diff --git a/g1/GRAB/s1/airplane_fly_1_stageii_120_jpos.npy b/g1/GRAB/s1/airplane_fly_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..993b1165e2b9948c2e8bfa17f4bea7a64c118985
--- /dev/null
+++ b/g1/GRAB/s1/airplane_fly_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0146cf7863c5d0e2d698850544c71c2bd429a259a9baa480147198ab10962b8a
+size 320672
diff --git a/g1/GRAB/s1/airplane_offhand_1_stageii_120_jpos.npy b/g1/GRAB/s1/airplane_offhand_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..816bf72a61078904e6ccb48153a4876cd92956f3
--- /dev/null
+++ b/g1/GRAB/s1/airplane_offhand_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb67f7c7359861fe1ba9d1af2381a4b5ef1db70b60fbd5b8902821c03ef71b2b
+size 338816
diff --git a/g1/GRAB/s1/airplane_pick_all_stageii_120_jpos.npy b/g1/GRAB/s1/airplane_pick_all_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..57fa4354ff7df37dbd670cb71c5dda8a3a7c091d
--- /dev/null
+++ b/g1/GRAB/s1/airplane_pick_all_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eab33c03f93ffe8f37d6563a3d366223dda4a44c6469e2afc7f6bf6cf19e010e
+size 497216
diff --git a/g1/GRAB/s1/alarmclock_offhand_1_stageii_120_jpos.npy b/g1/GRAB/s1/alarmclock_offhand_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2be91646000d53e6586780e63f422f8df6241d80
--- /dev/null
+++ b/g1/GRAB/s1/alarmclock_offhand_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db376498fe58e116bb782c7bbf68846b5622113987fd128a7e5196ca1dc1eb8f
+size 311744
diff --git a/g1/GRAB/s1/alarmclock_pass_1_stageii_120_jpos.npy b/g1/GRAB/s1/alarmclock_pass_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a9811c37a9b4206f4c20d23272241a44776736d9
--- /dev/null
+++ b/g1/GRAB/s1/alarmclock_pass_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77d15cc4be7c16fe0ab3b674998a92e4683a24fc501f93091781d41149fb2247
+size 259904
diff --git a/g1/GRAB/s1/alarmclock_pick_all_stageii_120_jpos.npy b/g1/GRAB/s1/alarmclock_pick_all_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e028f72a00377a7d9d00c5c134ebf1c99e9f9f5e
--- /dev/null
+++ b/g1/GRAB/s1/alarmclock_pick_all_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccd47d108078caeb61215c3e9a0098657311d54b020385ee1ea6921784bf2e7a
+size 587648
diff --git a/g1/GRAB/s1/alarmclock_see_1_stageii_120_jpos.npy b/g1/GRAB/s1/alarmclock_see_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9b0612b61a1bcc5b68ea9d01b9a1ffad03175442
--- /dev/null
+++ b/g1/GRAB/s1/alarmclock_see_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01b63e9d7e5dcefc3b05f30367c6ee2e5c9862e06af6785a4d83fc7018d96129
+size 292736
diff --git a/g1/GRAB/s1/apple_eat_1_stageii_120_jpos.npy b/g1/GRAB/s1/apple_eat_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..258eee1e5bd93ddc4f71628e5c71f813eb7ce61f
--- /dev/null
+++ b/g1/GRAB/s1/apple_eat_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f956e7f012ad7e5e9a8c6fa621b10e1ccff899b84122857eeb11dde7561af206
+size 396992
diff --git a/g1/GRAB/s1/apple_offhand_1_stageii_120_jpos.npy b/g1/GRAB/s1/apple_offhand_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..384db1e2972fb444ef6246e48986ca313bf7b18d
--- /dev/null
+++ b/g1/GRAB/s1/apple_offhand_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf15b9927e5b00634442de058634bb65ab24d04c8fd57ab77ebb30f6a4107f11
+size 434432
diff --git a/g1/GRAB/s1/apple_pass_1_stageii_120_jpos.npy b/g1/GRAB/s1/apple_pass_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4f31444c5daa3ef30e2e11c9bf369bed9ecef3ed
--- /dev/null
+++ b/g1/GRAB/s1/apple_pass_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:078712cafab80b0c1ee350b1c3e6786b48020da02a37c6a89741e20be3b2a153
+size 204032
diff --git a/g1/GRAB/s1/apple_pick_all_stageii_120_jpos.npy b/g1/GRAB/s1/apple_pick_all_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..31ee257fd91c14c29f1553f879dc3210a502c36b
--- /dev/null
+++ b/g1/GRAB/s1/apple_pick_all_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cf53ad51feac6d46c69174cec438af4d529cf4edc1f414785f3c421c065fd59
+size 749504
diff --git a/g1/GRAB/s1/banana_eat_1_stageii_120_jpos.npy b/g1/GRAB/s1/banana_eat_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6195f925e7e0df0736fd9fe7ccec2ae87e009d24
--- /dev/null
+++ b/g1/GRAB/s1/banana_eat_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f5e3b4e24fba66534d3b7eac01195d1fe7f32fca5afc371b6c31cbdd8af373f
+size 468992
diff --git a/g1/GRAB/s1/banana_peel_1_stageii_120_jpos.npy b/g1/GRAB/s1/banana_peel_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..225ecf90f0a7a0a3d4bcb1258686ecbdd02f92ac
--- /dev/null
+++ b/g1/GRAB/s1/banana_peel_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:452ca177d34ee04162cee8bff7bc16e27a9088ccd2a98f35a6095eac579f44ec
+size 417152
diff --git a/g1/GRAB/s1/banana_peel_2_stageii_120_jpos.npy b/g1/GRAB/s1/banana_peel_2_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fd0d85dac10c74883347325f8943eb897345ed7a
--- /dev/null
+++ b/g1/GRAB/s1/banana_peel_2_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f5fa5f425417ad5b308788f24a0ce16031edd4b41b35ba1693b8fd2fea9963c
+size 405920
diff --git a/g1/GRAB/s1/banana_pick_all_stageii_120_jpos.npy b/g1/GRAB/s1/banana_pick_all_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..dcc6e034da7a5a7a93536782399d86d3f72a5998
--- /dev/null
+++ b/g1/GRAB/s1/banana_pick_all_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:715a2a97c5026a67c982d9163406f90f43bf50fb12dc2ab8b8319523410f11df
+size 665408
diff --git a/g1/GRAB/s1/binoculars_offhand_1_stageii_120_jpos.npy b/g1/GRAB/s1/binoculars_offhand_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..783a763098044380da576396a9780c98195b1021
--- /dev/null
+++ b/g1/GRAB/s1/binoculars_offhand_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d20924c25bd5831844d98ece645662b56bd9848312b24287fa29c7c97bbe0e52
+size 473888
diff --git a/g1/GRAB/s1/binoculars_pass_1_stageii_120_jpos.npy b/g1/GRAB/s1/binoculars_pass_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..453bdaf58f9c9746373d92764080c596a365731c
--- /dev/null
+++ b/g1/GRAB/s1/binoculars_pass_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebfd7981488632354e10ec8b488dd5ca646e3c355132a232c4eb91ef76c86428
+size 318368
diff --git a/g1/GRAB/s1/bowl_drink_1_stageii_120_jpos.npy b/g1/GRAB/s1/bowl_drink_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..71f32af058d482af1fedf50c688390c2aeb41aaa
--- /dev/null
+++ b/g1/GRAB/s1/bowl_drink_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:330396d72bca964bffc19682813ab6ebae235cee990bb2506fdc33c97d663f24
+size 475328
diff --git a/g1/GRAB/s1/bowl_drink_2_stageii_120_jpos.npy b/g1/GRAB/s1/bowl_drink_2_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..cd563b1f91c286f552897995284b62bea97e01cf
--- /dev/null
+++ b/g1/GRAB/s1/bowl_drink_2_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98e5aada77ff218e69d6c07e64c2745145449c4249534d93bc54e743d45bf2ec
+size 278336
diff --git a/g1/GRAB/s1/bowl_pass_1_stageii_120_jpos.npy b/g1/GRAB/s1/bowl_pass_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..518bffaadf034e681ca9e8822916e77a13fbb783
--- /dev/null
+++ b/g1/GRAB/s1/bowl_pass_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a143d6e07b9129f38aa5344d67241c6eda73388c6a124e958bea2cc43b74c79
+size 178400
diff --git a/g1/GRAB/s1/bowl_pick_all_stageii_120_jpos.npy b/g1/GRAB/s1/bowl_pick_all_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0b355c1e1b796a2077d1163bc0776b7fe3477892
--- /dev/null
+++ b/g1/GRAB/s1/bowl_pick_all_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e39e0d356a785645b49150bc06e427414b4ed4c6e2dc75074c886be164760272
+size 780032
diff --git a/g1/GRAB/s1/camera_browse_1_stageii_120_jpos.npy b/g1/GRAB/s1/camera_browse_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5c2ed3476b917e2488dc1e4b7fc7a3055f5ddaf2
--- /dev/null
+++ b/g1/GRAB/s1/camera_browse_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbfc426d881468713109c7a9a18dbaae109d3ef48da96b52848ebd5ef163f4f2
+size 372224
diff --git a/g1/GRAB/s1/camera_offhand_1_stageii_120_jpos.npy b/g1/GRAB/s1/camera_offhand_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b4fd936362a233f9eacedb3bcd9d7a29b892dda0
--- /dev/null
+++ b/g1/GRAB/s1/camera_offhand_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8960df68aa51705503116ac3d68634fbc40fb91c7df133e932499d41fbc59a64
+size 299648
diff --git a/g1/GRAB/s1/camera_pass_1_stageii_120_jpos.npy b/g1/GRAB/s1/camera_pass_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c12ce5fc6164e30d868c81cc933e04514b6dc46f
--- /dev/null
+++ b/g1/GRAB/s1/camera_pass_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1951d781a46c2e5673a26d035ad9bba8963de0484c729f39546a262ac534ecfa
+size 233408
diff --git a/g1/GRAB/s1/camera_takepicture_2_stageii_120_jpos.npy b/g1/GRAB/s1/camera_takepicture_2_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..053bca085b5baa83342d6ba85e8983ce44d1d37a
--- /dev/null
+++ b/g1/GRAB/s1/camera_takepicture_2_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17d56ae5c67ffd8c1570e2d2404d4beaa279ebd7a3c680c6f4d1744524a18bec
+size 496064
diff --git a/g1/GRAB/s1/cubelarge_inspect_1_stageii_120_jpos.npy b/g1/GRAB/s1/cubelarge_inspect_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..471f6f1fb90f69ddf849d6941cea718c39093f0b
--- /dev/null
+++ b/g1/GRAB/s1/cubelarge_inspect_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d899b60c914ea75515b2ad39b0e543b2a1e63dbfab8bf26775f4bbda1538885
+size 536960
diff --git a/g1/GRAB/s1/cubelarge_offhand_1_stageii_120_jpos.npy b/g1/GRAB/s1/cubelarge_offhand_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5900b3c74ead550cf2b78f134d740d0e48494c6b
--- /dev/null
+++ b/g1/GRAB/s1/cubelarge_offhand_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c125d527420385f681a2b0ed1087a4d4d0d5a04354e47e0194cfa383bd4f0db
+size 433568
diff --git a/g1/GRAB/s1/cubelarge_pass_1_stageii_120_jpos.npy b/g1/GRAB/s1/cubelarge_pass_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1f684520f34654901b77bec79f3d1444c5c72fc4
--- /dev/null
+++ b/g1/GRAB/s1/cubelarge_pass_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86f6c4ced872a8639e5cc2e093d19b62b59eea2d1fcc7ce3c150199f35ae6e30
+size 233696
diff --git a/g1/GRAB/s1/cubelarge_pick_all_stageii_120_jpos.npy b/g1/GRAB/s1/cubelarge_pick_all_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c81939502fab0a0792237b7dddcaede46d06ed40
--- /dev/null
+++ b/g1/GRAB/s1/cubelarge_pick_all_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c66f1f9aa6383807f93184e60285b308f1394fcc4ac0ee798b0bcec98c767bb
+size 950528
diff --git a/g1/GRAB/s1/cubemedium_offhand_1_stageii_120_jpos.npy b/g1/GRAB/s1/cubemedium_offhand_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..deec646ca8ab6ce7b70640fb7ff035b261e804e2
--- /dev/null
+++ b/g1/GRAB/s1/cubemedium_offhand_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51b6fbdc07cc964cb23184132d36ba2cd9b0d4b23a157943e162c5e1930a3904
+size 371360
diff --git a/g1/GRAB/s1/cubemedium_pass_1_stageii_120_jpos.npy b/g1/GRAB/s1/cubemedium_pass_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..20885661917b9cbbd5b312f3dab5a2b317e586e0
--- /dev/null
+++ b/g1/GRAB/s1/cubemedium_pass_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a56e88575c9a1bc6c764453357e676780d85a5632419e8243f3cc1ed451fba1
+size 299072
diff --git a/g1/GRAB/s1/cubesmall_inspect_1_stageii_120_jpos.npy b/g1/GRAB/s1/cubesmall_inspect_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7ba53c4aa33b4f6b16afa3580dfbcef8638593f4
--- /dev/null
+++ b/g1/GRAB/s1/cubesmall_inspect_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2553cf3270abc0786260d14c51acea1290708d43ef3746dcae097c76b2e1401
+size 406496
diff --git a/g1/GRAB/s1/cubesmall_offhand_1_stageii_120_jpos.npy b/g1/GRAB/s1/cubesmall_offhand_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..aaba692b5e0776b50a52ce89424a33082df0e7d4
--- /dev/null
+++ b/g1/GRAB/s1/cubesmall_offhand_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0779464fd89e4517877f39ea9b46f5a664951b693d84eb7333e84bfea69efe7e
+size 366176
diff --git a/g1/GRAB/s1/cup_drink_2_stageii_120_jpos.npy b/g1/GRAB/s1/cup_drink_2_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..653dfab575db0910c843e8aea94388c029296175
--- /dev/null
+++ b/g1/GRAB/s1/cup_drink_2_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:926cc4e532f507da080948d8f4e8840f18a8ae4c47d89fba342659038a24fa62
+size 396704
diff --git a/g1/GRAB/s1/cup_pick_all_stageii_120_jpos.npy b/g1/GRAB/s1/cup_pick_all_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c43d2d92f93fa0902b69ff2f88cf07f4793d6f86
--- /dev/null
+++ b/g1/GRAB/s1/cup_pick_all_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b00ed8554548175c8391ba53107373013b3bdd607c361ed20e979cb08f2a2149
+size 1075808
diff --git a/g1/GRAB/s1/cup_pour_1_stageii_120_jpos.npy b/g1/GRAB/s1/cup_pour_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..459ac1e60a505d37c6fb686b6b244e20dfb3e56a
--- /dev/null
+++ b/g1/GRAB/s1/cup_pour_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c8ea93e122cb33a70979cc4bf2472935646e07d38ac6cfcec80d3a37e03432a
+size 346880
diff --git a/g1/GRAB/s1/cylinderlarge_offhand_1_stageii_120_jpos.npy b/g1/GRAB/s1/cylinderlarge_offhand_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e4c2272185c44f17a1f44beb5757b36770f8bc16
--- /dev/null
+++ b/g1/GRAB/s1/cylinderlarge_offhand_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cddb6448039d2cef06db4fdc742b752f16397e6521050bcff58578c13f3f916
+size 362432
diff --git a/g1/GRAB/s1/cylinderlarge_pass_1_stageii_120_jpos.npy b/g1/GRAB/s1/cylinderlarge_pass_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ca836b4948ed1634e1347d442c643754297014ef
--- /dev/null
+++ b/g1/GRAB/s1/cylinderlarge_pass_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be6446dee9a40c90020b5e1bbce444758e63fce5e98671e54beb48be9945573b
+size 277472
diff --git a/g1/GRAB/s1/cylinderlarge_pick_all_stageii_120_jpos.npy b/g1/GRAB/s1/cylinderlarge_pick_all_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3a7ca2e085e1ee2e9f148d0903f8d39ddabe50ac
--- /dev/null
+++ b/g1/GRAB/s1/cylinderlarge_pick_all_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:915ca0130605533f49bb3bed31948a735305270c9976d3d398f74e4f7ecef61d
+size 1081280
diff --git a/g1/GRAB/s1/cylindermedium_inspect_1_stageii_120_jpos.npy b/g1/GRAB/s1/cylindermedium_inspect_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..09af3677ef66a8eae2e967cc671bfe7f4748684d
--- /dev/null
+++ b/g1/GRAB/s1/cylindermedium_inspect_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93f5cf7a1d82ff31279d6ede96592dba226e2d7f9cd7d84dfdfce5e327af9751
+size 324128
diff --git a/g1/GRAB/s1/cylindermedium_offhand_1_stageii_120_jpos.npy b/g1/GRAB/s1/cylindermedium_offhand_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c934c483648ee19c7a1603771137d524059e9ce0
--- /dev/null
+++ b/g1/GRAB/s1/cylindermedium_offhand_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8d97a8d780427e14a6e704b2a24e657ebf21a209a58faac36bb8723a394df40
+size 399296
diff --git a/g1/GRAB/s1/cylindermedium_pass_1_stageii_120_jpos.npy b/g1/GRAB/s1/cylindermedium_pass_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5f2bbc4dc2eb7a105ab984a6465ca6f114a460d1
--- /dev/null
+++ b/g1/GRAB/s1/cylindermedium_pass_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b0509d530204a65dd447e0ed46c67cee7037d2d6be827048d509d3b77112473
+size 250688
diff --git a/g1/GRAB/s1/cylindermedium_pick_all_stageii_120_jpos.npy b/g1/GRAB/s1/cylindermedium_pick_all_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2b3e55f79be91d3ca06ea940c0cb0def528c0122
--- /dev/null
+++ b/g1/GRAB/s1/cylindermedium_pick_all_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f5e32832b8cd740b1b94c6656d04bd995fb68c66fceb6cfd736c1cb5ee93904
+size 757568
diff --git a/g1/GRAB/s1/cylindersmall_inspect_1_stageii_120_jpos.npy b/g1/GRAB/s1/cylindersmall_inspect_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..dcfe61b8940885f2b77b13d81e980a5663a00f40
--- /dev/null
+++ b/g1/GRAB/s1/cylindersmall_inspect_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2e0d4121db227e7247b4e0deaeeddd6d9bb23c13e524dc47521686096169c81
+size 257312
diff --git a/g1/GRAB/s1/cylindersmall_pass_1_stageii_120_jpos.npy b/g1/GRAB/s1/cylindersmall_pass_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..44c45e5fe5ae9a8dae496598f7b806423d62a7ca
--- /dev/null
+++ b/g1/GRAB/s1/cylindersmall_pass_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8e5d53af695af241d54e6080b1c57622fc90a304df17a254ed290147e2e599c
+size 191936
diff --git a/g1/GRAB/s1/cylindersmall_pick_all_stageii_120_jpos.npy b/g1/GRAB/s1/cylindersmall_pick_all_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..acea24108ab9851d77c8b465a1a8adef59f2b120
--- /dev/null
+++ b/g1/GRAB/s1/cylindersmall_pick_all_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17e890a40c3ee5734877ddb499602dd39ef867677bb1314c294f255942198cea
+size 551360
diff --git a/g1/GRAB/s1/doorknob_use_2_stageii_120_jpos.npy b/g1/GRAB/s1/doorknob_use_2_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1ef41bf8a8c593502f05344ea4cb32576d28bd89
--- /dev/null
+++ b/g1/GRAB/s1/doorknob_use_2_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3d4d5f0cb890f2d26759019eb4c218a14206905b731751034c697e561fc0707
+size 294464
diff --git a/g1/GRAB/s1/doorknob_use_fun_1_stageii_120_jpos.npy b/g1/GRAB/s1/doorknob_use_fun_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b16a21c74e3a87c757352ef99408fd6e305ef894
--- /dev/null
+++ b/g1/GRAB/s1/doorknob_use_fun_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7367c2fddee4e30637ed93beecf1b3f69653137b504ed97a9ba6502a236fcd7c
+size 430976
diff --git a/g1/GRAB/s1/duck_inspect_1_stageii_120_jpos.npy b/g1/GRAB/s1/duck_inspect_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..447de557a21000cc6bb730974f98376d75088e95
--- /dev/null
+++ b/g1/GRAB/s1/duck_inspect_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3aa1651110a93e53a4f3520af34c428e9acefefe205e24a7a292aeee4cf03322
+size 283520
diff --git a/g1/GRAB/s1/duck_offhand_1_stageii_120_jpos.npy b/g1/GRAB/s1/duck_offhand_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..30efab99ecf8314661a89bbcf506b50bb5aae572
--- /dev/null
+++ b/g1/GRAB/s1/duck_offhand_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f34a54fa3e6f4517f071e32fff2c897b46154b740f03fdbc4ba4ca136434ccb
+size 291296
diff --git a/g1/GRAB/s1/duck_offhand_2_stageii_120_jpos.npy b/g1/GRAB/s1/duck_offhand_2_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9f692f78db15c2b05d41c86e9f2f6734f743a284
--- /dev/null
+++ b/g1/GRAB/s1/duck_offhand_2_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11ffba21d37307bb07dcbe029684e3f5ab185070f334d8f624b9540873f72ca2
+size 315776
diff --git a/g1/GRAB/s1/duck_pass_1_stageii_120_jpos.npy b/g1/GRAB/s1/duck_pass_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ea9607d9b2773d70e1196ddce426ee38f65a68f5
--- /dev/null
+++ b/g1/GRAB/s1/duck_pass_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5ac614bac44851ce0900f98b5470c44d16759833bc61fb6988d0710b562363f
+size 251840
diff --git a/g1/GRAB/s1/duck_pick_all_stageii_120_jpos.npy b/g1/GRAB/s1/duck_pick_all_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f03aa13051d58eb31810b7c4ec6997817c71afa6
--- /dev/null
+++ b/g1/GRAB/s1/duck_pick_all_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d685e6e621a450be2cfe23912197556539a9463f60bc800083453f6800f46c65
+size 570368
diff --git a/g1/GRAB/s1/elephant_inspect_1_stageii_120_jpos.npy b/g1/GRAB/s1/elephant_inspect_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..456ffeaa0b226d14c23b1cee185a05eb32cb8ab9
--- /dev/null
+++ b/g1/GRAB/s1/elephant_inspect_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a50bc4a3c885abbecf5323387e1e35389ef3564941359fe87514718e18db7ec2
+size 354080
diff --git a/g1/GRAB/s1/elephant_offhand_1_stageii_120_jpos.npy b/g1/GRAB/s1/elephant_offhand_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f1c26747f9f5b59255c6a5e9561549213a633e3c
--- /dev/null
+++ b/g1/GRAB/s1/elephant_offhand_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fd6184b573b3771eeb6b89915dc8c9261f1564b1eab82b6a381391ae91d9d4c
+size 290720
diff --git a/g1/GRAB/s1/elephant_pick_all_stageii_120_jpos.npy b/g1/GRAB/s1/elephant_pick_all_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3e5f23b4ff10b07b2aef9a7235367c3388225c19
--- /dev/null
+++ b/g1/GRAB/s1/elephant_pick_all_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02f63f8dc0b79208bd809bb2046d8f43facbef2528e6e784f0bd41ce12a2cda5
+size 699680
diff --git a/g1/GRAB/s1/eyeglasses_clean_1_stageii_120_jpos.npy b/g1/GRAB/s1/eyeglasses_clean_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2061d54832ee39b2f64e95dc07c208fa3239f2d7
--- /dev/null
+++ b/g1/GRAB/s1/eyeglasses_clean_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f96710c29c90100ef9eba0aaa5f8f01e1c43e02d2989e4efe903e4b27567515e
+size 502976
diff --git a/g1/GRAB/s1/eyeglasses_pick_all_stageii_120_jpos.npy b/g1/GRAB/s1/eyeglasses_pick_all_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f14f0ee36c1a07779a29d5863c7e0201f8e076f4
--- /dev/null
+++ b/g1/GRAB/s1/eyeglasses_pick_all_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f08faea13bb65f1e710f50018041273a3545792f9b350c02b9e1176ed225a99
+size 645248
diff --git a/g1/GRAB/s1/eyeglasses_wear_1_stageii_120_jpos.npy b/g1/GRAB/s1/eyeglasses_wear_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d59682fa33f6475a3d62d85c7a31c9fe11e0ce71
--- /dev/null
+++ b/g1/GRAB/s1/eyeglasses_wear_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78577d609fbc781b9d31f7b23a3103b0a59a7287ea41955fb4350f6b23459a71
+size 433568
diff --git a/g1/GRAB/s1/flashlight_pass_1_stageii_120_jpos.npy b/g1/GRAB/s1/flashlight_pass_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5cf4a9b06d95760f4ff744b4a429e7b95a391856
--- /dev/null
+++ b/g1/GRAB/s1/flashlight_pass_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d881eb2fead7aeb89b3165020e61bf186dd6e3189366df9b22671c3792e26785
+size 288704
diff --git a/g1/GRAB/s1/flashlight_pick_all_stageii_120_jpos.npy b/g1/GRAB/s1/flashlight_pick_all_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fff9c6c48d8deff31e5af88a200e532b121adf74
--- /dev/null
+++ b/g1/GRAB/s1/flashlight_pick_all_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f6dfb99ad8e15aac57e4c8b29f9006c325270abcc65bc1183622a740365145b
+size 517376
diff --git a/g1/GRAB/s1/flute_offhand_1_stageii_120_jpos.npy b/g1/GRAB/s1/flute_offhand_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9d042a6b188f4ade05e385ec422bf43dae49de48
--- /dev/null
+++ b/g1/GRAB/s1/flute_offhand_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20354beb9dfeb4800470d5fa3e616df85331c5429fc868599c64820238db3813
+size 312608
diff --git a/g1/GRAB/s1/flute_pick_all_stageii_120_jpos.npy b/g1/GRAB/s1/flute_pick_all_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ced68dba024197b927a526f7df52962004827ef6
--- /dev/null
+++ b/g1/GRAB/s1/flute_pick_all_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1ac7878e6da8a1e02dcba2a292e9f2711a4c64524817dac4cd85d96a08c7cd3
+size 576704
diff --git a/g1/GRAB/s1/fryingpan_cook_2_stageii_120_jpos.npy b/g1/GRAB/s1/fryingpan_cook_2_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..33f13fc36b44187575c8b623eb2eaa7e1b3feedc
--- /dev/null
+++ b/g1/GRAB/s1/fryingpan_cook_2_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c26fc33b3f84bbacdb68a64517342469a8f6f8620aebdad2b0b9981eef9a031e
+size 268544
diff --git a/g1/GRAB/s1/gamecontroller_offhand_1_stageii_120_jpos.npy b/g1/GRAB/s1/gamecontroller_offhand_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..93b5e9ae5ddefa9f70b8be3bd1e3619fe166c88d
--- /dev/null
+++ b/g1/GRAB/s1/gamecontroller_offhand_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf33748cfc7ab8c5dd28fed5bdf4adfaca1831e80650b33bf6768cbae5f6ff93
+size 346880
diff --git a/g1/GRAB/s1/gamecontroller_pick_all_stageii_120_jpos.npy b/g1/GRAB/s1/gamecontroller_pick_all_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2b8010f4eb526ee8584ba51da4140040834f467c
--- /dev/null
+++ b/g1/GRAB/s1/gamecontroller_pick_all_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c53c1ccf44d6d42eca67bd69a26cf569b67a2cf30c9038139d7ee1e98eae0d9
+size 861824
diff --git a/g1/GRAB/s1/gamecontroller_play_1_stageii_120_jpos.npy b/g1/GRAB/s1/gamecontroller_play_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..779ffaf8c3bf90adf1716fa86c1f884294b25247
--- /dev/null
+++ b/g1/GRAB/s1/gamecontroller_play_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56bc35154db14012ae8f4a54b5721af0fd543d70dabbe7d880bd97e0f6cfabc9
+size 614144
diff --git a/g1/GRAB/s1/hammer_pass_1_stageii_120_jpos.npy b/g1/GRAB/s1/hammer_pass_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ec31e8bc1f617b00cb2c04d8f1ec0fe60abac241
--- /dev/null
+++ b/g1/GRAB/s1/hammer_pass_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07c535ee10de54a9cd64911b1125a48b839941982193ffcde116cc34138fc5af
+size 285536
diff --git a/g1/GRAB/s1/hammer_use_1_stageii_120_jpos.npy b/g1/GRAB/s1/hammer_use_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7da229ca0abec6b8db5a3f8bb5010eac34719a30
--- /dev/null
+++ b/g1/GRAB/s1/hammer_use_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bdf00485a2b3a4029e410db4662802d54e616a3127d6628da2d8136e8412098
+size 308288
diff --git a/g1/GRAB/s1/hammer_use_3_stageii_120_jpos.npy b/g1/GRAB/s1/hammer_use_3_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1abb890992ad04fdbfe8e36dcec926b929efb4ab
--- /dev/null
+++ b/g1/GRAB/s1/hammer_use_3_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f446e629e88c4dcd57b0d0bd5fcec41f0e0de119d1c80c66c0839868fdc49f46
+size 518240
diff --git a/g1/GRAB/s1/hand_inspect_1_stageii_120_jpos.npy b/g1/GRAB/s1/hand_inspect_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6cbf30853779333d5e53ff9527369fdf5db2e205
--- /dev/null
+++ b/g1/GRAB/s1/hand_inspect_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3feadb17a918725f9cec21ca5eaa9d18266a7bc1670547bf9fc84391b7ade492
+size 336224
diff --git a/g1/GRAB/s1/headphones_offhand_1_stageii_120_jpos.npy b/g1/GRAB/s1/headphones_offhand_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a7bd3591a2d94ce91c1f1a744987ca7f6baf730e
--- /dev/null
+++ b/g1/GRAB/s1/headphones_offhand_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6adbcee687024cc14d633954684e616e2589c31e26ebc7c78dd9f331747cd769
+size 334784
diff --git a/g1/GRAB/s1/headphones_use_1_stageii_120_jpos.npy b/g1/GRAB/s1/headphones_use_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3319ac8b156bf79bbb8825226aab89fdd31bdb0d
--- /dev/null
+++ b/g1/GRAB/s1/headphones_use_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8933505da5f90fdb171db6decba96f2983d8c14e31dbf16d94f3d815f455c6d
+size 309440
diff --git a/g1/GRAB/s1/knife_pick_all_stageii_120_jpos.npy b/g1/GRAB/s1/knife_pick_all_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e63afafdcbf43a52a3730623e9cad1eea552f02c
--- /dev/null
+++ b/g1/GRAB/s1/knife_pick_all_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f350583b8cc43147ff6348fc4a8a0a6d030999f4edc8d07a8f5c7bd687f0194
+size 1064576
diff --git a/g1/GRAB/s1/lightbulb_pass_1_stageii_120_jpos.npy b/g1/GRAB/s1/lightbulb_pass_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..09ccb5ee915c0b881a55a5ee2fff1b0a762cf007
--- /dev/null
+++ b/g1/GRAB/s1/lightbulb_pass_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1367efd75a3a6edd54a4fc86670c73ea9d3e5c2ae6fb01b59aef00863808548
+size 318080
diff --git a/g1/GRAB/s1/mouse_pass_1_stageii_120_jpos.npy b/g1/GRAB/s1/mouse_pass_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..86a9741b226f14dee880b66a54b4ade79773a038
--- /dev/null
+++ b/g1/GRAB/s1/mouse_pass_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abbf5ec9408de476fe3b63da8bceeed5ed10b00cb241b27622f845e97ec5ecc5
+size 231104
diff --git a/g1/GRAB/s1/mouse_use_1_stageii_120_jpos.npy b/g1/GRAB/s1/mouse_use_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..67276c48768aeddfaf00b6ea0af7fa73d2751b6d
--- /dev/null
+++ b/g1/GRAB/s1/mouse_use_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a521649a9f0ddf7a26c2205e646ccad014eb3d9867737aae62c8040bf84c0d38
+size 619040
diff --git a/g1/GRAB/s1/mug_drink_1_stageii_120_jpos.npy b/g1/GRAB/s1/mug_drink_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b3cef8624ee238e672af510ea5e9ad8d0ea4acc9
--- /dev/null
+++ b/g1/GRAB/s1/mug_drink_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0eccfebbeb3b6f9043715c34efb770666d070153835d69e7d006291f9789b9b
+size 384320
diff --git a/g1/GRAB/s1/mug_drink_2_stageii_120_jpos.npy b/g1/GRAB/s1/mug_drink_2_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b4a2f9eafdc5932473f3f32467d5ce0ab76e0f32
--- /dev/null
+++ b/g1/GRAB/s1/mug_drink_2_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2b5421274c2760b152ee0ea6afd417b8520f83f9576a25af3895d19c2caac69
+size 434432
diff --git a/g1/GRAB/s1/mug_drink_3_stageii_120_jpos.npy b/g1/GRAB/s1/mug_drink_3_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7a310691b6eefe8a506c7e4e0005a4aeb0e2561e
--- /dev/null
+++ b/g1/GRAB/s1/mug_drink_3_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34c73606c210fc9bb9a1e7fbd60f8cdbde886411ca0ca3eedb059bf4c62a1434
+size 356096
diff --git a/g1/GRAB/s1/mug_pass_1_stageii_120_jpos.npy b/g1/GRAB/s1/mug_pass_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ca18b277636f9fc111d5c44e446d34f459014f55
--- /dev/null
+++ b/g1/GRAB/s1/mug_pass_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab91495afd36fb450a6d4626493bf59353843d38a0caf3616092184338d1b41e
+size 269696
diff --git a/g1/GRAB/s1/mug_pick_all_stageii_120_jpos.npy b/g1/GRAB/s1/mug_pick_all_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..58d33710d8138cae28db8c49a1584a85f105ec72
--- /dev/null
+++ b/g1/GRAB/s1/mug_pick_all_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:270fa0259f4b5aba55bcc8f39776e62102bbb7a09877c2959dfffa48cea06842
+size 1222976
diff --git a/g1/GRAB/s1/mug_toast_1_stageii_120_jpos.npy b/g1/GRAB/s1/mug_toast_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e525d37bea1d864be530f05cf42f58f891ffad79
--- /dev/null
+++ b/g1/GRAB/s1/mug_toast_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25ffe1ea7976a158ceffc5f2eff17775b9862bdd706f1392892065ff860fd3bc
+size 388064
diff --git a/g1/GRAB/s1/phone_offhand_1_stageii_120_jpos.npy b/g1/GRAB/s1/phone_offhand_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..482816c6218d513c0dcdad8b77fe0d83d276462d
--- /dev/null
+++ b/g1/GRAB/s1/phone_offhand_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:776cf2737e597ec37a2dfc5441bbd8bc2f268382768026392df5ba5fa3b07bfd
+size 377408
diff --git a/g1/GRAB/s1/phone_pass_1_stageii_120_jpos.npy b/g1/GRAB/s1/phone_pass_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6571c6ac5afd7ee935a5a79cffa2fe5460bd553f
--- /dev/null
+++ b/g1/GRAB/s1/phone_pass_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:276c36320f7759e1024b2288bfd0983e718d4d43fe30c464849b6def2fb495f9
+size 263936
diff --git a/g1/GRAB/s1/phone_pick_all_stageii_120_jpos.npy b/g1/GRAB/s1/phone_pick_all_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..264e53edd3e42baf3f9d3729f4cfa7abe5106234
--- /dev/null
+++ b/g1/GRAB/s1/phone_pick_all_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33ac35d549669ae3fe830080bb5026c9d650dc63c4cc77a165449cc3d72cb9b2
+size 722432
diff --git a/g1/GRAB/s1/piggybank_offhand_1_stageii_120_jpos.npy b/g1/GRAB/s1/piggybank_offhand_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a3abf984b77b40ad8cddcdfd7acf6a2123616d94
--- /dev/null
+++ b/g1/GRAB/s1/piggybank_offhand_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56db6aa55f67175050098eae32093b2151e3263aa545d928ae3129c37dfa5f27
+size 367040
diff --git a/g1/GRAB/s1/piggybank_pick_all_stageii_120_jpos.npy b/g1/GRAB/s1/piggybank_pick_all_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ba7e31ba956aa4e23b155bcd1bf7327ed744c4b0
--- /dev/null
+++ b/g1/GRAB/s1/piggybank_pick_all_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d75084aa376f0bf8304130fb2bf0fb849f813341eb2bb45df70a14695514d41
+size 1113248
diff --git a/g1/GRAB/s1/piggybank_use_1_stageii_120_jpos.npy b/g1/GRAB/s1/piggybank_use_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6b8512cf586dad3abc4f9a4e48c5e86c2d045ba7
--- /dev/null
+++ b/g1/GRAB/s1/piggybank_use_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:668ea1b284330012237a781460e46c7190de5773ec8d095937188e2b2210d81b
+size 382592
diff --git a/g1/GRAB/s1/pyramidlarge_inspect_1_stageii_120_jpos.npy b/g1/GRAB/s1/pyramidlarge_inspect_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4b3797a70341018b78443240c23d0ab7b26ed842
--- /dev/null
+++ b/g1/GRAB/s1/pyramidlarge_inspect_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5dec494075eb0282e60e1ae718489e2d636b07a7474ead5068de7c5e2e9d034
+size 576416
diff --git a/g1/GRAB/s1/pyramidlarge_offhand_1_stageii_120_jpos.npy b/g1/GRAB/s1/pyramidlarge_offhand_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..73928e74870319fa6cd726e96ec0f84bf1bd6f4b
--- /dev/null
+++ b/g1/GRAB/s1/pyramidlarge_offhand_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2c20afdff5ba5d1b1f6a6500d605ef124b19c0a67ebd53fedc17ad8a7f8643f
+size 369056
diff --git a/g1/GRAB/s1/pyramidlarge_pass_1_stageii_120_jpos.npy b/g1/GRAB/s1/pyramidlarge_pass_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9455887ececefc5796f0474ce0888238c81aca4f
--- /dev/null
+++ b/g1/GRAB/s1/pyramidlarge_pass_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09533433e5175c6bb380431024e0f7f53f7aaf64835be300023757e3df5e2f49
+size 268256
diff --git a/g1/GRAB/s1/pyramidlarge_pick_all_stageii_120_jpos.npy b/g1/GRAB/s1/pyramidlarge_pick_all_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4802f63b4946531a0f85d51f5dc5acf28d662e60
--- /dev/null
+++ b/g1/GRAB/s1/pyramidlarge_pick_all_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e13072e86febc5be58a5ebd2a58667ed4485cea12b9c95a859a1ec5d7e53cff
+size 886592
diff --git a/g1/GRAB/s1/pyramidmedium_inspect_1_stageii_120_jpos.npy b/g1/GRAB/s1/pyramidmedium_inspect_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a7466cdfb4debcfe46d94c49e9d6ef159e8122a4
--- /dev/null
+++ b/g1/GRAB/s1/pyramidmedium_inspect_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e331c9daa8fe7acce095d590ec52531d4df3a0a0fd0466b14680e602a7627dfe
+size 351488
diff --git a/g1/GRAB/s1/pyramidmedium_offhand_1_stageii_120_jpos.npy b/g1/GRAB/s1/pyramidmedium_offhand_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5a957fdec90baf3866439833bde44537246a613c
--- /dev/null
+++ b/g1/GRAB/s1/pyramidmedium_offhand_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56b8822ccbd264af6071afc4a81025098b8f6abd61881039692d43369a625d0f
+size 262208
diff --git a/g1/GRAB/s1/pyramidmedium_pass_1_stageii_120_jpos.npy b/g1/GRAB/s1/pyramidmedium_pass_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0304069bc67243817d167ab67956bf49e8acd33c
--- /dev/null
+++ b/g1/GRAB/s1/pyramidmedium_pass_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22fdb010cc1badea60918d1b9bc7b3677346dbb43a498cf839df0371c8e0caec
+size 312896
diff --git a/g1/GRAB/s1/pyramidmedium_pick_all_stageii_120_jpos.npy b/g1/GRAB/s1/pyramidmedium_pick_all_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4c726f954abbfda2caaaa5b8f35ab8e9d3da14a9
--- /dev/null
+++ b/g1/GRAB/s1/pyramidmedium_pick_all_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5580def69447392f4d73d610fda62bf2e172b6bb6e62d3d1003f2adf0a3232f0
+size 709472
diff --git a/g1/GRAB/s1/spherelarge_inspect_1_stageii_120_jpos.npy b/g1/GRAB/s1/spherelarge_inspect_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..28c6f242a559b70fa252d51ca37671d5923a753a
--- /dev/null
+++ b/g1/GRAB/s1/spherelarge_inspect_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5065676517cd1b66e32e766d641c0556ec4d3841289540ca04332c3cdd90b61
+size 372800
diff --git a/g1/GRAB/s1/spheremedium_inspect_1_stageii_120_jpos.npy b/g1/GRAB/s1/spheremedium_inspect_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..18110ca9e72775357d0da383ccd89c9c8e3cb658
--- /dev/null
+++ b/g1/GRAB/s1/spheremedium_inspect_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b5feb32b01b6a0dde2bc30f228bafb2af4deb60926481c014c03e2bd76ceeed
+size 310304
diff --git a/g1/GRAB/s1/spheremedium_offhand_1_stageii_120_jpos.npy b/g1/GRAB/s1/spheremedium_offhand_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ca1d10b2fb2d129ef2d6c1fabea0fdd106c5e3f4
--- /dev/null
+++ b/g1/GRAB/s1/spheremedium_offhand_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d1b1d8ed97c52cb400b502f1a1b6b4d647ddae0efba1c41f91375082bb6012c
+size 335072
diff --git a/g1/GRAB/s1/spheresmall_inspect_1_stageii_120_jpos.npy b/g1/GRAB/s1/spheresmall_inspect_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d107917b56c61a93f610f45fa0248a3591280ee2
--- /dev/null
+++ b/g1/GRAB/s1/spheresmall_inspect_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08b07104d95df3321356864d7a30506c82a0b3b8aa5664973ed826d3cf0419fa
+size 312608
diff --git a/g1/GRAB/s1/spheresmall_offhand_1_stageii_120_jpos.npy b/g1/GRAB/s1/spheresmall_offhand_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7a47c870884f78e0e55cefca037a92a588d53fca
--- /dev/null
+++ b/g1/GRAB/s1/spheresmall_offhand_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e23899313f493bc08acd9a3ad99be82e02bb112b6fee94ad7499949a0fdcf3a
+size 340544
diff --git a/g1/GRAB/s1/spheresmall_pass_1_stageii_120_jpos.npy b/g1/GRAB/s1/spheresmall_pass_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..afec8acc53308e3123700f7c39364d4a7387358c
--- /dev/null
+++ b/g1/GRAB/s1/spheresmall_pass_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c73f7286e04e77f17fdaa2facff7e000f788b1b3a1f845ca8d77a8a7a8e470b7
+size 303392
diff --git a/g1/GRAB/s1/stamp_offhand_1_stageii_120_jpos.npy b/g1/GRAB/s1/stamp_offhand_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d8e0bbdc4b50f3e12afee5b1d8681f73fec84cc1
--- /dev/null
+++ b/g1/GRAB/s1/stamp_offhand_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a32dabad44eab3ffb7c479c7bf8f4d91587aabeda03e24d25455648ad1b049f9
+size 395264
diff --git a/g1/GRAB/s1/stanfordbunny_inspect_1_stageii_120_jpos.npy b/g1/GRAB/s1/stanfordbunny_inspect_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..01632fca2614427794c293730b4cfb75ecc172a3
--- /dev/null
+++ b/g1/GRAB/s1/stanfordbunny_inspect_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:472bd64eb0d86f26f48b5d205c4849dc032dc4ecb59fa2583a444d92aa7ec2eb
+size 419456
diff --git a/g1/GRAB/s1/stanfordbunny_offhand_1_stageii_120_jpos.npy b/g1/GRAB/s1/stanfordbunny_offhand_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e237a2af1c19647c77d579a96482d85fd1d0e355
--- /dev/null
+++ b/g1/GRAB/s1/stanfordbunny_offhand_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edd6d434f1f956473e5f2feb6d2782895a8e5c4f1a9832eb5503fc168f521af4
+size 295616
diff --git a/g1/GRAB/s1/stanfordbunny_pick_all_stageii_120_jpos.npy b/g1/GRAB/s1/stanfordbunny_pick_all_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b712b46630100971a68285bbc3a638df5a8ce931
--- /dev/null
+++ b/g1/GRAB/s1/stanfordbunny_pick_all_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1420ff6966302bb63936e23bbdae71c9ce9972a17574f260621eefc867b4547
+size 1081856
diff --git a/g1/GRAB/s1/stapler_offhand_1_stageii_120_jpos.npy b/g1/GRAB/s1/stapler_offhand_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..661a245b26cb4288adb472211064559b433b0086
--- /dev/null
+++ b/g1/GRAB/s1/stapler_offhand_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6baa6a2e166e2052011135705fb6455df76cdaa3dc30d055c6b724776124bfe4
+size 361856
diff --git a/g1/GRAB/s1/stapler_staple_1_stageii_120_jpos.npy b/g1/GRAB/s1/stapler_staple_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e9e4a588d0504a6ef3bfbe9852aa88085472e173
--- /dev/null
+++ b/g1/GRAB/s1/stapler_staple_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32778ef87f80f194308ee683ed608d268abe2d508db32a00199dd5871a998222
+size 300224
diff --git a/g1/GRAB/s1/stapler_staple_2_stageii_120_jpos.npy b/g1/GRAB/s1/stapler_staple_2_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4e193f9c093fcdcba4a3917bd32f08d85f7808e2
--- /dev/null
+++ b/g1/GRAB/s1/stapler_staple_2_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:201887742aa9030a7a8b945727de76c117e4e92424e4dc57f6cb1b2200a46648
+size 310592
diff --git a/g1/GRAB/s1/toothbrush_pick_all_stageii_120_jpos.npy b/g1/GRAB/s1/toothbrush_pick_all_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9f7fe0d000ec11ffb44c58cfdc12aab9331553fd
--- /dev/null
+++ b/g1/GRAB/s1/toothbrush_pick_all_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a49c48cea9f3fc948e0136f2a378d05a8d21a6401ca36739f4a8c75433811c1
+size 983936
diff --git a/g1/GRAB/s1/toothpaste_pick_all_stageii_120_jpos.npy b/g1/GRAB/s1/toothpaste_pick_all_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..de0d9ad315a72cce68dec1f016b8a39e3935d4f9
--- /dev/null
+++ b/g1/GRAB/s1/toothpaste_pick_all_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e44b37c11511376e8fbbb05630348a2890ea4ec38ea22e0beecfd2c03767af56
+size 1130816
diff --git a/g1/GRAB/s1/toothpaste_squeeze_1_stageii_120_jpos.npy b/g1/GRAB/s1/toothpaste_squeeze_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0f24fe3ba4403f25998511d7b7b7c5e61c61afac
--- /dev/null
+++ b/g1/GRAB/s1/toothpaste_squeeze_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5464f51bf879ff6bda4cbf54fc04d2d0f738c545d57175d2d4fceb0b29ea40f
+size 406208
diff --git a/g1/GRAB/s1/toruslarge_inspect_1_stageii_120_jpos.npy b/g1/GRAB/s1/toruslarge_inspect_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..612b4a4a4f32d480f11821925ec310bf97fdad6d
--- /dev/null
+++ b/g1/GRAB/s1/toruslarge_inspect_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9d90ebe6ee4e33170b2c9802578011e12dfc86aa4244ef7466d50ef8b7ac681
+size 426368
diff --git a/g1/GRAB/s1/toruslarge_pass_1_stageii_120_jpos.npy b/g1/GRAB/s1/toruslarge_pass_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..03fe8bf986c948c2b777283e86b611454e9f8fe7
--- /dev/null
+++ b/g1/GRAB/s1/toruslarge_pass_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58b11b0a5b98f243f6ce78dae857c2a36accf0f5c7c272092cbb9389af4ce2f2
+size 283520
diff --git a/g1/GRAB/s1/torusmedium_offhand_1_stageii_120_jpos.npy b/g1/GRAB/s1/torusmedium_offhand_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d8588bf0310ba9284548d5222c5175dbca15d42b
--- /dev/null
+++ b/g1/GRAB/s1/torusmedium_offhand_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d787d58bbd8fe13191e598d92bd0ca20684c0453317e240a4ac5f6172906f05
+size 331616
diff --git a/g1/GRAB/s1/torusmedium_pass_1_stageii_120_jpos.npy b/g1/GRAB/s1/torusmedium_pass_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..827e35299d400141489072d6395fab77efcc9303
--- /dev/null
+++ b/g1/GRAB/s1/torusmedium_pass_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4aa5ec76e651922222b62bf1b142df539f08b89436185211d2b5ab3ad8623b96
+size 313184
diff --git a/g1/GRAB/s1/torusmedium_pick_all_stageii_120_jpos.npy b/g1/GRAB/s1/torusmedium_pick_all_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8010c17afb8793c75dc47d72def8fc809a57ab84
--- /dev/null
+++ b/g1/GRAB/s1/torusmedium_pick_all_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4790cb957ce480465bd987bcf63313d0862e9a4e6ce3c81626a8f57a848a110
+size 659648
diff --git a/g1/GRAB/s1/torussmall_inspect_1_stageii_120_jpos.npy b/g1/GRAB/s1/torussmall_inspect_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0124bad7faac7cac0a324c8488bc22862247ea98
--- /dev/null
+++ b/g1/GRAB/s1/torussmall_inspect_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:803da94cd5ae3cc3b0a00f71a0f4649cf2ee0b8507dd0256adf0b4226d517fe3
+size 346016
diff --git a/g1/GRAB/s1/torussmall_offhand_1_stageii_120_jpos.npy b/g1/GRAB/s1/torussmall_offhand_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..24289e807449dcc289cc6f4304e4ac5ef20909f9
--- /dev/null
+++ b/g1/GRAB/s1/torussmall_offhand_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f1d77a2e5db01964b28badf2cad68fc39cdb069d92c465ed8869a96b135fb8a
+size 331040
diff --git a/g1/GRAB/s1/torussmall_pass_1_stageii_120_jpos.npy b/g1/GRAB/s1/torussmall_pass_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e212f3937aa60b0fff77b71a3c8181aa9790393c
--- /dev/null
+++ b/g1/GRAB/s1/torussmall_pass_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:796fe0983bde8ae09b3fc08c8e1de8433ae58a886a1418ab0bdce64689c28d5d
+size 330176
diff --git a/g1/GRAB/s1/torussmall_pick_all_stageii_120_jpos.npy b/g1/GRAB/s1/torussmall_pick_all_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..79a9e23d33b26bcd0ad4963ebb7cb5b8fd17df34
--- /dev/null
+++ b/g1/GRAB/s1/torussmall_pick_all_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:997b609537dfb65b92bd3a2753c48c17f8190ea14fcdbdfecc70a953ad7d3b7d
+size 563456
diff --git a/g1/GRAB/s1/train_play_1_stageii_120_jpos.npy b/g1/GRAB/s1/train_play_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..78556519ca545be759eb7d4b261660eaf91f35ab
--- /dev/null
+++ b/g1/GRAB/s1/train_play_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0afe8a635686907bbfc79dbb801e855dd1e6f48a6cb74e0560125ffc976017e0
+size 316064
diff --git a/g1/GRAB/s1/watch_offhand_1_stageii_120_jpos.npy b/g1/GRAB/s1/watch_offhand_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b16331739eebfadece69278a8118f242b27921d1
--- /dev/null
+++ b/g1/GRAB/s1/watch_offhand_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c23f982520de02e42ae6ced48a1d2207a8198dce941d98bf37ad55683dbdf9a
+size 329024
diff --git a/g1/GRAB/s1/watch_pass_1_stageii_120_jpos.npy b/g1/GRAB/s1/watch_pass_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7e1eed60fd3f74fbbea3f5c6d805d541fd7781f6
--- /dev/null
+++ b/g1/GRAB/s1/watch_pass_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcb51e8754b49a06a3d5878b41941fb504251721ee1f452c5724b9045202670a
+size 343712
diff --git a/g1/GRAB/s1/watch_pick_all_stageii_120_jpos.npy b/g1/GRAB/s1/watch_pick_all_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9512561e766eaebc820c46e3e1c14ad547bfbd8b
--- /dev/null
+++ b/g1/GRAB/s1/watch_pick_all_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0521c0a73af36ef2603a5432c7114a8b3afcf538cf7db91c425d201dc7a9929
+size 908192
diff --git a/g1/GRAB/s1/watch_set_1_stageii_120_jpos.npy b/g1/GRAB/s1/watch_set_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5fb598084ca2fe27624557b6648be666f54ec140
--- /dev/null
+++ b/g1/GRAB/s1/watch_set_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7eab6756f847daf7302d37c72ac3e7c505d1ebdab83744cf21a055ddae78205
+size 485984
diff --git a/g1/GRAB/s1/watch_set_2_stageii_120_jpos.npy b/g1/GRAB/s1/watch_set_2_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..26a0b3853d01905583a1efdf82fa3bfaf0348b41
--- /dev/null
+++ b/g1/GRAB/s1/watch_set_2_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:045d7206751573efb411ac7aa1956fadc3cb72437a2bb007c60b92e2059db03e
+size 558848
diff --git a/g1/GRAB/s1/waterbottle_drink_1_stageii_120_jpos.npy b/g1/GRAB/s1/waterbottle_drink_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..642757b4b6d0f6b79e0cbce132a6e6360f07ced5
--- /dev/null
+++ b/g1/GRAB/s1/waterbottle_drink_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc99045bcf7ace2bae29f5cf4226cb7d2e59eab7d0b72a925d35455dd6fb303b
+size 337664
diff --git a/g1/GRAB/s1/waterbottle_open_1_stageii_120_jpos.npy b/g1/GRAB/s1/waterbottle_open_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c7266fdb699751f3234c1c9e434978d27e3b3bd4
--- /dev/null
+++ b/g1/GRAB/s1/waterbottle_open_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:105eccba2f09365c549d857068d400a786e413822bc2fa475c08a5455d166776
+size 294464
diff --git a/g1/GRAB/s1/waterbottle_pick_all_stageii_120_jpos.npy b/g1/GRAB/s1/waterbottle_pick_all_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a0825e8e04044a3c23dfcbb18e3cea0a6ba354fa
--- /dev/null
+++ b/g1/GRAB/s1/waterbottle_pick_all_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdb2b408770d03830a45e3e6adf492bfc3fdfb8646a62d682ab86350b69f5519
+size 698816
diff --git a/g1/GRAB/s1/waterbottle_pour_1_stageii_120_jpos.npy b/g1/GRAB/s1/waterbottle_pour_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..911d150c78b72c0dab896cd18f34c0472a4eb4dd
--- /dev/null
+++ b/g1/GRAB/s1/waterbottle_pour_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2be9406f38ebf1428e673390f61184f48d2c0fdb12ca2e19894b1ba1e4c1f69
+size 482816
diff --git a/g1/GRAB/s1/wineglass_drink_2_stageii_120_jpos.npy b/g1/GRAB/s1/wineglass_drink_2_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..092d74a93ce60978b27ae84eec054b5cd1fc6222
--- /dev/null
+++ b/g1/GRAB/s1/wineglass_drink_2_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e58887dfd1a60de86a9b8e1158f222962d4ac7a1eedf481a626215e3257adb26
+size 366464
diff --git a/g1/GRAB/s1/wineglass_offhand_1_stageii_120_jpos.npy b/g1/GRAB/s1/wineglass_offhand_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f8dd56816eff9c2512e42979599be6a797e3d3b8
--- /dev/null
+++ b/g1/GRAB/s1/wineglass_offhand_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44c34e48f42a6083186668d07ec523fc9eeb01de0607e58c7dfd1b0373e43d7a
+size 394688
diff --git a/g1/GRAB/s1/wineglass_pick_all_stageii_120_jpos.npy b/g1/GRAB/s1/wineglass_pick_all_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6d01c6a3c3a5320b07313a342c2298779f0dd0a4
--- /dev/null
+++ b/g1/GRAB/s1/wineglass_pick_all_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:996016899cd78e61ae56333a24dd2c3ea78954913077d8f4df960df6c4e8ac85
+size 1239104
diff --git a/g1/GRAB/s3/binoculars_pick_all_stageii_120_jpos.npy b/g1/GRAB/s3/binoculars_pick_all_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1dc97bb170859fe66d0b2ec79a7767b78172b0f4
--- /dev/null
+++ b/g1/GRAB/s3/binoculars_pick_all_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68a5b438d1bc5477c9a1a473be15a567fbc307a5a87ca8490fb7a3fe15e89fb1
+size 486272
diff --git a/g1/GRAB/s3/cup_pass_1_stageii_120_jpos.npy b/g1/GRAB/s3/cup_pass_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..994cde975b2bcbefe3d96ec53663b621172ff776
--- /dev/null
+++ b/g1/GRAB/s3/cup_pass_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:900194e684d66045286f0b163788958eed46cbfcf2239c0a0825080fca0588d9
+size 246944
diff --git a/g1/GRAB/s3/doorknob_use_1_stageii_120_jpos.npy b/g1/GRAB/s3/doorknob_use_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2c4859737f487235be1de3dadfb43b52432bb88c
--- /dev/null
+++ b/g1/GRAB/s3/doorknob_use_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00b00af0b648a7223895ef564874c541ee9bd3c99dad8654cfd14f33a7ff9868
+size 274304
diff --git a/g1/GRAB/s3/elephant_pass_1_stageii_120_jpos.npy b/g1/GRAB/s3/elephant_pass_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c01f5c8bd4e231ebe1cc56871c2d704447099483
--- /dev/null
+++ b/g1/GRAB/s3/elephant_pass_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d7dfa4a0c52d5080229ca703aad511082222235976437d64eb737ab5109cf4a
+size 210080
diff --git a/g1/GRAB/s3/eyeglasses_pass_1_stageii_120_jpos.npy b/g1/GRAB/s3/eyeglasses_pass_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a15c517b441a42d297a09923be6c97e8014f909b
--- /dev/null
+++ b/g1/GRAB/s3/eyeglasses_pass_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73e5562ec7d1dbc78199c9be66a598b639a5f33aa4293a40a78ac1aff45129bf
+size 250976
diff --git a/g1/GRAB/s3/hand_pass_1_stageii_120_jpos.npy b/g1/GRAB/s3/hand_pass_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..cf87ed7a686273c21b1e7165b09e904f068a41a9
--- /dev/null
+++ b/g1/GRAB/s3/hand_pass_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6c70d4a015df2be90100e8322fe70b12bccf775354125997c30951aa65a0f0a
+size 253280
diff --git a/g1/GRAB/s3/mug_drink_4_stageii_120_jpos.npy b/g1/GRAB/s3/mug_drink_4_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..87fa24cf237ca4f172014a84a5f91b6114695964
--- /dev/null
+++ b/g1/GRAB/s3/mug_drink_4_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d30c17fed021076ce6031257e5667ca6b5c4a06123bb324fc9a2873e78ba0c61
+size 259904
diff --git a/g1/GRAB/s3/phone_call_1_stageii_120_jpos.npy b/g1/GRAB/s3/phone_call_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..682a441b5f690032536e7407c41ff2975f23845e
--- /dev/null
+++ b/g1/GRAB/s3/phone_call_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6781d0a38dfae543fd5aae11b852aa5b0a880bc18e8114ea8987e8c45359a5f1
+size 330176
diff --git a/g1/GRAB/s3/scissors_pass_1_stageii_120_jpos.npy b/g1/GRAB/s3/scissors_pass_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f638b968eae76e6fbe719efc5c9cf058012e4e68
--- /dev/null
+++ b/g1/GRAB/s3/scissors_pass_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e0cb2ea298632b2f4275008b96b5a202416a3ce214184e1be5dff8781eb0e93
+size 204896
diff --git a/g1/GRAB/s3/stamp_pick_all_stageii_120_jpos.npy b/g1/GRAB/s3/stamp_pick_all_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0beee5d126a419604d27b04231df3cbc285295f9
--- /dev/null
+++ b/g1/GRAB/s3/stamp_pick_all_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b70315716d05229e0729f4e718e5aed6f8894ec06ede5ae392a44ea7fa02bc7
+size 350336
diff --git a/g1/GRAB/s3/stanfordbunny_pass_1_stageii_120_jpos.npy b/g1/GRAB/s3/stanfordbunny_pass_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b51cce9fad8104719dc0131a93a19e6bae1d622f
--- /dev/null
+++ b/g1/GRAB/s3/stanfordbunny_pass_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:914a29221266c4f801883a7b125c618e03127e261413768a3a1603e4f8b335b6
+size 232832
diff --git a/g1/GRAB/s3/toruslarge_pick_all_stageii_120_jpos.npy b/g1/GRAB/s3/toruslarge_pick_all_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8de5b71e1bb4332f2e1f9eafe871ff0d4563b001
--- /dev/null
+++ b/g1/GRAB/s3/toruslarge_pick_all_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af9605d95e1b825e1f288884542e5df17baeb8d22dbd627d1868a252eb4710e7
+size 421184
diff --git a/g1/GRAB/s3/train_pick_all_stageii_120_jpos.npy b/g1/GRAB/s3/train_pick_all_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f7b3b9a70e57b398ac2352a8e4addc8102149a3d
--- /dev/null
+++ b/g1/GRAB/s3/train_pick_all_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:232b141fd0be490e610dee2a0faff1986d081bfcb05a30b33ba4feef7eb4a7cc
+size 406208
diff --git a/g1/GRAB/s3/waterbottle_pass_1_stageii_120_jpos.npy b/g1/GRAB/s3/waterbottle_pass_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..492abd3e5903067dc163c5d5b45f8a536f279e15
--- /dev/null
+++ b/g1/GRAB/s3/waterbottle_pass_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa014d1ba17ca4fed0b0d595ab4b25eb24ab7d00c7e7732933879cb746fef99a
+size 222464
diff --git a/g1/GRAB/s3/wineglass_toast_1_stageii_120_jpos.npy b/g1/GRAB/s3/wineglass_toast_1_stageii_120_jpos.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a2411eba343ced7293552a158e9368e96d83be2d
--- /dev/null
+++ b/g1/GRAB/s3/wineglass_toast_1_stageii_120_jpos.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a85fb2494c53d41e2e73fd503aa45adf4b6a7150a085eea1b62bed0b3a77f45
+size 253568