diff --git a/.gitattributes b/.gitattributes
index bed0738c7eeb449bca98b5d2f33c89a1ee56349a..b8d7d66d763b4dba18939048be6cea188806fe76 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -58,3 +58,8 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+0003/objects/stl/Pliers.stl filter=lfs diff=lfs merge=lfs -text
+0003/objects/stl/Rachet.stl filter=lfs diff=lfs merge=lfs -text
+0003/objects/stl/Screwdriver.stl filter=lfs diff=lfs merge=lfs -text
+0003/reconstruction/mvs_filtered_metric.ply filter=lfs diff=lfs merge=lfs -text
+0003/sam6d_scene/annotations.json filter=lfs diff=lfs merge=lfs -text
diff --git a/0003/camera.json b/0003/camera.json
new file mode 100644
index 0000000000000000000000000000000000000000..af72e752b6945befbaf276db140b1991b3183742
--- /dev/null
+++ b/0003/camera.json
@@ -0,0 +1,55 @@
+{
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+    0.0,
+    628.969863892731,
+    0.0,
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+    0.0
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+  "distortion_names": [
+    "k1",
+    "k2",
+    "p1",
+    "p2",
+    "k3"
+  ],
+  "image_width": 1280,
+  "image_height": 800,
+  "depth_scale": 1.0,
+  "depth_unit": "millimetre",
+  "source": "ChArUco RGB calibration",
+  "depth_alignment": "depth_to_color",
+  "realsense_native_depth_scale_m": 0.0010000000474974513,
+  "realsense_factory_color_K": [
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+  "device_name": "RealSense D455",
+  "device_serial": "117122250338",
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+}
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new file mode 100644
index 0000000000000000000000000000000000000000..26988d9f0a0be9d8ad122645433ed212db8ddc44
--- /dev/null
+++ b/0003/data/depth_estimation/dataset_info.json
@@ -0,0 +1,29 @@
+{
+  "format": "label_factory_task_parquet_v3_hf_images_models",
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+    "test": [
+      "test-00000-of-00001.parquet"
+    ]
+  },
+  "bytes": 283069519
+}
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+{
+  "format": "label_factory_task_parquet_v3_hf_images_models",
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+  "bytes": 228200504
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--- /dev/null
+++ b/0003/data/object_pose_estimation/dataset_info.json
@@ -0,0 +1,31 @@
+{
+  "format": "label_factory_task_parquet_v3_hf_images_models",
+  "dataset_id": "0003",
+  "task": "object_pose_estimation",
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+  },
+  "bytes": 291866350,
+  "object_models": 3,
+  "object_models_file": "models.parquet"
+}
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diff --git a/0003/experimental_multi_instance/pem/Rachet/Rachet_poses_per_frame.json b/0003/experimental_multi_instance/pem/Rachet/Rachet_poses_per_frame.json
new file mode 100644
index 0000000000000000000000000000000000000000..57d9c4a65cb19288f4e59be33a8ce7684bc2bc1e
--- /dev/null
+++ b/0003/experimental_multi_instance/pem/Rachet/Rachet_poses_per_frame.json
@@ -0,0 +1,11394 @@
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+}
diff --git a/0003/experimental_multi_instance/pem/Screwdriver/Screwdriver_poses_per_frame.json b/0003/experimental_multi_instance/pem/Screwdriver/Screwdriver_poses_per_frame.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddb710a13ae68e988b46497fee29e62cc3eaf1fa
--- /dev/null
+++ b/0003/experimental_multi_instance/pem/Screwdriver/Screwdriver_poses_per_frame.json
@@ -0,0 +1,36132 @@
+{
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diff --git a/0003/reconstruction/metric_alignment/depth_scale_report.json b/0003/reconstruction/metric_alignment/depth_scale_report.json
new file mode 100644
index 0000000000000000000000000000000000000000..92e5276c9363ced874cea26761a16a54729b1afd
--- /dev/null
+++ b/0003/reconstruction/metric_alignment/depth_scale_report.json
@@ -0,0 +1,2292 @@
+{
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+  "note": "Depth establishes global scale. Reconstruction origin and orientation are retained.",
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+  "scaled_cloud": "/workspace/data/0003/reconstruction/mvs_filtered_metric.ply",
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+  "camera_json": "/workspace/data/0003/camera.json",
+  "metric_camera_poses": "/workspace/data/0003/reconstruction/metric_alignment/camera_poses_metric.json",
+  "number_of_metric_camera_poses": 250,
+  "depth_maps": "/workspace/data/0003/depth_maps",
+  "estimation_points": 44316,
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0021.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0021.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0022.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0022.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0023.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0023.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0024.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0024.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0053.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0053.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0054.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0054.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0055.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0055.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0055.csv
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0056.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0056.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0056.csv
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0084.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0084.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0085.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0085.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0085.csv
@@ -0,0 +1,6 @@
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0086.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0086.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0086.csv
@@ -0,0 +1,6 @@
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0087.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0087.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0087.csv
@@ -0,0 +1,6 @@
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0088.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0088.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0088.csv
@@ -0,0 +1,6 @@
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0089.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0089.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0089.csv
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0090.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0090.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0090.csv
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0091.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0091.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0091.csv
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0092.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0092.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0092.csv
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0093.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0093.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0093.csv
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0094.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0094.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0094.csv
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0095.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0095.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0095.csv
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0096.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0096.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0097.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0097.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0098.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0098.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0098.csv
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0099.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0099.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0100.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0100.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0100.csv
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0101.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0101.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0101.csv
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0102.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0102.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0102.csv
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0103.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0103.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0104.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0104.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0105.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0105.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0106.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0106.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0107.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0107.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0108.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0108.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0109.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0109.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0110.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0110.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0111.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0111.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0112.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0112.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0113.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0113.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0114.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0114.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0115.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0115.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0116.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0116.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0116.csv
@@ -0,0 +1,6 @@
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0117.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0117.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0117.csv
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0118.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0118.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0118.csv
@@ -0,0 +1,6 @@
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0119.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0119.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0119.csv
@@ -0,0 +1,6 @@
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0120.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0120.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0120.csv
@@ -0,0 +1,6 @@
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0121.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0121.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0121.csv
@@ -0,0 +1,6 @@
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0122.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0122.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0122.csv
@@ -0,0 +1,6 @@
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0123.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0123.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0123.csv
@@ -0,0 +1,6 @@
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0124.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0124.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0124.csv
@@ -0,0 +1,6 @@
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0125.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0125.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0125.csv
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0126.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0126.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0126.csv
@@ -0,0 +1,6 @@
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0127.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0127.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0127.csv
@@ -0,0 +1,6 @@
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0128.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0128.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0128.csv
@@ -0,0 +1,6 @@
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0129.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0129.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0129.csv
@@ -0,0 +1,6 @@
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0130.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0130.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0130.csv
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0131.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0131.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0131.csv
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0132.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0132.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0132.csv
@@ -0,0 +1,6 @@
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0133.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0133.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0133.csv
@@ -0,0 +1,6 @@
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0134.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0134.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0134.csv
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0135.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0135.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0135.csv
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0136.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0136.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0136.csv
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0137.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0137.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0137.csv
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0138.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0138.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0138.csv
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0139.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0139.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0139.csv
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0140.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0140.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0140.csv
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0141.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0141.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0142.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0142.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0143.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0143.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0144.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0144.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0145.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0145.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0146.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0146.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0147.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0147.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0148.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0148.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0148.csv
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0149.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0149.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0149.csv
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0150.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0150.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0150.csv
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0151.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0151.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0151.csv
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0180.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0180.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0180.csv
@@ -0,0 +1,6 @@
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0181.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0181.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0181.csv
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0182.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0182.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0182.csv
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0183.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0183.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0183.csv
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0184.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0184.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0184.csv
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0185.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0185.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0185.csv
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0186.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0186.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0186.csv
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0187.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0187.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0187.csv
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0188.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0188.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0188.csv
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0189.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0189.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0189.csv
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0190.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0190.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0190.csv
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0191.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0191.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0194.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0194.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0195.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0195.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0195.csv
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0196.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0196.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0196.csv
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0197.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0197.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0198.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0198.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0200.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0200.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0201.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0201.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0202.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0202.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0203.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0203.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0204.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0204.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0205.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0205.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0206.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0206.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0207.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0207.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0208.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0208.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0209.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0209.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0210.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0210.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0211.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0211.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0211.csv
@@ -0,0 +1,6 @@
+idx,object_name,instance_name,category_id,channel_instance,channel_cp_category_id
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0212.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0212.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0212.csv
@@ -0,0 +1,6 @@
+idx,object_name,instance_name,category_id,channel_instance,channel_cp_category_id
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0213.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0213.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0213.csv
@@ -0,0 +1,6 @@
+idx,object_name,instance_name,category_id,channel_instance,channel_cp_category_id
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0214.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0214.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0214.csv
@@ -0,0 +1,6 @@
+idx,object_name,instance_name,category_id,channel_instance,channel_cp_category_id
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0215.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0215.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0215.csv
@@ -0,0 +1,6 @@
+idx,object_name,instance_name,category_id,channel_instance,channel_cp_category_id
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0216.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0216.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0216.csv
@@ -0,0 +1,6 @@
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0217.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0217.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0217.csv
@@ -0,0 +1,6 @@
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0218.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0218.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0218.csv
@@ -0,0 +1,6 @@
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0219.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0219.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0219.csv
@@ -0,0 +1,6 @@
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0220.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0220.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0220.csv
@@ -0,0 +1,6 @@
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0221.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0221.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0221.csv
@@ -0,0 +1,6 @@
+idx,object_name,instance_name,category_id,channel_instance,channel_cp_category_id
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0222.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0222.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0222.csv
@@ -0,0 +1,6 @@
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0223.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0223.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0223.csv
@@ -0,0 +1,6 @@
+idx,object_name,instance_name,category_id,channel_instance,channel_cp_category_id
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0224.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0224.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0224.csv
@@ -0,0 +1,6 @@
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0225.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0225.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0225.csv
@@ -0,0 +1,6 @@
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0226.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0226.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0226.csv
@@ -0,0 +1,6 @@
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0227.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0227.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0227.csv
@@ -0,0 +1,6 @@
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0228.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0228.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0228.csv
@@ -0,0 +1,6 @@
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0229.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0229.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0229.csv
@@ -0,0 +1,6 @@
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0230.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0230.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0230.csv
@@ -0,0 +1,6 @@
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0231.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0231.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0231.csv
@@ -0,0 +1,6 @@
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0232.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0232.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0232.csv
@@ -0,0 +1,6 @@
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0233.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0233.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0233.csv
@@ -0,0 +1,6 @@
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0234.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0234.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0234.csv
@@ -0,0 +1,6 @@
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0235.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0235.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0235.csv
@@ -0,0 +1,6 @@
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0236.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0236.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0236.csv
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0237.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0237.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0237.csv
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0238.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0238.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0238.csv
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0239.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0239.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0240.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0240.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0240.csv
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0241.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0241.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
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diff --git a/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0242.csv b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0242.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd479a8ccb1dc3ddb216d3e01333c1ae03d531d9
--- /dev/null
+++ b/0003/sam6d_scene/segmentation_raw/instance_attribute_map_0242.csv
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+    "colmap_reconstruction": "/workspace/data/0003/reconstruction/sfm_filtered",
+    "sim3_alignment": "/workspace/data/0003/reconstruction/metric_alignment"
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+}
diff --git a/0003/sam6d_sequences/Rachet/Rachet_world_pose.json b/0003/sam6d_sequences/Rachet/Rachet_world_pose.json
new file mode 100644
index 0000000000000000000000000000000000000000..04178d2335148a4b9b3cb4beb0923e1c447d603e
--- /dev/null
+++ b/0003/sam6d_sequences/Rachet/Rachet_world_pose.json
@@ -0,0 +1,429 @@
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diff --git a/0003/sam6d_sequences/Screwdriver/Screwdriver_world_pose.json b/0003/sam6d_sequences/Screwdriver/Screwdriver_world_pose.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e7bea63d78085fde584915553b69cca1c6259d1
--- /dev/null
+++ b/0003/sam6d_sequences/Screwdriver/Screwdriver_world_pose.json
@@ -0,0 +1,801 @@
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+      ],
+      "silhouette_iou_median": 0.7768595134672003,
+      "silhouette_iou_frames": 36
+    }
+  ],
+  "R": [
+    [
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+    [
+      0.222792226101992,
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+    ],
+    [
+      0.9734748204757495,
+      0.05822546984834187,
+      0.22126131284218573
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+  ],
+  "quaternion_xyzw": [
+    0.5449705979564571,
+    -0.3039348465409797,
+    0.6585243730971425,
+    0.4206855196677302
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+  "translation": [
+    -0.032633665629607886,
+    0.17072380403786497,
+    0.18343835497077168
+  ],
+  "world_from_object": [
+    [
+      -0.05206148180974693,
+      -0.8853344463389589,
+      0.4620308650268539,
+      -0.032633665629607886
+    ],
+    [
+      0.222792226101992,
+      -0.461294605200006,
+      -0.8588194869714415,
+      0.17072380403786497
+    ],
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+      0.9734748204757495,
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+      0.22126131284218573,
+      0.18343835497077168
+    ],
+    [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "ransac": {
+    "estimation_mode": "position_then_orientation",
+    "translation_threshold_m": 0.005,
+    "rotation_threshold_deg": 5.0,
+    "maximum_rotation_threshold_deg": 30.0,
+    "minimum_score": 0.0,
+    "symmetry_mode": "auto",
+    "symmetry_tolerance_fraction": 0.01,
+    "number_of_rotational_symmetries": 4,
+    "maximum_instances": 0,
+    "minimum_instance_frame_fraction": 0.05,
+    "low_support_fallback_used": false,
+    "min_silhouette_iou": 0.0,
+    "automatic_support_threshold_frames": 7,
+    "position_suppression_threshold_m": 0.01,
+    "number_of_candidate_frames": 46,
+    "number_of_candidate_observations": 47,
+    "number_of_raw_pose_clusters": 1,
+    "number_of_instances": 1,
+    "remaining_unclustered_observations": 11,
+    "rejected_pose_clusters": []
+  },
+  "skipped_frames": [
+    {
+      "frame_id": 43,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 46,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 69,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 127,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 143,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 154,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 188,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 204,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 243,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 248,
+      "reason": "no_object_pose"
+    },
+    {
+      "frame_id": 249,
+      "reason": "no_object_pose"
+    }
+  ],
+  "sources": {
+    "config_path": "/workspace/scripts/configs/default.yaml",
+    "object_poses": "/workspace/data/0003/experimental_multi_instance/pem/Screwdriver/Screwdriver_poses_per_frame.json",
+    "colmap_reconstruction": "/workspace/data/0003/reconstruction/sfm_filtered",
+    "sim3_alignment": "/workspace/data/0003/reconstruction/metric_alignment"
+  }
+}
diff --git a/0003/sam6d_sequences/ransac_run_summary.json b/0003/sam6d_sequences/ransac_run_summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fc763af3fc845e5a0c294ebfe940bb9bd275555
--- /dev/null
+++ b/0003/sam6d_sequences/ransac_run_summary.json
@@ -0,0 +1,23 @@
+{
+  "format": "label_factory_multi_instance_pose_fitting_summary_v1",
+  "objects_requested": [
+    "Pliers",
+    "Rachet",
+    "Screwdriver"
+  ],
+  "found_objects": {
+    "Pliers": 2,
+    "Rachet": 1,
+    "Screwdriver": 1
+  },
+  "non_found_objects": [],
+  "objects_succeeded": [
+    "Pliers",
+    "Rachet",
+    "Screwdriver"
+  ],
+  "low_support_objects": [
+    "Rachet"
+  ],
+  "objects_excluded": []
+}
diff --git a/README.md b/README.md
index 32897cd3e640101ba184f8c4ccd896981de3804a..7d6165a1ba2519c11f88d8b25a16649b6db07071 100644
--- a/README.md
+++ b/README.md
@@ -1,3 +1,158 @@
 ---
+pretty_name: Label Factory Multi-Task RGB-D Collection
 license: mit
+tags:
+- image
+- video
+- 3d
+- rgb-d
+configs:
+- config_name: depth_estimation
+  data_files:
+  - split: train
+    path: "*/data/depth_estimation/train-*.parquet"
+  - split: validation
+    path: "*/data/depth_estimation/validation-*.parquet"
+  - split: test
+    path: "*/data/depth_estimation/test-*.parquet"
+- config_name: instance_segmentation
+  data_files:
+  - split: train
+    path: "*/data/instance_segmentation/train-*.parquet"
+  - split: validation
+    path: "*/data/instance_segmentation/validation-*.parquet"
+  - split: test
+    path: "*/data/instance_segmentation/test-*.parquet"
+- config_name: object_pose_estimation
+  data_files:
+  - split: train
+    path: "*/data/object_pose_estimation/train-*.parquet"
+  - split: validation
+    path: "*/data/object_pose_estimation/validation-*.parquet"
+  - split: test
+    path: "*/data/object_pose_estimation/test-*.parquet"
+- config_name: object_pose_models
+  data_files:
+  - split: train
+    path: "*/data/object_pose_estimation/models.parquet"
 ---
+
+# ABC-iRobotics/Hand_Tools
+
+Growing multi-task RGB-D collection generated with the Label Factory workflow.
+Every capture is stored in its own zero-padded directory (`0000`, `0001`,
+`0002`, ...). Uploading a new capture appends it to the collection without
+replacing earlier directories. Task configurations aggregate compatible
+Parquet shards from every numbered directory.
+
+## Training configurations
+
+- `depth_estimation`: RGB input, metric depth target, intrinsics and depth units
+- `instance_segmentation`: RGB input, instance-mask target, boxes and annotations
+- `object_pose_estimation`: RGB-D input, masks, camera transforms and object poses
+- `object_pose_models`: one STL payload per object type and numbered dataset
+
+Every configuration provides deterministic `train`, `validation`, and `test`
+splits. Adding another numbered capture appends rows through the wildcard paths;
+it does not replace earlier datasets.
+
+## Loading all or several numbered datasets
+
+The configuration automatically combines every uploaded directory (`0000`,
+`0001`, `0002`, ...). Filter `dataset_id` to use selected captures:
+
+```python
+from datasets import load_dataset
+
+poses = load_dataset("ABC-iRobotics/Hand_Tools", "object_pose_estimation")
+selected_ids = set(["0000", "0001", "0004"])
+for split_name in poses:
+    poses[split_name] = poses[split_name].filter(
+        lambda row: row["dataset_id"] in selected_ids
+    )
+```
+
+## Depth-estimation example
+
+```python
+from datasets import load_dataset
+import numpy as np
+
+depth_dataset = load_dataset("ABC-iRobotics/Hand_Tools", "depth_estimation")
+sample = depth_dataset["train"][0]
+rgb = sample["image"].convert("RGB")
+depth_native = np.asarray(sample["depth"])
+depth_mm = depth_native.astype(np.float32) * sample["depth_scale"]
+depth_m = depth_mm / 1000.0
+intrinsics_3x3 = np.asarray(sample["camera_intrinsics"]).reshape(3, 3)
+```
+
+## Instance-segmentation example
+
+```python
+from datasets import load_dataset
+import json
+import numpy as np
+
+instances = load_dataset("ABC-iRobotics/Hand_Tools", "instance_segmentation")
+sample = instances["validation"][0]
+rgb = sample["image"].convert("RGB")
+instance_mask = np.asarray(sample["instance_mask"])
+annotations = json.loads(sample["annotations_json"])
+boxes_xywh = np.asarray(sample["boxes_xywh"])
+instance_names = sample["instance_names"]
+```
+
+## Object-pose-estimation example
+
+```python
+from datasets import load_dataset
+import numpy as np
+
+poses = load_dataset("ABC-iRobotics/Hand_Tools", "object_pose_estimation")
+sample = poses["test"][0]
+rgb = sample["image"].convert("RGB")
+depth = np.asarray(sample["depth"])
+instance_mask = np.asarray(sample["instance_mask"])
+world_from_camera = np.asarray(sample["world_from_camera"]).reshape(4, 4)
+camera_from_world = np.asarray(sample["camera_from_world"]).reshape(4, 4)
+world_from_objects = np.asarray(sample["world_from_objects"]).reshape(-1, 4, 4)
+camera_from_objects = np.asarray(sample["camera_from_objects"]).reshape(-1, 4, 4)
+object_names = sample["object_names"]
+
+# Resolve the STL models referenced by this pose sample.
+models = load_dataset("ABC-iRobotics/Hand_Tools", "object_pose_models")["train"]
+required_keys = set(sample["object_model_keys"])
+models = models.filter(lambda row: row["object_model_key"] in required_keys)
+first_model = models[0]
+with open(first_model["stl_file_name"], "wb") as file:
+    file.write(first_model["stl"])
+```
+
+## Collection contents
+
+Each numbered directory contributes:
+
+- RGB images and aligned 16-bit metric depth maps
+- camera intrinsics and metric world-coordinate camera poses
+- instance masks, boxes, RLE annotations and visualization overlays
+- per-frame and consolidated object poses
+- metric scene reconstruction and object STL models
+- task-specific train, validation and test Parquet shards
+
+## Latest generated contribution
+
+- Directory: `0003/`
+- RGB-D frames: 250
+- Annotated object instances: 4
+- Selected upload files: 1535
+
+Depth images are stored in millimetres. Pose conventions and coordinate-system
+metadata are recorded in `0003/sam6d_scene/annotations.json` and
+`0003/reconstruction/metric_alignment/camera_poses_metric.json`.
+
+## Limitations
+
+Annotations are automatically generated and must be independently reviewed for
+the intended downstream use. Reconstruction, depth-alignment, segmentation and
+pose-estimation errors may remain.