diff --git a/processed/021-bag-cloth/episode_0/cameras.tar b/processed/021-bag-cloth/episode_0/cameras.tar
new file mode 100644
index 0000000000000000000000000000000000000000..7682878d2f2749bfd827010cfc6038c44f6b8d14
--- /dev/null
+++ b/processed/021-bag-cloth/episode_0/cameras.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3d4a5253bcf3a3e454547d54c2a64c58d3cbf7c50520d51b1dbdd2d2124ffdb
+size 908902400
diff --git a/processed/021-bag-cloth/episode_0/metadata.json b/processed/021-bag-cloth/episode_0/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce96846dc7a835655222039f11c269468b5adfb9
--- /dev/null
+++ b/processed/021-bag-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": 134, "start_frame": 97, "end_frame": 230, "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/021-bag-cloth/episode_0/metric_params_refined_undistorted.txt b/processed/021-bag-cloth/episode_0/metric_params_refined_undistorted.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a28618edcbc9103ca344ed452c18b892a8bc6bd6
--- /dev/null
+++ b/processed/021-bag-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/021-bag-cloth/episode_0/pcd_clean.tar b/processed/021-bag-cloth/episode_0/pcd_clean.tar
new file mode 100644
index 0000000000000000000000000000000000000000..2bc1faaae2ddc0929e7b4ab6b8bd4f2678eb2209
--- /dev/null
+++ b/processed/021-bag-cloth/episode_0/pcd_clean.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ab7a4538e7f44a02a419c96b5bc652ad9c23d82b911501c3d2d17f199ba9861
+size 82708480
diff --git a/processed/021-bag-cloth/episode_0/render_4dgs.mp4 b/processed/021-bag-cloth/episode_0/render_4dgs.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..53a5acf5e21ed017de438a01c30f061c5b4d8d18
--- /dev/null
+++ b/processed/021-bag-cloth/episode_0/render_4dgs.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:075b8d3ac65a882e161279fccdb07e14330e8b2768c5eaa8cac61bf5f9ede4ce
+size 473002
diff --git a/processed/021-bag-cloth/episode_0/robot/opening_dists.png b/processed/021-bag-cloth/episode_0/robot/opening_dists.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c7c751403b5b84ac8649d3772794475af9a076d
--- /dev/null
+++ b/processed/021-bag-cloth/episode_0/robot/opening_dists.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de2ce516b8e59a492c32a84e2f00150bf08b473c249e4465184725423c235ec4
+size 79274
diff --git a/processed/021-bag-cloth/episode_0/robot/robot.npy b/processed/021-bag-cloth/episode_0/robot/robot.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fb4f573c8d8e08bff7051a80eab9699c73445f16
--- /dev/null
+++ b/processed/021-bag-cloth/episode_0/robot/robot.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dde71f6b5380a3f7ed68fe168111bebb5482da361624b9935df43fe61e019250
+size 85509
diff --git a/processed/021-bag-cloth/episode_0/splatfacto.tar b/processed/021-bag-cloth/episode_0/splatfacto.tar
new file mode 100644
index 0000000000000000000000000000000000000000..0370d823072dc087c301623c2b4b7c0d3f92ac65
--- /dev/null
+++ b/processed/021-bag-cloth/episode_0/splatfacto.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6adcc689a17c79c980b77477ca266e52463b6efc22bb92d403fa0c7e259d29f
+size 699371520
diff --git a/processed/021-bag-cloth/episode_0/split.json b/processed/021-bag-cloth/episode_0/split.json
new file mode 100644
index 0000000000000000000000000000000000000000..5845b6a09f655d6355ffb9f10df52fed81849331
--- /dev/null
+++ b/processed/021-bag-cloth/episode_0/split.json
@@ -0,0 +1 @@
+{"frame_len": 134, "train": [97, 204], "test": [204, 231]}
\ No newline at end of file
diff --git a/processed/021-bag-cloth/episode_0/start_obj_pcd.ply b/processed/021-bag-cloth/episode_0/start_obj_pcd.ply
new file mode 100644
index 0000000000000000000000000000000000000000..9f0bf004ef0e0f6034428a06a61be8a056712905
--- /dev/null
+++ b/processed/021-bag-cloth/episode_0/start_obj_pcd.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74d6577f8430e34cc77f6c8cfe287573de2a1ade8136efab8bb9919d471e4234
+size 148888
diff --git a/processed/021-bag-cloth/episode_0/tactile.mp4 b/processed/021-bag-cloth/episode_0/tactile.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..34616135a61f157d0d8f95b074ef2f1bac158e7e
--- /dev/null
+++ b/processed/021-bag-cloth/episode_0/tactile.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8facd37bb21c1b07e13215d43046f18d5fe89309df3a9ddc0bc23ad608414ea9
+size 1822488
diff --git a/processed/021-bag-cloth/episode_0/tracking_video.mp4 b/processed/021-bag-cloth/episode_0/tracking_video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b597bd69d39cdf61376f23c57db2c49096776c38
--- /dev/null
+++ b/processed/021-bag-cloth/episode_0/tracking_video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc09a6a9e29960e09f78b23d3bb27ce13ffac17fd1a8fb46a9a38cb9e594d8f7
+size 5596977
diff --git a/processed/021-bag-cloth/episode_0/visual_hull_simple_full.ply b/processed/021-bag-cloth/episode_0/visual_hull_simple_full.ply
new file mode 100644
index 0000000000000000000000000000000000000000..3bab65f7c54921c43f1bb5228d99f60e5643aa4b
--- /dev/null
+++ b/processed/021-bag-cloth/episode_0/visual_hull_simple_full.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccea90ae95e9af0838650bb53d552cc1d952bd923ac147b5380628d9f8e9a5e2
+size 636359
diff --git a/processed/021-bag-cloth/episode_1/cameras.tar b/processed/021-bag-cloth/episode_1/cameras.tar
new file mode 100644
index 0000000000000000000000000000000000000000..2f495db5ee555ee6e6b90062d511f19a1b7dd53e
--- /dev/null
+++ b/processed/021-bag-cloth/episode_1/cameras.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3b0383526c3c044d45d91c2ebf3c6c1eb4d16e01f696310451ef21981ddfd6f
+size 655943680
diff --git a/processed/021-bag-cloth/episode_1/metadata.json b/processed/021-bag-cloth/episode_1/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..81bd5a16ac60408c8b3b7e106f80e979935efa3c
--- /dev/null
+++ b/processed/021-bag-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": 119, "start_frame": 66, "end_frame": 184, "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/021-bag-cloth/episode_1/metric_params_refined_undistorted.txt b/processed/021-bag-cloth/episode_1/metric_params_refined_undistorted.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a28618edcbc9103ca344ed452c18b892a8bc6bd6
--- /dev/null
+++ b/processed/021-bag-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/021-bag-cloth/episode_1/pcd_clean.tar b/processed/021-bag-cloth/episode_1/pcd_clean.tar
new file mode 100644
index 0000000000000000000000000000000000000000..803735ddf7f2e13a8fd2961d319b712609e82dec
--- /dev/null
+++ b/processed/021-bag-cloth/episode_1/pcd_clean.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d88361ce926daf22666752350b4d2c450e1156c632b33b06ac030e545097b2b4
+size 57487360
diff --git a/processed/021-bag-cloth/episode_1/render_4dgs.mp4 b/processed/021-bag-cloth/episode_1/render_4dgs.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bb8a0a3aea561ed1922c8962d16bfcace5f69b13
--- /dev/null
+++ b/processed/021-bag-cloth/episode_1/render_4dgs.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93e543221eb5e4602af1916c9c80270f0c7dd07ded78dbf051bb5f18d9f2d6ad
+size 353804
diff --git a/processed/021-bag-cloth/episode_1/robot/opening_dists.png b/processed/021-bag-cloth/episode_1/robot/opening_dists.png
new file mode 100644
index 0000000000000000000000000000000000000000..89044b1f4326ab53160b2d02ad806e14f8721378
--- /dev/null
+++ b/processed/021-bag-cloth/episode_1/robot/opening_dists.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:567334b5118d58abca9f721319144aa32bb9e0dafb43efeee39726af6aa1ee04
+size 85150
diff --git a/processed/021-bag-cloth/episode_1/robot/robot.npy b/processed/021-bag-cloth/episode_1/robot/robot.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a15394da1fa349c591dd6e2537a577918749b123
--- /dev/null
+++ b/processed/021-bag-cloth/episode_1/robot/robot.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f3afd3c5f039d1dd6e0a62f66b7f998e640ebad5ddcdd364c273499d0566ac8
+size 60674
diff --git a/processed/021-bag-cloth/episode_1/splatfacto.tar b/processed/021-bag-cloth/episode_1/splatfacto.tar
new file mode 100644
index 0000000000000000000000000000000000000000..d855e96876c6074678b9469c44d2ff2611cf55f5
--- /dev/null
+++ b/processed/021-bag-cloth/episode_1/splatfacto.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfb5ea2eaa5fde17b0d07551a8510a9220931071bba8696f975dd658053067b1
+size 487219200
diff --git a/processed/021-bag-cloth/episode_1/split.json b/processed/021-bag-cloth/episode_1/split.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2a46b7963f9b7d404116b8483aaccab4e9e328b
--- /dev/null
+++ b/processed/021-bag-cloth/episode_1/split.json
@@ -0,0 +1 @@
+{"frame_len": 119, "train": [66, 161], "test": [161, 185]}
\ No newline at end of file
diff --git a/processed/021-bag-cloth/episode_1/start_obj_pcd.ply b/processed/021-bag-cloth/episode_1/start_obj_pcd.ply
new file mode 100644
index 0000000000000000000000000000000000000000..8ef4c4f8c587bcc9241f284824f70dbd914fb17d
--- /dev/null
+++ b/processed/021-bag-cloth/episode_1/start_obj_pcd.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23a6d4c00238c468b49f686e2bbe21021428d5e87b45b25278ce73a873a57314
+size 148468
diff --git a/processed/021-bag-cloth/episode_1/tactile.mp4 b/processed/021-bag-cloth/episode_1/tactile.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d3fe2d6a376e3427ca2c0fdce486ec3268537660
--- /dev/null
+++ b/processed/021-bag-cloth/episode_1/tactile.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49d4e04a2485736083a442a213e9779ada995aff8e5e7247a6e88d2afebd16a9
+size 1289555
diff --git a/processed/021-bag-cloth/episode_1/tracking_video.mp4 b/processed/021-bag-cloth/episode_1/tracking_video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..643cfe26eb7c2f7477c06350e67a055a22ad3df9
--- /dev/null
+++ b/processed/021-bag-cloth/episode_1/tracking_video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4927d18a3520587a0b036b916cc8c2c847ff332588b72cc281f08108b48ead0c
+size 4111239
diff --git a/processed/021-bag-cloth/episode_1/visual_hull_simple_full.ply b/processed/021-bag-cloth/episode_1/visual_hull_simple_full.ply
new file mode 100644
index 0000000000000000000000000000000000000000..82e240456383f37140ded9ace15f09360d16c4f9
--- /dev/null
+++ b/processed/021-bag-cloth/episode_1/visual_hull_simple_full.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d20f8b9ef2e54a0da57b8ecfe651f3b35469cfb5389dc4904a7f76f63113922
+size 623549
diff --git a/processed/021-bag-cloth/episode_2/cameras.tar b/processed/021-bag-cloth/episode_2/cameras.tar
new file mode 100644
index 0000000000000000000000000000000000000000..d749d6df20f92008d93fe55a1b3acc8bdcd29c7f
--- /dev/null
+++ b/processed/021-bag-cloth/episode_2/cameras.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99cd4853f9c8fd75bb74dd1e0400ae5717ce931f9414fa062fe912a00b62f707
+size 791255040
diff --git a/processed/021-bag-cloth/episode_2/metadata.json b/processed/021-bag-cloth/episode_2/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd21fa918cb155d55c0f228b22712348073796a7
--- /dev/null
+++ b/processed/021-bag-cloth/episode_2/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": 140, "start_frame": 81, "end_frame": 220, "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/021-bag-cloth/episode_2/metric_params_refined_undistorted.txt b/processed/021-bag-cloth/episode_2/metric_params_refined_undistorted.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a28618edcbc9103ca344ed452c18b892a8bc6bd6
--- /dev/null
+++ b/processed/021-bag-cloth/episode_2/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/021-bag-cloth/episode_2/pcd_clean.tar b/processed/021-bag-cloth/episode_2/pcd_clean.tar
new file mode 100644
index 0000000000000000000000000000000000000000..bd9745ccab29dcbe3de87a763a791744fdec5dbc
--- /dev/null
+++ b/processed/021-bag-cloth/episode_2/pcd_clean.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84496a844d7922fbf3655c9dc322635cbff46ac2ad68f5dee6458210eadcb55b
+size 70379520
diff --git a/processed/021-bag-cloth/episode_2/render_4dgs.mp4 b/processed/021-bag-cloth/episode_2/render_4dgs.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f42b8fdf0bf490f731e2087a488dce1d06307f21
--- /dev/null
+++ b/processed/021-bag-cloth/episode_2/render_4dgs.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5aa88029e4d27eb9005d6798f3c7ee508ac874ae754dfd9e40ad9dd45597c6c
+size 427163
diff --git a/processed/021-bag-cloth/episode_2/robot/opening_dists.png b/processed/021-bag-cloth/episode_2/robot/opening_dists.png
new file mode 100644
index 0000000000000000000000000000000000000000..c5518af40a7e571f6d13ffd5262fea0b970e84f0
--- /dev/null
+++ b/processed/021-bag-cloth/episode_2/robot/opening_dists.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0be5ddcd2a2768d9c5eb4e38c59ce363028b441c149bf420c74c967c1523097e
+size 82010
diff --git a/processed/021-bag-cloth/episode_2/robot/robot.npy b/processed/021-bag-cloth/episode_2/robot/robot.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c693f7900a6c5e21e15f6d9c6324a2f1a41a3510
--- /dev/null
+++ b/processed/021-bag-cloth/episode_2/robot/robot.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da5577492fee30d495e20835ebfa74f2f36d8dda351aa65668d498cd5653f05a
+size 72709
diff --git a/processed/021-bag-cloth/episode_2/splatfacto.tar b/processed/021-bag-cloth/episode_2/splatfacto.tar
new file mode 100644
index 0000000000000000000000000000000000000000..ec9eb5f41dca990a23afa568a2a003e3a46321b8
--- /dev/null
+++ b/processed/021-bag-cloth/episode_2/splatfacto.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38a9194facde3ff6061f90cc9aadf219a1f8e3d69e3e8fcb142a452e98753c7f
+size 580044800
diff --git a/processed/021-bag-cloth/episode_2/split.json b/processed/021-bag-cloth/episode_2/split.json
new file mode 100644
index 0000000000000000000000000000000000000000..65d2e8b1e2ddeeb0d916e9b55e6a6daaf256d890
--- /dev/null
+++ b/processed/021-bag-cloth/episode_2/split.json
@@ -0,0 +1 @@
+{"frame_len": 140, "train": [81, 193], "test": [193, 221]}
\ No newline at end of file
diff --git a/processed/021-bag-cloth/episode_2/start_obj_pcd.ply b/processed/021-bag-cloth/episode_2/start_obj_pcd.ply
new file mode 100644
index 0000000000000000000000000000000000000000..0a1af58a6cc57d57aae2a6089dd1722d1b150028
--- /dev/null
+++ b/processed/021-bag-cloth/episode_2/start_obj_pcd.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:096b556886a74e6e618acef005d3976b030da3ea1b6d1cc2563068e7bc0668c1
+size 148213
diff --git a/processed/021-bag-cloth/episode_2/tactile.mp4 b/processed/021-bag-cloth/episode_2/tactile.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..134afc69554d01c3f99d9e95e0257f12c5afa1f8
--- /dev/null
+++ b/processed/021-bag-cloth/episode_2/tactile.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c661c61f491e38728fd1b9bcccf8d07f78cd251604ab1c899d1d5212383781f4
+size 1572012
diff --git a/processed/021-bag-cloth/episode_2/tracking_video.mp4 b/processed/021-bag-cloth/episode_2/tracking_video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bba4aaf22953237908c329a962adbc9ff1c3f5d7
--- /dev/null
+++ b/processed/021-bag-cloth/episode_2/tracking_video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a7afa8cf98eb485f78b46afa362916e2add3401efdbf59ffafdacbc5cf93a50
+size 5230470
diff --git a/processed/021-bag-cloth/episode_2/visual_hull_simple_full.ply b/processed/021-bag-cloth/episode_2/visual_hull_simple_full.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4bb0967cb12f546149d83747df6607dde7036a36
--- /dev/null
+++ b/processed/021-bag-cloth/episode_2/visual_hull_simple_full.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d48a31404f4899633ca065956e63ddae197c11df17ccc1e75c46fa39ee00effd
+size 665714
diff --git a/processed/021-bag-cloth/episode_3/cameras.tar b/processed/021-bag-cloth/episode_3/cameras.tar
new file mode 100644
index 0000000000000000000000000000000000000000..64fea3c4354f81ffbe27e0f2784b45b0512a4372
--- /dev/null
+++ b/processed/021-bag-cloth/episode_3/cameras.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8abc77fae9b789bb6a73133e2a1a8fd0d0932e89620e1475cf7780278a55daf6
+size 1008056320
diff --git a/processed/021-bag-cloth/episode_3/metadata.json b/processed/021-bag-cloth/episode_3/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..71c2f5ec9a329d5366523d3e970548e04c7c5639
--- /dev/null
+++ b/processed/021-bag-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": 199, "start_frame": 99, "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/021-bag-cloth/episode_3/metric_params_refined_undistorted.txt b/processed/021-bag-cloth/episode_3/metric_params_refined_undistorted.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a28618edcbc9103ca344ed452c18b892a8bc6bd6
--- /dev/null
+++ b/processed/021-bag-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/021-bag-cloth/episode_3/pcd_clean.tar b/processed/021-bag-cloth/episode_3/pcd_clean.tar
new file mode 100644
index 0000000000000000000000000000000000000000..fe974faf30e6f79d6462bf8e27cb8f02601e46e3
--- /dev/null
+++ b/processed/021-bag-cloth/episode_3/pcd_clean.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e37f486d1eb6f6d9b3c0a9245d6573cbedb02c06b4bc4a8c0e7a1a89068dfdfd
+size 88709120
diff --git a/processed/021-bag-cloth/episode_3/render_4dgs.mp4 b/processed/021-bag-cloth/episode_3/render_4dgs.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d7d55b240150cd4e0a1568cb622d557e0ef4af35
--- /dev/null
+++ b/processed/021-bag-cloth/episode_3/render_4dgs.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94fae40591293073a10f9b76cf4280bcfa108c149dcdc8fff180a37da1f52389
+size 552617
diff --git a/processed/021-bag-cloth/episode_3/robot/opening_dists.png b/processed/021-bag-cloth/episode_3/robot/opening_dists.png
new file mode 100644
index 0000000000000000000000000000000000000000..bf2795a2feb2345c92fa606d5c666650795ae4a2
--- /dev/null
+++ b/processed/021-bag-cloth/episode_3/robot/opening_dists.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:383d0ef991f06c97b718bd7be64f2db1ebf661416d6866280edfb42253165ab0
+size 84065
diff --git a/processed/021-bag-cloth/episode_3/robot/robot.npy b/processed/021-bag-cloth/episode_3/robot/robot.npy
new file mode 100644
index 0000000000000000000000000000000000000000..76975d5398f46feb184993d9e1dd63bcd727d0d9
--- /dev/null
+++ b/processed/021-bag-cloth/episode_3/robot/robot.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9821ee21341be9e22c2955a1696f13859fc31be63ea882dad2f955d1c95d7e8d
+size 91909
diff --git a/processed/021-bag-cloth/episode_3/splatfacto.tar b/processed/021-bag-cloth/episode_3/splatfacto.tar
new file mode 100644
index 0000000000000000000000000000000000000000..4b0380fcb08d9ff9251ff2394be62d433025e264
--- /dev/null
+++ b/processed/021-bag-cloth/episode_3/splatfacto.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fe630304c120af542db6960788c6b2940254be1e8621c03b315ebbed8a555e8
+size 820193280
diff --git a/processed/021-bag-cloth/episode_3/split.json b/processed/021-bag-cloth/episode_3/split.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b7a7a921c008efa8bbea9a42c9dd0b7be4cbd2f
--- /dev/null
+++ b/processed/021-bag-cloth/episode_3/split.json
@@ -0,0 +1 @@
+{"frame_len": 199, "train": [99, 258], "test": [258, 298]}
\ No newline at end of file
diff --git a/processed/021-bag-cloth/episode_3/start_obj_pcd.ply b/processed/021-bag-cloth/episode_3/start_obj_pcd.ply
new file mode 100644
index 0000000000000000000000000000000000000000..fd3fa79980d94a9d9eebfea8421215460f7921b6
--- /dev/null
+++ b/processed/021-bag-cloth/episode_3/start_obj_pcd.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac0e35e76d27b2da42036cdd81106c7990634ac56746589b11daddc919682777
+size 147763
diff --git a/processed/021-bag-cloth/episode_3/tactile.mp4 b/processed/021-bag-cloth/episode_3/tactile.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d5ef3b32fa1ee6c995be95cbb18dda00ef6f3eac
--- /dev/null
+++ b/processed/021-bag-cloth/episode_3/tactile.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f72a7a99c385a39b7e3f90b20816fe8bc8be3b84a97200c64c532529f669390
+size 1979242
diff --git a/processed/021-bag-cloth/episode_3/tracking_video.mp4 b/processed/021-bag-cloth/episode_3/tracking_video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..08d0b56ae9016f3e4bc5b1cb4efe74b841d5f948
--- /dev/null
+++ b/processed/021-bag-cloth/episode_3/tracking_video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77aa4f6d44668fa138c9e0cf16ecd5e2e698751e0048406d0c48ab500d8823cd
+size 6381735
diff --git a/processed/021-bag-cloth/episode_3/visual_hull_simple_full.ply b/processed/021-bag-cloth/episode_3/visual_hull_simple_full.ply
new file mode 100644
index 0000000000000000000000000000000000000000..d3f4bce18058a58c23b77638f821a7284c038d3a
--- /dev/null
+++ b/processed/021-bag-cloth/episode_3/visual_hull_simple_full.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9421a0ad96fccda2e39c570c7d4d767add1af334118e77fc1ad7946c3d88e2d9
+size 643544
diff --git a/processed/021-bag-cloth/episode_4/cameras.tar b/processed/021-bag-cloth/episode_4/cameras.tar
new file mode 100644
index 0000000000000000000000000000000000000000..21ff5614968871b32c9558557db5496522be0f1b
--- /dev/null
+++ b/processed/021-bag-cloth/episode_4/cameras.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31f3ecd4cdd136ff0d07cbefa32ec8925d8a70a7eb5011ece523138f1a782a3e
+size 1068257280
diff --git a/processed/021-bag-cloth/episode_4/metadata.json b/processed/021-bag-cloth/episode_4/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..676abf316a34b96918a9a2d911b2081cb9e822d8
--- /dev/null
+++ b/processed/021-bag-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": 243, "start_frame": 83, "end_frame": 325, "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/021-bag-cloth/episode_4/metric_params_refined_undistorted.txt b/processed/021-bag-cloth/episode_4/metric_params_refined_undistorted.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a28618edcbc9103ca344ed452c18b892a8bc6bd6
--- /dev/null
+++ b/processed/021-bag-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/021-bag-cloth/episode_4/pcd_clean.tar b/processed/021-bag-cloth/episode_4/pcd_clean.tar
new file mode 100644
index 0000000000000000000000000000000000000000..8cbf211629fd84c208aa2067356b7e2ebbf3afe2
--- /dev/null
+++ b/processed/021-bag-cloth/episode_4/pcd_clean.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06318d85fc538853ef9c186b71ce67f90b8c9ea7e1534e2cf30c4826050fb42e
+size 100218880
diff --git a/processed/021-bag-cloth/episode_4/render_4dgs.mp4 b/processed/021-bag-cloth/episode_4/render_4dgs.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..098d9ee90bf0237d1f4cc09548264e88b6327623
--- /dev/null
+++ b/processed/021-bag-cloth/episode_4/render_4dgs.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9dd9b46efe683a7b4628556099fbaaa302590eb1a074fcc2d251d2fc689f833
+size 510681
diff --git a/processed/021-bag-cloth/episode_4/robot/opening_dists.png b/processed/021-bag-cloth/episode_4/robot/opening_dists.png
new file mode 100644
index 0000000000000000000000000000000000000000..24bc7ec8fcfe648534d9821c5c3b2b178ed67610
--- /dev/null
+++ b/processed/021-bag-cloth/episode_4/robot/opening_dists.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b256dae46394e98323a69311949816d1bd7524f6f7e93de11a63dace65240afc
+size 89588
diff --git a/processed/021-bag-cloth/episode_4/robot/robot.npy b/processed/021-bag-cloth/episode_4/robot/robot.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ce59e385d5d9a12098ba257ab48ab4107f8ea45d
--- /dev/null
+++ b/processed/021-bag-cloth/episode_4/robot/robot.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c49b966282cffc67b53efcf9a31306e3914ccd7ea7a8ea7e6f3ba5db4b2ddaba
+size 104709
diff --git a/processed/021-bag-cloth/episode_4/splatfacto.tar b/processed/021-bag-cloth/episode_4/splatfacto.tar
new file mode 100644
index 0000000000000000000000000000000000000000..6d91ad64e2c13a917930d74209b1a40779fc46ae
--- /dev/null
+++ b/processed/021-bag-cloth/episode_4/splatfacto.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cea6b336196e32086a261072030b134e73b6e43fa70d784709a195573f10d029
+size 688476160
diff --git a/processed/021-bag-cloth/episode_4/split.json b/processed/021-bag-cloth/episode_4/split.json
new file mode 100644
index 0000000000000000000000000000000000000000..2be3f4880874a6e7f6d923e7487d74395f489cf1
--- /dev/null
+++ b/processed/021-bag-cloth/episode_4/split.json
@@ -0,0 +1 @@
+{"frame_len": 243, "train": [83, 277], "test": [277, 326]}
\ No newline at end of file
diff --git a/processed/021-bag-cloth/episode_4/start_obj_pcd.ply b/processed/021-bag-cloth/episode_4/start_obj_pcd.ply
new file mode 100644
index 0000000000000000000000000000000000000000..b184546b365c77db5ae99b90d801411680eca5eb
--- /dev/null
+++ b/processed/021-bag-cloth/episode_4/start_obj_pcd.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c3df51eb2c81eca7f6a4fc20c5cc6dc52f0e61d926a6834dec5f156fa55a68d
+size 148168
diff --git a/processed/021-bag-cloth/episode_4/tactile.mp4 b/processed/021-bag-cloth/episode_4/tactile.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a730359070bbe0cb18555fbee1c2fc107004ee44
--- /dev/null
+++ b/processed/021-bag-cloth/episode_4/tactile.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3cc0cd3876d39220dbeea74ac81f84c1b08a5877cc3d9e7b7c8eae88423cca5
+size 2234775
diff --git a/processed/021-bag-cloth/episode_4/tracking_video.mp4 b/processed/021-bag-cloth/episode_4/tracking_video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..699fa6aa5883a6569a776bdb69e4a78242eb5160
--- /dev/null
+++ b/processed/021-bag-cloth/episode_4/tracking_video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d54ea0fa9a89132574db5ad64173012cae0f1069dd7591eab5bf8420d8885120
+size 7410348
diff --git a/processed/021-bag-cloth/episode_4/visual_hull_simple_full.ply b/processed/021-bag-cloth/episode_4/visual_hull_simple_full.ply
new file mode 100644
index 0000000000000000000000000000000000000000..fb6dd619a88ff9a78e7d729e28d637f1770dd3f1
--- /dev/null
+++ b/processed/021-bag-cloth/episode_4/visual_hull_simple_full.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9a2a3e71de867264d9d96ac47a4255259150829c5d08f0f81cf31a59419759b
+size 678134
diff --git a/processed/021-bag-cloth/episode_5/cameras.tar b/processed/021-bag-cloth/episode_5/cameras.tar
new file mode 100644
index 0000000000000000000000000000000000000000..c6eebeb8d9c76d67fd19f1a12a883cf7bf4cdfa0
--- /dev/null
+++ b/processed/021-bag-cloth/episode_5/cameras.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c456642d2885c38a8e6efbb16449d66fb6e61f184fe7fa3da76c9a480b2be04
+size 891320320
diff --git a/processed/021-bag-cloth/episode_5/metadata.json b/processed/021-bag-cloth/episode_5/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac8bfd4f03a6e90cd7b0a61158e52b178c65da78
--- /dev/null
+++ b/processed/021-bag-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": 148, "start_frame": 101, "end_frame": 248, "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/021-bag-cloth/episode_5/metric_params_refined_undistorted.txt b/processed/021-bag-cloth/episode_5/metric_params_refined_undistorted.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a28618edcbc9103ca344ed452c18b892a8bc6bd6
--- /dev/null
+++ b/processed/021-bag-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/021-bag-cloth/episode_5/pcd_clean.tar b/processed/021-bag-cloth/episode_5/pcd_clean.tar
new file mode 100644
index 0000000000000000000000000000000000000000..f20f795383029b32e61c9b5bfbf53a6ed9eb3753
--- /dev/null
+++ b/processed/021-bag-cloth/episode_5/pcd_clean.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08f6bc954fda40bb168585e46566181e73bd4401f668f25ee99f388bd2c2821c
+size 79032320
diff --git a/processed/021-bag-cloth/episode_5/render_4dgs.mp4 b/processed/021-bag-cloth/episode_5/render_4dgs.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3f3dd1a304d4dd7ab956101c809381996123280f
--- /dev/null
+++ b/processed/021-bag-cloth/episode_5/render_4dgs.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fb48c082d9c5662671dd592f5bdafcdab011480e20cbc00864f4c8146de0e48
+size 986792
diff --git a/processed/021-bag-cloth/episode_5/robot/opening_dists.png b/processed/021-bag-cloth/episode_5/robot/opening_dists.png
new file mode 100644
index 0000000000000000000000000000000000000000..5fc569a5060ff5765054a51a04ed286f98a0483c
--- /dev/null
+++ b/processed/021-bag-cloth/episode_5/robot/opening_dists.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0668a492c4ea260dc5a3b5d3d994de1180e4ce33bbfb9d102af66ea9e438d92
+size 110275
diff --git a/processed/021-bag-cloth/episode_5/robot/robot.npy b/processed/021-bag-cloth/episode_5/robot/robot.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8e245d4fd3383e08e28a4ef9194a689dc4d43797
--- /dev/null
+++ b/processed/021-bag-cloth/episode_5/robot/robot.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87da1da06754d59051d2cdef58d76800ade82aa1de93d9035ef0e978643f40a2
+size 164365
diff --git a/processed/021-bag-cloth/episode_5/splatfacto.tar b/processed/021-bag-cloth/episode_5/splatfacto.tar
new file mode 100644
index 0000000000000000000000000000000000000000..754a30b90fdb0df7682c50a8e2113cd9ee21dbf8
--- /dev/null
+++ b/processed/021-bag-cloth/episode_5/splatfacto.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a6511171fe6152cd4c2f2ea4aa740392c1a2ba8a22c6da1cd7bfa1524d4d4e7
+size 742348800
diff --git a/processed/021-bag-cloth/episode_5/split.json b/processed/021-bag-cloth/episode_5/split.json
new file mode 100644
index 0000000000000000000000000000000000000000..369069d08bccbf435f698578a03efaf2654d869e
--- /dev/null
+++ b/processed/021-bag-cloth/episode_5/split.json
@@ -0,0 +1 @@
+{"frame_len": 148, "train": [101, 219], "test": [219, 249]}
\ No newline at end of file
diff --git a/processed/021-bag-cloth/episode_5/start_obj_pcd.ply b/processed/021-bag-cloth/episode_5/start_obj_pcd.ply
new file mode 100644
index 0000000000000000000000000000000000000000..ede27eded5dd910900fa41d2e437291a741779fa
--- /dev/null
+++ b/processed/021-bag-cloth/episode_5/start_obj_pcd.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d3b3650db3cc31d017ba64005b8d5619ab0de3ccf28bf96601402836b985db0
+size 147493
diff --git a/processed/021-bag-cloth/episode_5/tactile.mp4 b/processed/021-bag-cloth/episode_5/tactile.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..58492602d051c9eaa6544b901b0b40cb014252d7
--- /dev/null
+++ b/processed/021-bag-cloth/episode_5/tactile.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73b9ca0e128d2ae5c1c9ec12e62a8512883073d8141b46b1db4efb8fae3245e8
+size 2352393
diff --git a/processed/021-bag-cloth/episode_5/tracking_video.mp4 b/processed/021-bag-cloth/episode_5/tracking_video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d2f94e965f492e16fa832aa72a845cfd79d05695
--- /dev/null
+++ b/processed/021-bag-cloth/episode_5/tracking_video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:854018cf9d2ab565bd63ac9476ceaa1733926b289644798c1f4ef13d2b0dd3fa
+size 5149080
diff --git a/processed/021-bag-cloth/episode_5/visual_hull_simple_full.ply b/processed/021-bag-cloth/episode_5/visual_hull_simple_full.ply
new file mode 100644
index 0000000000000000000000000000000000000000..1b5d0161a1c8ea5ba169558364d351402e3f4bb9
--- /dev/null
+++ b/processed/021-bag-cloth/episode_5/visual_hull_simple_full.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cd19ff34d568c9c10e7e1a790608a5328e4b2caf97f23644bc555b0d4c16f2d
+size 655739
diff --git a/processed/021-bag-cloth/episode_6/cameras.tar b/processed/021-bag-cloth/episode_6/cameras.tar
new file mode 100644
index 0000000000000000000000000000000000000000..de80a12e72b39742d58cceff1459e7895ae44c55
--- /dev/null
+++ b/processed/021-bag-cloth/episode_6/cameras.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f163ec53897afe4dfa2bd7558b4f151192bf7cbc2c9bb8dfdd7e5049020133a
+size 805406720
diff --git a/processed/021-bag-cloth/episode_6/metadata.json b/processed/021-bag-cloth/episode_6/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4effd77151ba2c40a6c4981083135ecafdfb386c
--- /dev/null
+++ b/processed/021-bag-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": 147, "start_frame": 79, "end_frame": 225, "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/021-bag-cloth/episode_6/metric_params_refined_undistorted.txt b/processed/021-bag-cloth/episode_6/metric_params_refined_undistorted.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a28618edcbc9103ca344ed452c18b892a8bc6bd6
--- /dev/null
+++ b/processed/021-bag-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/021-bag-cloth/episode_6/pcd_clean.tar b/processed/021-bag-cloth/episode_6/pcd_clean.tar
new file mode 100644
index 0000000000000000000000000000000000000000..a8d11a29679c521fa8427cad29d551fba1662ed4
--- /dev/null
+++ b/processed/021-bag-cloth/episode_6/pcd_clean.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:661226aefadc3e4a3f80403be55986f2627bf8e840dfb1b48bb27347b680eab4
+size 72458240
diff --git a/processed/021-bag-cloth/episode_6/render_4dgs.mp4 b/processed/021-bag-cloth/episode_6/render_4dgs.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b5dd0f29a0bfee22f65028b4c1b0ba9c5f7b155a
--- /dev/null
+++ b/processed/021-bag-cloth/episode_6/render_4dgs.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42828b3bf2281768d663833364785e2ec02b48181c3f47b2a65b94d75b4e3651
+size 806503
diff --git a/processed/021-bag-cloth/episode_6/robot/opening_dists.png b/processed/021-bag-cloth/episode_6/robot/opening_dists.png
new file mode 100644
index 0000000000000000000000000000000000000000..d668220119e16e9b90951bc6de2474de14914d67
--- /dev/null
+++ b/processed/021-bag-cloth/episode_6/robot/opening_dists.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29af17dd6abb8835fc4e2030c257ab84adc0e6133fc4f440479088541cf54b37
+size 106879
diff --git a/processed/021-bag-cloth/episode_6/robot/robot.npy b/processed/021-bag-cloth/episode_6/robot/robot.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7f4e0accf0f6266e4c4df66ad51d851c3a226066
--- /dev/null
+++ b/processed/021-bag-cloth/episode_6/robot/robot.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f47b64b00dc38134d875872f7e141715dd51c0e1ec1da84d8e3bf9ce9d0d7838
+size 148493
diff --git a/processed/021-bag-cloth/episode_6/splatfacto.tar b/processed/021-bag-cloth/episode_6/splatfacto.tar
new file mode 100644
index 0000000000000000000000000000000000000000..de65540285dd4afeabf521343ff53965aa27d105
--- /dev/null
+++ b/processed/021-bag-cloth/episode_6/splatfacto.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73059dba7bef8b68cbf748af92fc805ee5307da8aede35c211620ba09b34c9bb
+size 591779840
diff --git a/processed/021-bag-cloth/episode_6/split.json b/processed/021-bag-cloth/episode_6/split.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1e4e7a55cb313c569579b564e0820613291863d
--- /dev/null
+++ b/processed/021-bag-cloth/episode_6/split.json
@@ -0,0 +1 @@
+{"frame_len": 147, "train": [79, 196], "test": [196, 226]}
\ No newline at end of file
diff --git a/processed/021-bag-cloth/episode_6/start_obj_pcd.ply b/processed/021-bag-cloth/episode_6/start_obj_pcd.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f7c29db0f36dbed314c98f86825722446e845097
--- /dev/null
+++ b/processed/021-bag-cloth/episode_6/start_obj_pcd.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa6961e86eadb3aedd1ed6b597c0117b9b064c77ae95907beca8cf5c136bf6f4
+size 148228
diff --git a/processed/021-bag-cloth/episode_6/tactile.mp4 b/processed/021-bag-cloth/episode_6/tactile.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c86fb24df9d9750a0a9332cd58d5f773b416c85d
--- /dev/null
+++ b/processed/021-bag-cloth/episode_6/tactile.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aacac6c1c043352ecdb3cab3e61d0b88083d5f181deb936e651c9ca6e011d2fd
+size 2117693
diff --git a/processed/021-bag-cloth/episode_6/tracking_video.mp4 b/processed/021-bag-cloth/episode_6/tracking_video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..af25d3defd7e38818f3d95013398ef98fa78f4cb
--- /dev/null
+++ b/processed/021-bag-cloth/episode_6/tracking_video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f74d16ae50a38cb058a55b501e185c9f8c0fc4eef64f158ae3c213b36f1bb809
+size 4582769
diff --git a/processed/021-bag-cloth/episode_6/visual_hull_simple_full.ply b/processed/021-bag-cloth/episode_6/visual_hull_simple_full.ply
new file mode 100644
index 0000000000000000000000000000000000000000..c1fda18c7fa73beedbe4c9649efc9d8aba6ae3ca
--- /dev/null
+++ b/processed/021-bag-cloth/episode_6/visual_hull_simple_full.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efb658e8d1d4bd07ba27cc8ae55295bf944fe476906a67ea08639c668d8bae5d
+size 633059
diff --git a/processed/021-bag-cloth/episode_7/cameras.tar b/processed/021-bag-cloth/episode_7/cameras.tar
new file mode 100644
index 0000000000000000000000000000000000000000..3042e20c24c36d343a46a87c4f8295a49b4ad6f9
--- /dev/null
+++ b/processed/021-bag-cloth/episode_7/cameras.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86d36f812f5b1245ab94dd3195b7c0fb62f0483d486cb86caaa47312cbea6502
+size 849633280
diff --git a/processed/021-bag-cloth/episode_7/metadata.json b/processed/021-bag-cloth/episode_7/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..8738ca1f09d69d3152a49bf245a0f29a285947be
--- /dev/null
+++ b/processed/021-bag-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": 131, "start_frame": 87, "end_frame": 217, "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/021-bag-cloth/episode_7/metric_params_refined_undistorted.txt b/processed/021-bag-cloth/episode_7/metric_params_refined_undistorted.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a28618edcbc9103ca344ed452c18b892a8bc6bd6
--- /dev/null
+++ b/processed/021-bag-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/021-bag-cloth/episode_7/pcd_clean.tar b/processed/021-bag-cloth/episode_7/pcd_clean.tar
new file mode 100644
index 0000000000000000000000000000000000000000..6fcdc2f858aab01828db0fd3e9a1999c49a5460d
--- /dev/null
+++ b/processed/021-bag-cloth/episode_7/pcd_clean.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47fe78aee0cc1f5c43e53ded522f955c9acd4eb7675d457e94ae3157581d6623
+size 75202560
diff --git a/processed/021-bag-cloth/episode_7/render_4dgs.mp4 b/processed/021-bag-cloth/episode_7/render_4dgs.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0aec42adc17b20884b00a4ecdeb54e8cc0919a9d
--- /dev/null
+++ b/processed/021-bag-cloth/episode_7/render_4dgs.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26c45b4ca556379a36b4fb181e6576df959988201d783ff6f3d8206d3e11a9d7
+size 616611
diff --git a/processed/021-bag-cloth/episode_7/robot/opening_dists.png b/processed/021-bag-cloth/episode_7/robot/opening_dists.png
new file mode 100644
index 0000000000000000000000000000000000000000..f0f23ac0dc94a5ce6cd4502867ce21508012fd78
--- /dev/null
+++ b/processed/021-bag-cloth/episode_7/robot/opening_dists.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18b9b13dd0d8cbbb8de0d51bcdabf498e5108518818164bd69254f87ea1e76ba
+size 109699
diff --git a/processed/021-bag-cloth/episode_7/robot/robot.npy b/processed/021-bag-cloth/episode_7/robot/robot.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c719f3c940eb0734809b1c5e03f179a7fc0efca1
--- /dev/null
+++ b/processed/021-bag-cloth/episode_7/robot/robot.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ccef2e12c1f4c283d4dcc38c64374b6600dfa2b3fa8f2eb1af1eb8d05e933cf
+size 157197
diff --git a/processed/021-bag-cloth/episode_7/splatfacto.tar b/processed/021-bag-cloth/episode_7/splatfacto.tar
new file mode 100644
index 0000000000000000000000000000000000000000..e0973a82fb282388d5923eb94f62a7697fa007cc
--- /dev/null
+++ b/processed/021-bag-cloth/episode_7/splatfacto.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b45020d79dacc5118a94ac8fea120c34f7e3c8bd67d72dd40054debf50a94164
+size 684206080
diff --git a/processed/021-bag-cloth/episode_7/split.json b/processed/021-bag-cloth/episode_7/split.json
new file mode 100644
index 0000000000000000000000000000000000000000..356ff938a346ab12ac409ac33f149a6178ad49c8
--- /dev/null
+++ b/processed/021-bag-cloth/episode_7/split.json
@@ -0,0 +1 @@
+{"frame_len": 131, "train": [87, 191], "test": [191, 218]}
\ No newline at end of file
diff --git a/processed/021-bag-cloth/episode_7/start_obj_pcd.ply b/processed/021-bag-cloth/episode_7/start_obj_pcd.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e45a2cfeb77d3cd608fa2fb2a597644eb4a3113d
--- /dev/null
+++ b/processed/021-bag-cloth/episode_7/start_obj_pcd.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:549a3bde866043f065efe9e2cd879206233a9753724e34cf6ef245778e4ca271
+size 147973
diff --git a/processed/021-bag-cloth/episode_7/tactile.mp4 b/processed/021-bag-cloth/episode_7/tactile.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d553f02cd62d45ef8373bdd7a28597106d64a231
--- /dev/null
+++ b/processed/021-bag-cloth/episode_7/tactile.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b39133b1d64cb6f100d32fc44819e80a63f648c2eb2c279e9f483b588e35c04c
+size 2166694
diff --git a/processed/021-bag-cloth/episode_7/tracking_video.mp4 b/processed/021-bag-cloth/episode_7/tracking_video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9ff1bdcd8e70c901a60a5163801114be94a18c7b
--- /dev/null
+++ b/processed/021-bag-cloth/episode_7/tracking_video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffad2fdabaf14d552bbb632b46b0ab72e1a5079f807fa5978946e859e280e96e
+size 5177066
diff --git a/processed/021-bag-cloth/episode_7/visual_hull_simple_full.ply b/processed/021-bag-cloth/episode_7/visual_hull_simple_full.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4ca9bb7b1616d6f493aa6beaa86de944157fe837
--- /dev/null
+++ b/processed/021-bag-cloth/episode_7/visual_hull_simple_full.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:deab1e7cea5eabd0607d3101e0b7d03db2e14a2fd8e5aab54f9e8e36b1e8bd40
+size 673004
diff --git a/processed/021-bag-cloth/episode_8/cameras.tar b/processed/021-bag-cloth/episode_8/cameras.tar
new file mode 100644
index 0000000000000000000000000000000000000000..e1120e54167f1e12a5f3a2d560817a2ad50c96ec
--- /dev/null
+++ b/processed/021-bag-cloth/episode_8/cameras.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91e5a57b0328ecd8ac40d7bf150f8e87e86f87830c87d7152544b19acb55dde0
+size 886763520
diff --git a/processed/021-bag-cloth/episode_8/metadata.json b/processed/021-bag-cloth/episode_8/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1938e99baa392fba004a066ef3ce5909491699f3
--- /dev/null
+++ b/processed/021-bag-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": 188, "start_frame": 85, "end_frame": 272, "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/021-bag-cloth/episode_8/metric_params_refined_undistorted.txt b/processed/021-bag-cloth/episode_8/metric_params_refined_undistorted.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a28618edcbc9103ca344ed452c18b892a8bc6bd6
--- /dev/null
+++ b/processed/021-bag-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/021-bag-cloth/episode_8/pcd_clean.tar b/processed/021-bag-cloth/episode_8/pcd_clean.tar
new file mode 100644
index 0000000000000000000000000000000000000000..a0fd8b02148fe4f2aec6e4294ebff4a6f3ef6acb
--- /dev/null
+++ b/processed/021-bag-cloth/episode_8/pcd_clean.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3204ae1a253f33fd41b27fa09f5b547bcb4e38d602f2d5c0371ae370c79b775
+size 83077120
diff --git a/processed/021-bag-cloth/episode_8/render_4dgs.mp4 b/processed/021-bag-cloth/episode_8/render_4dgs.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d333e946be3ffc41da1651fe2f806ea6d3a8f36e
--- /dev/null
+++ b/processed/021-bag-cloth/episode_8/render_4dgs.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:130bb8af21dd619ba530cd5579bb0c67619a0eb75ac0c0fa0ad5f74fe4bfcf06
+size 577911
diff --git a/processed/021-bag-cloth/episode_8/robot/opening_dists.png b/processed/021-bag-cloth/episode_8/robot/opening_dists.png
new file mode 100644
index 0000000000000000000000000000000000000000..42526fe7e534fa83caeacf640e1bc63738dee093
--- /dev/null
+++ b/processed/021-bag-cloth/episode_8/robot/opening_dists.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02f818471cafa5343ebd328e66aee1618122b849b2e12411994ea864f6878d76
+size 113247
diff --git a/processed/021-bag-cloth/episode_8/robot/robot.npy b/processed/021-bag-cloth/episode_8/robot/robot.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f59e454887c525b68021dbc9f3105c633840a20d
--- /dev/null
+++ b/processed/021-bag-cloth/episode_8/robot/robot.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf429a7bc54ef7318e9ab150138b1f00e66f1698848708e1795c88c76c3a6bb4
+size 173581
diff --git a/processed/021-bag-cloth/episode_8/splatfacto.tar b/processed/021-bag-cloth/episode_8/splatfacto.tar
new file mode 100644
index 0000000000000000000000000000000000000000..1aa1091078cb44b4d113e8149c5bcef2fb60852d
--- /dev/null
+++ b/processed/021-bag-cloth/episode_8/splatfacto.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8917ac0a3017c8bec4c1cfd07d27e1b345c6f9e2dcb57a9b832a1d8a1e5c229e
+size 633169920
diff --git a/processed/021-bag-cloth/episode_8/split.json b/processed/021-bag-cloth/episode_8/split.json
new file mode 100644
index 0000000000000000000000000000000000000000..87b0502c4d9f7fb7d92a89f46a1a939e9c38552d
--- /dev/null
+++ b/processed/021-bag-cloth/episode_8/split.json
@@ -0,0 +1 @@
+{"frame_len": 188, "train": [85, 235], "test": [235, 273]}
\ No newline at end of file
diff --git a/processed/021-bag-cloth/episode_8/start_obj_pcd.ply b/processed/021-bag-cloth/episode_8/start_obj_pcd.ply
new file mode 100644
index 0000000000000000000000000000000000000000..522b4bb3517009b6ea93b956acd7036296d2e3dc
--- /dev/null
+++ b/processed/021-bag-cloth/episode_8/start_obj_pcd.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d324b629a8d2c689dacf0630db6915ebea982916b02f04350c9cf006207a998a
+size 148408
diff --git a/processed/021-bag-cloth/episode_8/tactile.mp4 b/processed/021-bag-cloth/episode_8/tactile.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b629b456614913be9386046ef39c7da954a27cdf
--- /dev/null
+++ b/processed/021-bag-cloth/episode_8/tactile.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c135171d45b17bf09b67b73f386fdc017455b78eb08dfa4377aa89885da9db97
+size 2317049
diff --git a/processed/021-bag-cloth/episode_8/tracking_video.mp4 b/processed/021-bag-cloth/episode_8/tracking_video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b3b9485995b828b3de971abd9e03c2786a3d8c70
--- /dev/null
+++ b/processed/021-bag-cloth/episode_8/tracking_video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4fed02e13e00e562a6e7521c81c365e1d370b33f7321ed04104f1b749c4094f
+size 5774309
diff --git a/processed/021-bag-cloth/episode_8/visual_hull_simple_full.ply b/processed/021-bag-cloth/episode_8/visual_hull_simple_full.ply
new file mode 100644
index 0000000000000000000000000000000000000000..a6895ae332e63131c41b43af1f45f025ae99a460
--- /dev/null
+++ b/processed/021-bag-cloth/episode_8/visual_hull_simple_full.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:513c81f60e1cf05200911adfe408dd08ae64f682cdd5399bc6f1cdbd6c1656e9
+size 667919
diff --git a/processed/021-bag-cloth/episode_9/cameras.tar b/processed/021-bag-cloth/episode_9/cameras.tar
new file mode 100644
index 0000000000000000000000000000000000000000..b7df999f914fe55fd9c6de0bcd7b186179dacbf0
--- /dev/null
+++ b/processed/021-bag-cloth/episode_9/cameras.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55a5cc2d16c7875160e0377165e895f8a5d757d02a97a921a51ed3d0185e750e
+size 917350400
diff --git a/processed/021-bag-cloth/episode_9/metadata.json b/processed/021-bag-cloth/episode_9/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e1917f73997722566e701301c7cf2d011fd9b58
--- /dev/null
+++ b/processed/021-bag-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": 175, "start_frame": 98, "end_frame": 272, "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/021-bag-cloth/episode_9/metric_params_refined_undistorted.txt b/processed/021-bag-cloth/episode_9/metric_params_refined_undistorted.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a28618edcbc9103ca344ed452c18b892a8bc6bd6
--- /dev/null
+++ b/processed/021-bag-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/021-bag-cloth/episode_9/pcd_clean.tar b/processed/021-bag-cloth/episode_9/pcd_clean.tar
new file mode 100644
index 0000000000000000000000000000000000000000..356b4a4600c2a066ba2f6b55e7c22dea91f3721a
--- /dev/null
+++ b/processed/021-bag-cloth/episode_9/pcd_clean.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:766950ffca50f90883b023a57d6ee1cfcbe26a8c78603e8f6f1d3c30cc71d571
+size 88647680
diff --git a/processed/021-bag-cloth/episode_9/render_4dgs.mp4 b/processed/021-bag-cloth/episode_9/render_4dgs.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9e071b6cc9d6328ef08be12da4e79915324e0fd4
--- /dev/null
+++ b/processed/021-bag-cloth/episode_9/render_4dgs.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3b5cc162d16151094f47361f504f12fbe5b590094ce81a7ccb0a6b72d968e4c
+size 407239
diff --git a/processed/021-bag-cloth/episode_9/robot/opening_dists.png b/processed/021-bag-cloth/episode_9/robot/opening_dists.png
new file mode 100644
index 0000000000000000000000000000000000000000..a39b55e1b3b27d79ed797a91c839498a00a215a3
--- /dev/null
+++ b/processed/021-bag-cloth/episode_9/robot/opening_dists.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d98b06c6f990aafd520870b10a3da92a17f674734f62874b6c6642bc277d95f6
+size 112699
diff --git a/processed/021-bag-cloth/episode_9/robot/robot.npy b/processed/021-bag-cloth/episode_9/robot/robot.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c36567c33e4476d0ef0783987b204541dd384e52
--- /dev/null
+++ b/processed/021-bag-cloth/episode_9/robot/robot.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e58058f0353eb93662cfd9a4e9c02b0f23f3be9e890363f362b71e25722779a
+size 182797
diff --git a/processed/021-bag-cloth/episode_9/splatfacto.tar b/processed/021-bag-cloth/episode_9/splatfacto.tar
new file mode 100644
index 0000000000000000000000000000000000000000..de745fb6fa141ccd6061583ae7adf3f8bc412f95
--- /dev/null
+++ b/processed/021-bag-cloth/episode_9/splatfacto.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3572a0e1a627aef6d7738f5088be7651947a6e393fa0690d7390588de08ba4f9
+size 517939200
diff --git a/processed/021-bag-cloth/episode_9/split.json b/processed/021-bag-cloth/episode_9/split.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a623b083a401ceadfe6316601bd4d35a770334d
--- /dev/null
+++ b/processed/021-bag-cloth/episode_9/split.json
@@ -0,0 +1 @@
+{"frame_len": 175, "train": [98, 238], "test": [238, 273]}
\ No newline at end of file
diff --git a/processed/021-bag-cloth/episode_9/start_obj_pcd.ply b/processed/021-bag-cloth/episode_9/start_obj_pcd.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e0f18f20e911b5301c36b823b8f753cb08688655
--- /dev/null
+++ b/processed/021-bag-cloth/episode_9/start_obj_pcd.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:843cdb4e0afc1552bda7fec54d68253dc99f9c515d2f7501bc8b21188ee6cee7
+size 149053
diff --git a/processed/021-bag-cloth/episode_9/tactile.mp4 b/processed/021-bag-cloth/episode_9/tactile.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2b99718356e299ec909fd91c46da2aef7f7b735f
--- /dev/null
+++ b/processed/021-bag-cloth/episode_9/tactile.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d675d644baa55bf298069ac750b94dd2edda07ca6083d7d39d985fb57c1ed69
+size 2529233
diff --git a/processed/021-bag-cloth/episode_9/tracking_video.mp4 b/processed/021-bag-cloth/episode_9/tracking_video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a98f856d2915a4df5935fce645934e1d28d87d4a
--- /dev/null
+++ b/processed/021-bag-cloth/episode_9/tracking_video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15de2bfc9e187158188a9afeafafe293326341426691bdfab1ceff11e50ea6a1
+size 5614735
diff --git a/processed/021-bag-cloth/episode_9/visual_hull_simple_full.ply b/processed/021-bag-cloth/episode_9/visual_hull_simple_full.ply
new file mode 100644
index 0000000000000000000000000000000000000000..58a172ea587f92db7af0d2e175b18b4f382c3676
--- /dev/null
+++ b/processed/021-bag-cloth/episode_9/visual_hull_simple_full.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:794e184a02a2d98d259c7d4f148fcf03047b86064bd25b3df7f0f841a9481b7a
+size 628904