381 0.017805873238 -0.153140481728 0.251473258968 0.616766399552
+18 1280 720 1065.162294482332 1059.511955344441 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-013_cam1 0.204974795922 0.932596640804 0.033950354150 0.295120673708 -0.209354217486 0.055348925463 0.507293702484
+19 1280 720 1174.045093274639 1169.032876949705 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-014_cam0 0.258560225740 0.949653677473 0.039313186567 -0.172507900946 -0.201190069309 0.163080816366 0.678318301248
+17 1280 720 976.315233163510 973.266097601809 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-013_cam0 0.124159731424 0.986775050477 0.086046791174 0.058781889877 -0.205846135095 -0.057768631702 0.533863051562
+20 1280 720 942.364497116677 937.850675702226 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-014_cam1 -0.055830110171 0.988617669051 -0.024781245165 -0.137491792943 -0.258885740835 0.057946689360 0.684784239760
+23 1280 720 1156.806600140201 1155.363892317459 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-016_cam0 -0.071504936427 0.902055331486 0.085277138836 -0.417026417144 -0.054779848049 0.237664057804 0.791221264649
+21 1280 720 950.125227431998 945.062671985714 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-015_cam0 -0.018497306591 0.998998901993 -0.002446805012 0.040657798893 -0.203737075393 0.091681592476 0.512198765447
+22 1280 720 896.530324948754 891.938415192759 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-015_cam1 -0.080100376375 0.972945021285 -0.007651465339 0.216571859529 -0.122608048570 0.021643129828 0.517357859086
+24 1280 720 856.146932879104 852.840692961880 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-017_cam0 0.152689066795 -0.582901454905 -0.205427326303 0.771175438119 0.096044498960 0.022950959865 0.724068664942
+25 1280 720 1037.176038000849 1033.201867590888 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-017_cam1 -0.160273899057 0.788557779047 0.185408225220 -0.564014801585 -0.044881740455 0.045464891448 0.724877994965
+34 1280 720 1050.174515172969 1047.455418826770 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-022_cam0 -0.422338605227 0.886333822796 -0.093597468845 0.165172548954 -0.036452223762 0.026761828898 0.616424905103
+35 1280 720 1003.671880162206 1002.524428384158 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-022_cam1 -0.465208937387 0.882288608542 -0.009646067400 0.071094368240 -0.259822261879 -0.025803734850 0.618098219989
+32 1280 720 956.505886480202 953.611718347018 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-021_cam0 -0.383728432995 0.744827289767 0.239402104392 -0.490582745867 -0.021901638343 -0.096634973402 0.698365138424
+27 1280 720 971.187166613045 966.299584921482 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-018_cam1 0.202540492680 0.864197744535 -0.091758710855 -0.451353460325 0.036647368521 0.184569080359 0.696205981131
+36 1280 720 883.532092296697 885.959648843671 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-023_cam0 0.296195955927 -0.574789250580 -0.377601147269 0.662799099797 -0.037542761940 -0.150487900126 0.697909598028
+28 1280 720 879.559747322529 875.417830389538 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-019_cam0 -0.186574905416 -0.605663011699 0.123005103129 0.763696186669 0.063173648898 0.141309133585 0.642049071509
+29 1280 720 938.669396345037 939.075758751898 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-019_cam1 -0.002946632376 -0.644568814067 -0.136075504423 0.752333581854 0.009635902135 -0.018079613469 0.619615281604
+26 1280 720 925.405178076134 922.941620332101 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-018_cam0 0.215782054925 0.792459346399 -0.154664928184 -0.549112965671 -0.047510523459 0.195000489013 0.620842692655
+38 1280 720 931.184521884731 931.092005812257 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-024_cam1 -0.394328303523 0.662068820110 -0.317110080955 0.552821185407 -0.107609502930 0.185580398678 0.471409650153
+33 1280 720 924.669760060037 924.549923852754 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-021_cam1 -0.400000003230 0.873172970973 0.155522739752 -0.231044665807 -0.188947424144 -0.155861595257 0.757431910370
+41 1280 720 884.766002540948 877.653848244253 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-027_cam0 0.440858373606 0.895106968407 -0.006451272218 -0.066225301936 -0.386981589824 0.220492815144 0.483174989370
+42 1280 720 975.535695286329 972.470569816519 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-027_cam1 0.456334574348 0.888564838095 0.015366544120 0.044442705560 -0.223125146375 0.164568384556 0.400170074988
+39 1280 720 994.228916679276 994.782134638899 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-025_cam0 0.008671772417 -0.075458190703 -0.673839110513 0.734963750781 0.171892482667 -0.111000549105 0.527792725872
+43 1280 720 877.132873574099 875.850700711846 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-028_cam0 0.200052550701 0.342941725376 0.396634063114 0.827678300991 0.086830439572 -0.046293996746 0.257128280933
+37 1280 720 1010.428809076191 1009.878386453617 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-024_cam0 -0.266760656253 0.399503731084 -0.399667573501 0.780705675538 0.067832302494 0.200808774086 0.490462041882
+40 1280 720 856.617795915458 856.062704001386 639.500000000000 359.500000000000 0.000000000000 0.000000000000 0.000000000000 0.000000000000 brics-odroid-025_cam1 -0.545544267467 0.837070118439 0.016298405579 -0.037807816992 -0.188683614277 0.074681133556 0.519382012583
diff --git a/processed/009-yellow-cloth/episode_9/pcd_clean.tar b/processed/009-yellow-cloth/episode_9/pcd_clean.tar
new file mode 100644
index 0000000000000000000000000000000000000000..972a432c3580bb355d638d8210328a04950221c7
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_9/pcd_clean.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c555950ccbd9d614c0f113ebe9aff62e9c395f9805e59bbcbd3b2eb3e4224c7
+size 142417920
diff --git a/processed/009-yellow-cloth/episode_9/render_4dgs.mp4 b/processed/009-yellow-cloth/episode_9/render_4dgs.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5d5dcd64226aaf92682284fdd0007459821c3c00
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_9/render_4dgs.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbb621545cc00a18ec83dc4245657687e6c4e832b854cc47e4a75c47d3557d4e
+size 1483725
diff --git a/processed/009-yellow-cloth/episode_9/robot/opening_dists.png b/processed/009-yellow-cloth/episode_9/robot/opening_dists.png
new file mode 100644
index 0000000000000000000000000000000000000000..304901c67593a6cf21cff1056c9c848c4622e526
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_9/robot/opening_dists.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88172c872e4df4eb3e7ddb7f17f87adf0c68edbde39e0b34e9658e66bbb586e3
+size 117490
diff --git a/processed/009-yellow-cloth/episode_9/robot/robot.npy b/processed/009-yellow-cloth/episode_9/robot/robot.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a5f5f86229aa69fe0082606b08fdfb0aa016f8c1
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_9/robot/robot.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48f4ff185c0fa1333d4c2b1cfcf54405545ae9f1dd4a83302014c2fa7abc4bbb
+size 290317
diff --git a/processed/009-yellow-cloth/episode_9/splatfacto.tar b/processed/009-yellow-cloth/episode_9/splatfacto.tar
new file mode 100644
index 0000000000000000000000000000000000000000..4f7a51f7f32e06575790e2cf82db22213744a2fe
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_9/splatfacto.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:627284a0a1a31d9e10e16d75e50c12d4642eaf70aa62d9314fc231d3529a7154
+size 1517813760
diff --git a/processed/009-yellow-cloth/episode_9/split.json b/processed/009-yellow-cloth/episode_9/split.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3cb966198963a6d5d0c7c61a27b1fc7e1ee6bce
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_9/split.json
@@ -0,0 +1 @@
+{"frame_len": 323, "train": [104, 362], "test": [362, 427]}
\ No newline at end of file
diff --git a/processed/009-yellow-cloth/episode_9/start_obj_pcd.ply b/processed/009-yellow-cloth/episode_9/start_obj_pcd.ply
new file mode 100644
index 0000000000000000000000000000000000000000..3e0f91257233abfeea45b9c845086ae7f1aca596
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_9/start_obj_pcd.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:663a63bf4a9f41ac22ca95d8248c13968da7ea1e4085d6cd043ac8f5cb37c3b4
+size 146398
diff --git a/processed/009-yellow-cloth/episode_9/tactile.mp4 b/processed/009-yellow-cloth/episode_9/tactile.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5e07a004716bee9ad243faafdc06140075e4c011
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_9/tactile.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c2d5b7136769797269b0a83c0edf93629d1d4f67bf0d44f2505c25ca5b3951c
+size 3865236
diff --git a/processed/009-yellow-cloth/episode_9/tracking_video.mp4 b/processed/009-yellow-cloth/episode_9/tracking_video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..372b34a425f2930931f3bcd4eecb4557e163b0b2
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_9/tracking_video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0eea25dbb3c0671e95a6873d0ac2a5e31b9d129df9bcd183c4ed7ff02f27caf
+size 14183514
diff --git a/processed/009-yellow-cloth/episode_9/visual_hull_simple_full.ply b/processed/009-yellow-cloth/episode_9/visual_hull_simple_full.ply
new file mode 100644
index 0000000000000000000000000000000000000000..91ccf04b555b288824dcf90f8dc8ffe8fbab52e1
--- /dev/null
+++ b/processed/009-yellow-cloth/episode_9/visual_hull_simple_full.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22d944264c07a2661d258e5834e4001ba3baa816d00c1f2fad9f45b51a4e7be2
+size 656699