diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region0/cushion-1.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region0/cushion-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..684b75abe96e0907dd9f359f286dd0713ebaf92e
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region0/cushion-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region0/cushion-2.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region0/cushion-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..84d7a9181db8c7023213e09f09769bd732a01f1c
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region0/cushion-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region1/barricade-2.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region1/barricade-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e65542157bfa47e27a2fac3093d13e6f7635269d
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region1/barricade-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region1/barricade-3.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region1/barricade-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..849f1acf1e77a87e5422cebab1cae5d4461453ac
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region1/barricade-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region1/vase-1.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region1/vase-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..5608b08e569627460658818e7aadf1d437e0b311
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region1/vase-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region1/vase-2.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region1/vase-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..76d2feaf476c909f70f578664b4f75abe797b52f
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region1/vase-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region1/wall-7.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region1/wall-7.ply
new file mode 100644
index 0000000000000000000000000000000000000000..b03acf8b3dbe4abd35bd79b67b516d2b250ce47f
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region1/wall-7.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/barricade-1.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/barricade-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e4ee81a7af1179ffb0f63b4871234c4519d9738c
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/barricade-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/barricade-2.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/barricade-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..ceb9c7eb0d216de95bde2f1c73f435ec479b5655
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/barricade-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/barricade-3.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/barricade-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..82bf632ccee5d34175e49a79d4ca82284f1b89f6
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/barricade-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/ceiling-3.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/ceiling-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..cb765eb1d04b7fb829b641493c2792d318d49442
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/ceiling-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/door-1.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/door-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..bad52f25ea66935b1958f24b3d800c3737fb6b27
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/door-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/door-13.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/door-13.ply
new file mode 100644
index 0000000000000000000000000000000000000000..70f9c10da0c667c8dc634fde8ebfe050a324ceaa
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/door-13.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/door-14.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/door-14.ply
new file mode 100644
index 0000000000000000000000000000000000000000..c0ca6c9473ffa5813b1f4290a92fcaace8112844
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/door-14.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/door-7.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/door-7.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e5bb7243b2b62aa085884d855607b0f99b6dd79b
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/door-7.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/fire extinguisher-1.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/fire extinguisher-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..2df88521e2c63d5557d896709dd769c1aafdf99a
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/fire extinguisher-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/fireplace utensil-1.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/fireplace utensil-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..17528f2ce34c98233e1b824e4fb4eca4457e5734
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/fireplace utensil-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/mirror-1.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/mirror-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..2b451202348b2a6e69603eb191ec0100a978d5ea
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/mirror-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/mirror-3.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/mirror-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..dd81d99fde665d276849a690b03646ca81b0afcd
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/mirror-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/shelving-1.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/shelving-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..2dca63183847ca47a9cc102e9355590a2e511a85
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/shelving-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/vase-1.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/vase-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..7bfdf7b0da8b10365ad5f6fcbb33890fb6767358
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/vase-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/wall-17.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/wall-17.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e1a71f6589faf360e569f855934dd0d3486391db
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/wall-17.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/window-1.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/window-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..c22f76ae3614259eb6ed208999efc43dffa74042
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region12/window-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region14/ceiling-2.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region14/ceiling-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f62853263202172c98e930f7def2dcafd78ebc94
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region14/ceiling-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region14/ceiling-4.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region14/ceiling-4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..d5194303ef3c2b0b5ff9cdf762766304cbecb8d1
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region14/ceiling-4.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region14/fire extinguisher-1.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region14/fire extinguisher-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..8ae162d9d9bb1c70f7a5aff0a3dbcf164fba79c5
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region14/fire extinguisher-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region14/fire extinguisher-2.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region14/fire extinguisher-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..93452d443409bc27c79c4cf1418d3f2bc0498950
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region14/fire extinguisher-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region16/fire extinguisher-1.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region16/fire extinguisher-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..0fbb8cbb3b571b046f6e52388c650bb29513e17c
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region16/fire extinguisher-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region16/object-1.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region16/object-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..ce9fb49d735d325967bad6c44204790270f71b87
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region16/object-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region16/window-7.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region16/window-7.ply
new file mode 100644
index 0000000000000000000000000000000000000000..20f113c50d3c90483488767a1fb7709bfef6595a
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region16/window-7.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region18/door-1.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region18/door-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e81b7eb8137b85987ce7865eee5c519685855ed2
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region18/door-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region19/candlestick-1.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region19/candlestick-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..660c9966a3cd9322a6a426d1ca822eecffcf547f
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region19/candlestick-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region19/candlestick-2.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region19/candlestick-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f6e2eeb0e2c682d241c92a2ca87a8a0260c018fd
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region19/candlestick-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region19/ceiling-1.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region19/ceiling-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f9a09ad8538644b1aeb960de1038c45dcdef4c18
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region19/ceiling-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region19/chair-2.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region19/chair-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..48106515015e8ca7c9fab94cd4addc41007a06f3
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region19/chair-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region19/cushion-1.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region19/cushion-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4c47cfdea371e72d24118245a7aa947e137ac2f9
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region19/cushion-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region19/stool-1.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region19/stool-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..d875ff7a395b24a4b6ea6c3c5da5640d49fe4260
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region19/stool-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region19/stool-2.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region19/stool-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..c33d65946dd9077c66532dad7bf45a4a60ec4310
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region19/stool-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region19/window-6.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region19/window-6.ply
new file mode 100644
index 0000000000000000000000000000000000000000..db7d4a7fe29c46f17192e184bb9daab6d19b4fe9
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region19/window-6.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region19/window-8.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region19/window-8.ply
new file mode 100644
index 0000000000000000000000000000000000000000..5f64402ddb6ce90a6ce67b8b0537f2aa61d49d5a
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region19/window-8.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region2/picture-2.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region2/picture-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..2186380f9d0486f4f91fab6de38559946286358f
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region2/picture-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region2/vase-1.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region2/vase-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..0697361efc7fe81007fefb65eea445ed0c9705cc
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region2/vase-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region2/vase-2.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region2/vase-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..9febd4871813b7e2a470901089c9857ccb4a63d1
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region2/vase-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region2/wall-4.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region2/wall-4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..72a444e48b5eec6f0ae582825e673bc5db4df32a
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region2/wall-4.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region3/cushion-1.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region3/cushion-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..ee890c694aac777713619f9fb39d43118a846e0d
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region3/cushion-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region3/cushion-2.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region3/cushion-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..3966ec6732da271176b5d193cd89b5bed223919c
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region3/cushion-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region3/cushion-3.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region3/cushion-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..13ad09da6e764f4a806585e7e271da42171b0e08
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region3/cushion-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region3/cushion-4.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region3/cushion-4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..b7d60fc446621fd0459948c15c542de5908b3ebd
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region3/cushion-4.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region3/decoration-2.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region3/decoration-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..8e71c74a725b283d9d5c5e8778e8ea5afe3b1777
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region3/decoration-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region3/table-2.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region3/table-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..16d748c0a08cf15c6d6d36c1b785a3f1fffebcbd
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region3/table-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region3/vase-1.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region3/vase-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..130e36fc93078af66095ea808918ff3fab174263
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region3/vase-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region3/window-2.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region3/window-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..ae131ea30980acf700c8fcf44c06847fb282a80d
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region3/window-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region3/window-3.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region3/window-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..b8eb92258623f89d3cc3e29a9f94d3ec14156f6c
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region3/window-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region4/column-5.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region4/column-5.ply
new file mode 100644
index 0000000000000000000000000000000000000000..a59e8d627a84db85a76b2c9e68733fc961a2ae39
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region4/column-5.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region5/barricade-2.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region5/barricade-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..efa5ecffa2000c234ab7a33e808aa57ba35833ec
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region5/barricade-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region5/barricade-3.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region5/barricade-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f2bd1e8d5a9a172b498c7ea23fd74d0d0743eb40
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region5/barricade-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region5/barricade-4.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region5/barricade-4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..434bd8ec2e0b73e41cc1f2c5121f6c474a90cc2e
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region5/barricade-4.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region5/barricade-5.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region5/barricade-5.ply
new file mode 100644
index 0000000000000000000000000000000000000000..7b63e7368cacc5728c9875db5682e1d14c11a753
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region5/barricade-5.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region5/ceiling-1.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region5/ceiling-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..7036b6e1df18d6e3efe7732c47ae930550cf29dd
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region5/ceiling-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region5/decoration-1.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region5/decoration-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..0b7272d7b51b5fcb3d8e316b49c5607c4881b535
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region5/decoration-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region5/decoration-2.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region5/decoration-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..b9631778caf566f80de881f1a8090708d6176372
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region5/decoration-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region5/door-1.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region5/door-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..aca4574548d70d210a94675f793e1769c1626d74
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region5/door-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region5/fire extinguisher-1.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region5/fire extinguisher-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..7941472fd28320207d4fe7d7f833c58da8e97a95
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region5/fire extinguisher-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region5/fire extinguisher-2.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region5/fire extinguisher-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..5f9b27e78c07bca3f7b701d1a2bb84ac666f7d16
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region5/fire extinguisher-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region5/fire extinguisher-3.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region5/fire extinguisher-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..0743cf0896193c3b05e3e9f2cddac940b3d57e59
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region5/fire extinguisher-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region5/wall-14.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region5/wall-14.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f8031f6b39ba60a851eadce3b5dbd9a63b18d6a0
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region5/wall-14.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region6/ceiling-2.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region6/ceiling-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..d8116ae487c7305c4cc1186ef1d752aed8371e9d
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region6/ceiling-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region6/chair-11.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region6/chair-11.ply
new file mode 100644
index 0000000000000000000000000000000000000000..703dcb31c164ec45e381b8f10480c448ff4dddad
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region6/chair-11.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region6/cushion-1.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region6/cushion-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..d165d490c5436a09a1de7dbd27d87e08c2d8cff3
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region6/cushion-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region6/cushion-2.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region6/cushion-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..7482568570bed593ca2ceb7a8d19bfbda6b38a06
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region6/cushion-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region6/cushion-3.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region6/cushion-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..d91befe3d0bb83d7c373b17e6daf42596ab652ca
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region6/cushion-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region6/cushion-4.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region6/cushion-4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..69af81c0115418b89d0359446372e25b86dae02c
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region6/cushion-4.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region6/decoration-1.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region6/decoration-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e9da7241ebc9109cb9b9b9f7331c9feef2bf79ac
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region6/decoration-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region6/decoration-2.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region6/decoration-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..156189077046baed20299fe9cf323ba733e0c436
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region6/decoration-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region6/vase-1.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region6/vase-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..48977d441ab1f0eb3287725ea452d29eb3b8d0c1
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region6/vase-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region6/vase-2.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region6/vase-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..535f34ce33bbf667de98912fcfab3501a8157c8e
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region6/vase-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region7/stool-1.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region7/stool-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..137a49c03bb91e55662a63923864c6762f614965
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region7/stool-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region7/stool-2.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region7/stool-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..a60446c73da4204631cda8157ae1854ddb531df9
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region7/stool-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region7/vase-1.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region7/vase-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..30b40fff84152a1e8ba00cc5ccdef3dd2af8ff58
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region7/vase-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region7/window-1.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region7/window-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..bcb7c382daa85876a4333f1a651440e3f8911a8d
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region7/window-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region7/window-10.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region7/window-10.ply
new file mode 100644
index 0000000000000000000000000000000000000000..8b8661a133d591d9f5deaec2b4e9a1d49e252087
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region7/window-10.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region7/window-8.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region7/window-8.ply
new file mode 100644
index 0000000000000000000000000000000000000000..cfa145826f90010f234d1de012a2d1762affc8ef
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region7/window-8.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region8/barricade-2.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region8/barricade-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..39f15f7facd1c5802db6b06d3ce9fd231db9e6b0
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region8/barricade-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region8/decoration-3.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region8/decoration-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..cb91581eb2f09bd9f12e3dfe1406aa0dad203d73
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region8/decoration-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region8/stool-1.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region8/stool-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..6d8e043d8a94741a026b43d72cd5cdb922a3d995
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region8/stool-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region8/wall-5.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region8/wall-5.ply
new file mode 100644
index 0000000000000000000000000000000000000000..24ceb940d3d0afb502ea5e812bb79143acb8880b
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region8/wall-5.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region8/window-8.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region8/window-8.ply
new file mode 100644
index 0000000000000000000000000000000000000000..372e3da26facc55908577e086065d4b30541f801
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region8/window-8.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region9/candlestick-1.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region9/candlestick-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..d0d87bb887d83b737131dea2b99f33cb810fcf7e
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region9/candlestick-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region9/curtain-5.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region9/curtain-5.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f4a7ea3cfd548ccf23244e84023b3de69ac3b0a6
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region9/curtain-5.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region9/decoration-3.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region9/decoration-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..abc0da0a60046e34841a603b0ca56e4072a5933d
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region9/decoration-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/VLzqgDo317F/region9/fireplace-3.ply b/scene_dataset/matterport3d/scene/VLzqgDo317F/region9/fireplace-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..9df68e0bc84a3c2f86d1b8b63d26c94ef54b717a
Binary files /dev/null and b/scene_dataset/matterport3d/scene/VLzqgDo317F/region9/fireplace-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region2/shelving-4.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region2/shelving-4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..5a3321a6b39743551fbb33b6b28d3e073d8741f1
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region2/shelving-4.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region2/wall-5.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region2/wall-5.ply
new file mode 100644
index 0000000000000000000000000000000000000000..745bc351e0780dd518a3c83120ccb7c9b4696389
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region2/wall-5.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/column-1.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/column-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..c19ef8fab9d7dcdf7e697ed822739ecc3f28fb6d
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/column-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/column-2.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/column-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..ee102236cdbf29d22fd56674b5273adfe0831743
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/column-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/column-3.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/column-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f4ec216ce41e3f79b6214ed735dfc97563d77499
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/column-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/column-4.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/column-4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..54349ca54f0ba9cee2ff2e90ef8da4b97501ef7a
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/column-4.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/column-5.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/column-5.ply
new file mode 100644
index 0000000000000000000000000000000000000000..2ebc0694b07e9fb97f8027cc6cbeb951f54f62ae
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/column-5.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/column-6.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/column-6.ply
new file mode 100644
index 0000000000000000000000000000000000000000..d674391295e4f33061e6002e911827ddf8431626
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/column-6.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/column-7.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/column-7.ply
new file mode 100644
index 0000000000000000000000000000000000000000..7e12f1fe97c9bfd4b05c5f58d5200511e9c72f0b
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/column-7.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/column-8.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/column-8.ply
new file mode 100644
index 0000000000000000000000000000000000000000..83a907da2aea42978e2c71225ce3123666699318
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/column-8.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/gym_equipment-14.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/gym_equipment-14.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4e73068a1225252c593b698ab939a15328c5f1b6
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/gym_equipment-14.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/gym_equipment-15.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/gym_equipment-15.ply
new file mode 100644
index 0000000000000000000000000000000000000000..47523cf4dcea2db68ff530ea7d86c1be9f40e67d
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/gym_equipment-15.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/gym_equipment-16.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/gym_equipment-16.ply
new file mode 100644
index 0000000000000000000000000000000000000000..87d194e24427b7edea60f1e8e4fab5c2e678f19b
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/gym_equipment-16.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/gym_equipment-2.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/gym_equipment-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..8778a97ccbdfaf38d2f28a451806d7f2d1011adc
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/gym_equipment-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/gym_equipment-3.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/gym_equipment-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..183201ec1cb144925b2cfa9a2187f60f9a2c2896
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/gym_equipment-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/gym_equipment-5.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/gym_equipment-5.ply
new file mode 100644
index 0000000000000000000000000000000000000000..2a3f3758927ddc3fbfc637f89006a8f0ba2ab817
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/gym_equipment-5.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/gym_equipment-8.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/gym_equipment-8.ply
new file mode 100644
index 0000000000000000000000000000000000000000..48cdfb3ec995ec60f7ff8160250e1c9ae3162af5
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/gym_equipment-8.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/trashcan-1.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/trashcan-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..bc15eacced29b5e3bfc8afc2b1134523db1b691d
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/trashcan-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/trashcan-2.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/trashcan-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e3724a2f5a6ec13415295872132b1ab3352cf19c
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/trashcan-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/water cooler-1.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/water cooler-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..1f1340b8cad551e0daf8b15068311962faedd9a1
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/water cooler-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/window-3.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/window-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..ed7e50e95d3e64b94f8e1855aea94b3c0eee6aad
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region20/window-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region3/ceiling-2.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region3/ceiling-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..72ad13e94a9de673de5656fd754e3744b5e98bd3
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region3/ceiling-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region3/chair-5.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region3/chair-5.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4513199b78c07a2f1f21cf10a142e080dd6a2637
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region3/chair-5.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region3/decoration-1.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region3/decoration-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..6ff503748223031c752fd2ab7647b44ffe2ec631
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region3/decoration-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region3/plant-2.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region3/plant-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..7aec91cdc728d53553aee99634f5b6f605a4abe0
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region3/plant-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region3/plant-4.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region3/plant-4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..794b162756ec32dd7aac6a32d848c1ec7701fd2d
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region3/plant-4.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region3/plant-5.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region3/plant-5.ply
new file mode 100644
index 0000000000000000000000000000000000000000..db2e8f50de5d2f9eb880c31251443dff971ea965
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region3/plant-5.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region3/plant-6.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region3/plant-6.ply
new file mode 100644
index 0000000000000000000000000000000000000000..bb26c6718cca59450b0038082d55094fe4cbd55a
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region3/plant-6.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region3/plate-1.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region3/plate-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f777f4eccef05f271b00d2d161ff9bee7dc9ebe5
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region3/plate-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region3/seating-1.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region3/seating-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..67d48d138dbac9930605f6ff618bc96d2df50640
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region3/seating-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region3/shelving-3.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region3/shelving-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..95bc9323a6923719839d021b63848800f04d56df
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region3/shelving-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region4/bowl-1.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region4/bowl-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e86c12bb39ca4f4398d8c08c8cc836082b582474
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region4/bowl-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region4/decoration-2.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region4/decoration-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..22f7df705dc47cac0266a7f16a5242ee715a1999
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region4/decoration-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region4/decoration-3.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region4/decoration-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..c39267c8e9dddf8c32d572e60b33e5aa0a0e5bfe
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region4/decoration-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region4/door-4.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region4/door-4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..fd8dca512a15320081eea73d98921faf03018286
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region4/door-4.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region4/trashcan-3.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region4/trashcan-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..98bc6c74ef69e02f4188ec1d722e350a0dc5be9e
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region4/trashcan-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region4/vase-1.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region4/vase-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..7767155f2ba4d049f959765e3eafeca67ea6cf03
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region4/vase-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region5/clock-1.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region5/clock-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..036965ee0b01c3d28c3b5c79f4315d4fc24f3c0a
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region5/clock-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region6/faucet-1.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region6/faucet-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..2f353548fa9b36ed73e33c5dc75d3299fcc35f3f
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region6/faucet-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region6/faucet-2.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region6/faucet-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..c9f7af3d20273322c5608d454a5810e46292f631
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region6/faucet-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region6/faucet-3.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region6/faucet-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..843fe605af4d3fc50931ab9a5f22c1a33bbe46c3
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region6/faucet-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region6/faucet-4.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region6/faucet-4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..ea4d6ca1551d6d18629cda932fa453010732f588
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region6/faucet-4.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region6/faucet-5.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region6/faucet-5.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f35cff032d5a2474c5ad713be10400134648e6aa
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region6/faucet-5.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region6/faucet-6.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region6/faucet-6.ply
new file mode 100644
index 0000000000000000000000000000000000000000..5dd4d25e4b6ed1ec2b06129f65c6761476006675
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region6/faucet-6.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region7/faucet-1.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region7/faucet-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..7a33bd35e3f8d9544725a887dd7a23589601d372
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region7/faucet-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region7/faucet-2.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region7/faucet-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..7672d0af7d8b912ce3e819b51f3597ac57283d4c
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region7/faucet-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region7/faucet-3.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region7/faucet-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..59bb4c2c5ae5092a15e7db52bfc16ac7d1b54e0d
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region7/faucet-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region7/faucet-5.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region7/faucet-5.ply
new file mode 100644
index 0000000000000000000000000000000000000000..99e71ff1502b098f21e338aef582b17a93486d7d
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region7/faucet-5.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region7/faucet-6.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region7/faucet-6.ply
new file mode 100644
index 0000000000000000000000000000000000000000..9ac8b73fa228326686b261ed54ba18330407b849
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region7/faucet-6.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region8/faucet-1.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region8/faucet-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..0619b1798d970c43b40637f755c38c04458db28d
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region8/faucet-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region8/faucet-2.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region8/faucet-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..1b0a94032283c4647601a9adc29c6a3b8a95e47f
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region8/faucet-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region8/faucet-3.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region8/faucet-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..fef9df07bca7d163409b75d939e13db763e3ad35
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region8/faucet-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region8/faucet-4.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region8/faucet-4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..42c9ffea2ea71fa52e577bb01a45d9c869d68b3b
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region8/faucet-4.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region8/lighting-1.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region8/lighting-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..89e45801c921ef7d643526c4a5e6365a00873400
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region8/lighting-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region8/lighting-2.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region8/lighting-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..7febd9f660e00d0462073da4c1dfbf6fb14c7c2e
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region8/lighting-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region8/lighting-3.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region8/lighting-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..52812ad2130a402fe0e50e84cf5c4819f3149ddd
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region8/lighting-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region8/lighting-4.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region8/lighting-4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..215c7af18f94f3308ef1d0fe74c5e5651487fc66
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region8/lighting-4.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region8/pip-1.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region8/pip-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..a58117833251cdc648d1d7495967f9d6b2ae9258
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region8/pip-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region9/cushion-1.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region9/cushion-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..b81145b2cb74e7775cf115b6e6696c12cc312798
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region9/cushion-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region9/cushion-2.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region9/cushion-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..300f177311382293b83540399621dc9015f184d6
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region9/cushion-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region9/cushion-3.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region9/cushion-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..6cda52fa21579e7ecf110f691890e7a885388594
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region9/cushion-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region9/cushion-4.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region9/cushion-4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..59147614e0b4fde7765cf72aa172683ca92b2919
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region9/cushion-4.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region9/sensor-1.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region9/sensor-1.ply
new file mode 100644
index 0000000000000000000000000000000000000000..26ac93e3697f5e531263271eeae36559a4c0b091
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region9/sensor-1.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region9/sensor-2.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region9/sensor-2.ply
new file mode 100644
index 0000000000000000000000000000000000000000..7190c82aa8ea91d127215261ecb1a4c48b8656a7
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region9/sensor-2.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region9/sensor-3.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region9/sensor-3.ply
new file mode 100644
index 0000000000000000000000000000000000000000..327461edf64a516f28a677b2dca6d40af2fa9e7d
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region9/sensor-3.ply differ
diff --git a/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region9/sensor-4.ply b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region9/sensor-4.ply
new file mode 100644
index 0000000000000000000000000000000000000000..79523987d1da1974c6eacf35306c5ffb1e5b66c5
Binary files /dev/null and b/scene_dataset/matterport3d/scene/Vt2qJdWjCF2/region9/sensor-4.ply differ