diff --git a/zehan/NEW/Convenience_Store/l001_r001/camera_annots.json b/zehan/NEW/Convenience_Store/l001_r001/camera_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..6aa72d751e52dcfb7c6b4fb991039ec45bee61a3
--- /dev/null
+++ b/zehan/NEW/Convenience_Store/l001_r001/camera_annots.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/zehan/NEW/Convenience_Store/l001_r001/object_annots.json b/zehan/NEW/Convenience_Store/l001_r001/object_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a525a9244b92b43529bf1f0b0aa5653a8c73410
--- /dev/null
+++ b/zehan/NEW/Convenience_Store/l001_r001/object_annots.json
@@ -0,0 +1 @@
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diff --git a/zehan/NEW/Convenience_Store/l006_r000/seenable_obj_dict.json b/zehan/NEW/Convenience_Store/l006_r000/seenable_obj_dict.json
new file mode 100644
index 0000000000000000000000000000000000000000..52bca3fe85c3a50e8e0d65cddf523ee35271d53d
--- /dev/null
+++ b/zehan/NEW/Convenience_Store/l006_r000/seenable_obj_dict.json
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diff --git a/zehan/NEW/Convenience_Store/l010_r002/seenable_obj_dict.json b/zehan/NEW/Convenience_Store/l010_r002/seenable_obj_dict.json
new file mode 100644
index 0000000000000000000000000000000000000000..1380c10d68c3990fb20adc397670722d9d2348c1
--- /dev/null
+++ b/zehan/NEW/Convenience_Store/l010_r002/seenable_obj_dict.json
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diff --git a/zehan/NEW/Convenience_Store/l010_r005/camera_annots.json b/zehan/NEW/Convenience_Store/l010_r005/camera_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d4d6eb236000b483df843f44b6e5d98e2414fc5
--- /dev/null
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\ No newline at end of file
diff --git a/zehan/NEW/Convenience_Store/l010_r005/object_annots.json b/zehan/NEW/Convenience_Store/l010_r005/object_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..72fbfe876e3608a6ef99b2bb62fba610b5a59199
--- /dev/null
+++ b/zehan/NEW/Convenience_Store/l010_r005/object_annots.json
@@ -0,0 +1 @@
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diff --git a/zehan/NEW/Convenience_Store/l010_r005/seenable_obj_dict.json b/zehan/NEW/Convenience_Store/l010_r005/seenable_obj_dict.json
new file mode 100644
index 0000000000000000000000000000000000000000..11a10018fa62305fb041e2327381635496aa86ce
--- /dev/null
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diff --git a/zehan/NEW/Convenience_Store/l021_r005/seenable_obj_dict.json b/zehan/NEW/Convenience_Store/l021_r005/seenable_obj_dict.json
new file mode 100644
index 0000000000000000000000000000000000000000..64c6e1c39772c05e1550c0dcf0bfaec621797b45
--- /dev/null
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diff --git a/zehan/NEW/Convenience_Store/l057_r005/object_annots.json b/zehan/NEW/Convenience_Store/l057_r005/object_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..76ab5ea04308012f606f0464e3ad013ca504ffba
--- /dev/null
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diff --git a/zehan/NEW/Convenience_Store/l057_r005/seenable_obj_dict.json b/zehan/NEW/Convenience_Store/l057_r005/seenable_obj_dict.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3433708e30bacf2a4c1f2ca7df982c8480a7553
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diff --git a/zehan/NEW/Convenience_Store/l059_r003/depth.npy b/zehan/NEW/Convenience_Store/l059_r003/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1a3efb88a0d1f4e9251350a2d0b5b4ce3b1dee54
--- /dev/null
+++ b/zehan/NEW/Convenience_Store/l059_r003/depth.npy
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diff --git a/zehan/NEW/Convenience_Store/l066_r002/seenable_obj_dict.json b/zehan/NEW/Convenience_Store/l066_r002/seenable_obj_dict.json
new file mode 100644
index 0000000000000000000000000000000000000000..01ae016c8e9e43579862d2bff94c66a2321588a3
--- /dev/null
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diff --git a/zehan/NEW/Convenience_Store/l066_r005/camera_annots.json b/zehan/NEW/Convenience_Store/l066_r005/camera_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fbdbef04601b999e9ed4f547b2acce86ba44e4b
--- /dev/null
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diff --git a/zehan/NEW/Convenience_Store/l066_r005/object_annots.json b/zehan/NEW/Convenience_Store/l066_r005/object_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d7942f001de9466e98714b0e4a296acc40ea945
--- /dev/null
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diff --git a/zehan/NEW/Convenience_Store/l072_r005/seenable_obj_dict.json b/zehan/NEW/Convenience_Store/l072_r005/seenable_obj_dict.json
new file mode 100644
index 0000000000000000000000000000000000000000..2733cd3d3b58e1227e0d71235bb38f25fb779c7e
--- /dev/null
+++ b/zehan/NEW/Convenience_Store/l072_r005/seenable_obj_dict.json
@@ -0,0 +1,312 @@
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diff --git a/zehan/NEW/Convenience_Store/l077_r001/seenable_obj_dict.json b/zehan/NEW/Convenience_Store/l077_r001/seenable_obj_dict.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e3ccdc038740d64b101a26fa322dc566c1630df
--- /dev/null
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diff --git a/zehan/NEW/Convenience_Store/l083_r002/seenable_obj_dict.json b/zehan/NEW/Convenience_Store/l083_r002/seenable_obj_dict.json
new file mode 100644
index 0000000000000000000000000000000000000000..3986d6009b160f78a7773c8f7c022dbea1d9c83f
--- /dev/null
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\ No newline at end of file
diff --git a/zehan/NEW/Convenience_Store/l083_r005/camera_annots.json b/zehan/NEW/Convenience_Store/l083_r005/camera_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..5947e6e38fef09b2e7af3e1a00020aad43e80504
--- /dev/null
+++ b/zehan/NEW/Convenience_Store/l083_r005/camera_annots.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/zehan/NEW/Convenience_Store/l083_r005/object_annots.json b/zehan/NEW/Convenience_Store/l083_r005/object_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3190130fec451565cd1527171677a462b90ffca
--- /dev/null
+++ b/zehan/NEW/Convenience_Store/l083_r005/object_annots.json
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diff --git a/zehan/NEW/Convenience_Store/l084_r003/seenable_obj_dict.json b/zehan/NEW/Convenience_Store/l084_r003/seenable_obj_dict.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfe040ee818760928483976e4708e37d35db1bf6
--- /dev/null
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diff --git a/zehan/NEW/Convenience_Store/l084_r004/camera_annots.json b/zehan/NEW/Convenience_Store/l084_r004/camera_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..f76d78eae64f3cec1c4d24316514830b188988a7
--- /dev/null
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diff --git a/zehan/NEW/Convenience_Store/l084_r004/object_annots.json b/zehan/NEW/Convenience_Store/l084_r004/object_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..987102b5fcf87686bcd2fbd674520521ac19816c
--- /dev/null
+++ b/zehan/NEW/Convenience_Store/l084_r004/object_annots.json
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diff --git a/zehan/NEW/Convenience_Store/l084_r004/seenable_obj_dict.json b/zehan/NEW/Convenience_Store/l084_r004/seenable_obj_dict.json
new file mode 100644
index 0000000000000000000000000000000000000000..47e4632f17ad51a3c49873d3bdec3250ee7aba77
--- /dev/null
+++ b/zehan/NEW/Convenience_Store/l084_r004/seenable_obj_dict.json
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diff --git a/zehan/NEW/Convenience_Store/l088_r003/seenable_obj_dict.json b/zehan/NEW/Convenience_Store/l088_r003/seenable_obj_dict.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ebf08197c0fbbfeda4f717f2e4b71bde658f1f6
--- /dev/null
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diff --git a/zehan/NEW/Convenience_Store/l088_r004/camera_annots.json b/zehan/NEW/Convenience_Store/l088_r004/camera_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..fda9754050817b1b4420d743e744c2dd2fb7f06d
--- /dev/null
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\ No newline at end of file
diff --git a/zehan/NEW/Convenience_Store/l088_r004/object_annots.json b/zehan/NEW/Convenience_Store/l088_r004/object_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b78d16e69c248d6a95951557e951f1baf3957e5
--- /dev/null
+++ b/zehan/NEW/Convenience_Store/l088_r004/object_annots.json
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diff --git a/zehan/NEW/Convenience_Store/l099_r000/seenable_obj_dict.json b/zehan/NEW/Convenience_Store/l099_r000/seenable_obj_dict.json
new file mode 100644
index 0000000000000000000000000000000000000000..4644037f0481881579946ff6d6865f5f9d60fd65
--- /dev/null
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diff --git a/zehan/NEW/Convenience_Store/l102_r005/seenable_obj_dict.json b/zehan/NEW/Convenience_Store/l102_r005/seenable_obj_dict.json
new file mode 100644
index 0000000000000000000000000000000000000000..97b910b2a232278ac87fb2a11b5f96ebcae89231
--- /dev/null
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diff --git a/zehan/NEW/Convenience_Store/l116_r005/seenable_obj_dict.json b/zehan/NEW/Convenience_Store/l116_r005/seenable_obj_dict.json
new file mode 100644
index 0000000000000000000000000000000000000000..ade6f57d45a7da9b31de5208e3ff3cd5c72bf6ca
--- /dev/null
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diff --git a/zehan/NEW/Convenience_Store/l118_r000/camera_annots.json b/zehan/NEW/Convenience_Store/l118_r000/camera_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe2ce75c80828b5681f654a4400f43fc89845efb
--- /dev/null
+++ b/zehan/NEW/Convenience_Store/l118_r000/camera_annots.json
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\ No newline at end of file
diff --git a/zehan/NEW/Convenience_Store/l118_r000/object_annots.json b/zehan/NEW/Convenience_Store/l118_r000/object_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..8eb493bd29a9ea9d0edbd0559a36d43df4b43942
--- /dev/null
+++ b/zehan/NEW/Convenience_Store/l118_r000/object_annots.json
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diff --git a/zehan/NEW/Convenience_Store/l118_r000/seenable_obj_dict.json b/zehan/NEW/Convenience_Store/l118_r000/seenable_obj_dict.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbfc0c4d1cfbf867ccc0a31771a1bfcb611d8fad
--- /dev/null
+++ b/zehan/NEW/Convenience_Store/l118_r000/seenable_obj_dict.json
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diff --git a/zehan/NEW/Convenience_Store/l120_r004/seenable_obj_dict.json b/zehan/NEW/Convenience_Store/l120_r004/seenable_obj_dict.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2539a6e13c29190c834669325b2cf9aa07c3d22
--- /dev/null
+++ b/zehan/NEW/Convenience_Store/l120_r004/seenable_obj_dict.json
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diff --git a/zehan/NEW/Convenience_Store/l133_r002/seenable_obj_dict.json b/zehan/NEW/Convenience_Store/l133_r002/seenable_obj_dict.json
new file mode 100644
index 0000000000000000000000000000000000000000..a586a1982d0b9fdce3a49fe43cb86ae466dc5daa
--- /dev/null
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diff --git a/zehan/NEW/Convenience_Store/l133_r005/camera_annots.json b/zehan/NEW/Convenience_Store/l133_r005/camera_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8fd9a909da8d325ce2b46899700d67aa85b9a9b
--- /dev/null
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diff --git a/zehan/NEW/Convenience_Store/l133_r005/object_annots.json b/zehan/NEW/Convenience_Store/l133_r005/object_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9ba6f183d62b881d2bc76729c4c6682e1a0cb2e
--- /dev/null
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diff --git a/zehan/NEW/Convenience_Store/l138_r003/seenable_obj_dict.json b/zehan/NEW/Convenience_Store/l138_r003/seenable_obj_dict.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d213ae99c99d10c8dbe56b36cfbed3d481100c2
--- /dev/null
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diff --git a/zehan/NEW/Convenience_Store/l138_r004/camera_annots.json b/zehan/NEW/Convenience_Store/l138_r004/camera_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ea9b4ed71690eebf51042efe79293ce919e732c
--- /dev/null
+++ b/zehan/NEW/Convenience_Store/l138_r004/camera_annots.json
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diff --git a/zehan/NEW/Convenience_Store/l138_r004/object_annots.json b/zehan/NEW/Convenience_Store/l138_r004/object_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..adaa8a68b0acfb2ff5dd67bcff432aafd7bf6707
--- /dev/null
+++ b/zehan/NEW/Convenience_Store/l138_r004/object_annots.json
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diff --git a/zehan/NEW/Convenience_Store/l149_r002/seenable_obj_dict.json b/zehan/NEW/Convenience_Store/l149_r002/seenable_obj_dict.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f3ae903a2c28877c7bd1e1f315f9b9b06916a8a
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diff --git a/zehan/NEW/Convenience_Store/l149_r005/camera_annots.json b/zehan/NEW/Convenience_Store/l149_r005/camera_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c07c6b1958a8665b12fb1d8dcfc8e67a8d158cc
--- /dev/null
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diff --git a/zehan/NEW/Convenience_Store/l149_r005/object_annots.json b/zehan/NEW/Convenience_Store/l149_r005/object_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ff21f74769f42ffe914d7c11890951d6f592206
--- /dev/null
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diff --git a/zehan/NEW/Convenience_Store/l149_r005/seenable_obj_dict.json b/zehan/NEW/Convenience_Store/l149_r005/seenable_obj_dict.json
new file mode 100644
index 0000000000000000000000000000000000000000..def25f8bf1f85bc187742a3db69b55756af95dba
--- /dev/null
+++ b/zehan/NEW/Convenience_Store/l149_r005/seenable_obj_dict.json
@@ -0,0 +1,117 @@
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+    "SM_Drink_Machine_2": [
+        31,
+        95,
+        255
+    ],
+    "SM_Plastic_Cup_5": [
+        31,
+        95,
+        127
+    ],
+    "SM_Plastic_Cup2": [
+        31,
+        95,
+        63
+    ],
+    "SM_Plastic_Cup3": [
+        31,
+        95,
+        191
+    ],
+    "SM_Plastic_Cup4": [
+        31,
+        95,
+        31
+    ],
+    "SM_Plastic_Cup5": [
+        0,
+        95,
+        95
+    ],
+    "SM_Plastic_Cup6": [
+        255,
+        95,
+        95
+    ],
+    "SM_Plastic_Cup7": [
+        127,
+        95,
+        95
+    ],
+    "BP_Floor11": [
+        127,
+        63,
+        63
+    ],
+    "BP_Ceiling25": [
+        63,
+        159,
+        31
+    ],
+    "BP_Ceiling26": [
+        63,
+        159,
+        95
+    ],
+    "BP_Cooler_Left_2": [
+        95,
+        127,
+        127
+    ],
+    "BP_Walls34": [
+        63,
+        95,
+        191
+    ],
+    "BP_Walls35": [
+        191,
+        95,
+        0
+    ],
+    "BP_Walls36": [
+        191,
+        95,
+        255
+    ],
+    "BP_Wall_Corners5": [
+        63,
+        95,
+        31
+    ],
+    "BP_Display_Merchandiser_2": [
+        95,
+        127,
+        191
+    ],
+    "BP_Display_Merchandiser2": [
+        95,
+        127,
+        31
+    ]
+}
\ No newline at end of file