diff --git a/scan_data/3RScan/instance_id_to_gmm_color/10b17942-3938-2467-8933-5d40ada6d445.json b/scan_data/3RScan/instance_id_to_gmm_color/10b17942-3938-2467-8933-5d40ada6d445.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f7fac381de2ed5d00641dc47ebf1bdc62686838
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/10b17942-3938-2467-8933-5d40ada6d445.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/10b1794e-3938-2467-89a7-ebc89e84cf88.json b/scan_data/3RScan/instance_id_to_gmm_color/10b1794e-3938-2467-89a7-ebc89e84cf88.json
new file mode 100644
index 0000000000000000000000000000000000000000..00f756604bcef8ed0f6e2bc05e11e7ac8507877b
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+++ b/scan_data/3RScan/instance_id_to_gmm_color/10b1794e-3938-2467-89a7-ebc89e84cf88.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/10b17951-3938-2467-881b-3bcb3b80bad3.json b/scan_data/3RScan/instance_id_to_gmm_color/10b17951-3938-2467-881b-3bcb3b80bad3.json
new file mode 100644
index 0000000000000000000000000000000000000000..593031453bb5572293574df5e447576235379a8c
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/10b17957-3938-2467-88a5-9e9254930dad.json b/scan_data/3RScan/instance_id_to_gmm_color/10b17957-3938-2467-88a5-9e9254930dad.json
new file mode 100644
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--- /dev/null
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/10b1795b-3938-2467-88fe-b10cad8913f8.json b/scan_data/3RScan/instance_id_to_gmm_color/10b1795b-3938-2467-88fe-b10cad8913f8.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3ede94cfeb2c8dcf3b512b303709e37803e5d75
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/10b1795b-3938-2467-88fe-b10cad8913f8.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/1d234022-e280-2b1a-8cec-e9787bb0d7b2.json b/scan_data/3RScan/instance_id_to_gmm_color/1d234022-e280-2b1a-8cec-e9787bb0d7b2.json
new file mode 100644
index 0000000000000000000000000000000000000000..c183fd63c4b13198fcf1a8990a2650751e35c0b8
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/1d234022-e280-2b1a-8cec-e9787bb0d7b2.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/6a36055f-fa53-2915-9432-786820630ea7.json b/scan_data/3RScan/instance_id_to_gmm_color/6a36055f-fa53-2915-9432-786820630ea7.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7491b0309a14d737495268c2837526c7bbca44d
--- /dev/null
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/6a360561-fa53-2915-94d5-2b7d2ce9b169.json b/scan_data/3RScan/instance_id_to_gmm_color/6a360561-fa53-2915-94d5-2b7d2ce9b169.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2f73d278e39b2e581d69ffda0b7f85f8bf49ccb
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/6a360561-fa53-2915-94d5-2b7d2ce9b169.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/6a360565-fa53-2915-974c-3a8844e1a451.json b/scan_data/3RScan/instance_id_to_gmm_color/6a360565-fa53-2915-974c-3a8844e1a451.json
new file mode 100644
index 0000000000000000000000000000000000000000..b14f621671d7d11815bcec1e5b3633f788149a08
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+++ b/scan_data/3RScan/instance_id_to_gmm_color/6a360565-fa53-2915-974c-3a8844e1a451.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/ad408ca5-84db-2095-884e-e84bf0bb16d7.json b/scan_data/3RScan/instance_id_to_gmm_color/ad408ca5-84db-2095-884e-e84bf0bb16d7.json
new file mode 100644
index 0000000000000000000000000000000000000000..e366783a5e021fca89da83e825af22a47fa777c6
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/ad408ca5-84db-2095-884e-e84bf0bb16d7.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/b05fdda6-fca0-2d4f-8973-9f8a5cdac3ad.json b/scan_data/3RScan/instance_id_to_gmm_color/b05fdda6-fca0-2d4f-8973-9f8a5cdac3ad.json
new file mode 100644
index 0000000000000000000000000000000000000000..976ea7138a9b0b8515d17b3e03e19ccc3c56e825
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/b05fdda6-fca0-2d4f-8973-9f8a5cdac3ad.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/b05fddcf-fca0-2d4f-8a01-c6bdcc9fba8d.json b/scan_data/3RScan/instance_id_to_gmm_color/b05fddcf-fca0-2d4f-8a01-c6bdcc9fba8d.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/b05fddd1-fca0-2d4f-8ab9-ecffab72e046.json b/scan_data/3RScan/instance_id_to_gmm_color/b05fddd1-fca0-2d4f-8ab9-ecffab72e046.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1c820642ecacb5ea421b420937d9190a046b523
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/b05fddd1-fca0-2d4f-8ab9-ecffab72e046.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/ddc737af-765b-241a-9ea5-0a02dc0876f2.json b/scan_data/3RScan/instance_id_to_gmm_color/ddc737af-765b-241a-9ea5-0a02dc0876f2.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d695ec86556f08621e19ba77e02cbd1e6160d69
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/ddc737af-765b-241a-9ea5-0a02dc0876f2.json
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diff --git a/scan_data/3RScan/instance_id_to_name/1c211546-f201-2d25-862b-6323518ec6e1.json b/scan_data/3RScan/instance_id_to_name/1c211546-f201-2d25-862b-6323518ec6e1.json
new file mode 100644
index 0000000000000000000000000000000000000000..eee5eff26eeef34025cce6ab03cf8ea21207ea59
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/1c211546-f201-2d25-862b-6323518ec6e1.json
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"object", "object", "object", "object", "object", "object", "box"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/1c211548-f201-2d25-8686-8e8069116451.json b/scan_data/3RScan/instance_id_to_name/1c211548-f201-2d25-8686-8e8069116451.json
new file mode 100644
index 0000000000000000000000000000000000000000..02afa7b68373399b741bd0c8b801b35bfc0b993b
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/1c211548-f201-2d25-8686-8e8069116451.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "door", "object", "wall", "object", "cabinets", "boxes", "ceiling", "radiator", "chair", "refrigerator", "boxes", "box", "bag", "wall", "bag", "foosball table", "cover", "object", "object", "rack stand", "bag", "box", "box", "box", "box", "object", "object", "rack stand", "object", "window", "doorframe", "object", "bag", "box", "box", "box", "box", "object", "object", "object", "object", "frame", "floor", "object", "box", "box", "object", "box"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/1c21154c-f201-2d25-875c-01ab18e03231.json b/scan_data/3RScan/instance_id_to_name/1c21154c-f201-2d25-875c-01ab18e03231.json
new file mode 100644
index 0000000000000000000000000000000000000000..9424b87079491e7d86694fd9a72f475dca9c077f
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/1c21154c-f201-2d25-875c-01ab18e03231.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "wall", "wall", "ceiling", "washing machine", "clothes dryers", "sink", "door", "wall", "wall", "wall", "door", "doorframe", "doorframe", "doorframe", "object", "wall", "floor", "object", "wall"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/1d234008-e280-2b1a-8cc9-c573097cd272.json b/scan_data/3RScan/instance_id_to_name/1d234008-e280-2b1a-8cc9-c573097cd272.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cde6071fedb8d345b20bbd38bae4bf7ad34490a
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/1d234008-e280-2b1a-8cc9-c573097cd272.json
@@ -0,0 +1 @@
+["object", "floor", "sink", "wall", "ceiling", "wall", "clothes dryers", "shelf", "toilet", "object", "shower", "bathroom cabinet", "wall", "wall", "object", "ceiling", "wall", "towel", "toilet paper rolls", "toilet flush button", "trash can", "lamp", "object", "object", "doorframe", "object", "shower wall"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/1d2f8514-d757-207c-8e40-377957df6f67.json b/scan_data/3RScan/instance_id_to_name/1d2f8514-d757-207c-8e40-377957df6f67.json
new file mode 100644
index 0000000000000000000000000000000000000000..a675d334fb3b1abf4103a0bee106335be8da4013
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/1d2f8514-d757-207c-8e40-377957df6f67.json
@@ -0,0 +1 @@
+["object", "floor", "kitchen cabinet", "kitchen counter", "wall", "wall", "cabinet", "oven", "ceiling", "shelf", "wall", "window", "curtain", "object", "box", "can", "object", "sink", "object", "shelf", "microwave", "coffee maker", "object", "windowsill", "object", "object", "potted plant", "potted plant", "shelf", "object", "object", "object", "cup", "microwave", "doorframe", "basket", "object", "object", "object", "object", "wall", "object", "object", "curtain", "object", "wall", "microwave", "object", "object", "bowl", "object", "potted plant", "object", "object", "object", "object", "object", "object", "object"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/1d2f8516-d757-207c-8e08-5fef80bf34d8.json b/scan_data/3RScan/instance_id_to_name/1d2f8516-d757-207c-8e08-5fef80bf34d8.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d68f5fda8f7cdb426efd1748b491bc4108da75c
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/1d2f8516-d757-207c-8e08-5fef80bf34d8.json
@@ -0,0 +1 @@
+["object", "shelf", "wall", "shelf", "wall", "ceiling", "wardrobe", "toilet", "stand", "object", "box", "wall", "wall", "shelf", "floor", "box", "box", "wall", "object", "object", "object", "object", "clothing", "box", "box", "object", "floor"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/6bde6047-9162-246f-8f57-9da22a267db0.json b/scan_data/3RScan/instance_id_to_name/6bde6047-9162-246f-8f57-9da22a267db0.json
new file mode 100644
index 0000000000000000000000000000000000000000..709b13e860ae1421b3f8291b1d820fe7085efe18
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/6bde6047-9162-246f-8f57-9da22a267db0.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "couch", "object", "armchair", "armchair", "armchair", "armchair", "armchair", "coffee table", "coffee table", "coffee table", "coffee table", "coffee table", "object", "object", "bench", "bar", "stool", "stool", "stool", "stool"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/751a559f-fe61-2c3b-8cec-258075450954.json b/scan_data/3RScan/instance_id_to_name/751a559f-fe61-2c3b-8cec-258075450954.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ca47d33304c789f9ba89a95b2dbc33bd6ec1483
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/751a559f-fe61-2c3b-8cec-258075450954.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "door", "wall", "whiteboard", "pillar", "wall", "wall", "wall", "wall", "wall", "wall", "wall", "blinds", "window", "heater", "potted plant", "rolled poster", "beanbag chair", "beanbag chair", "paper towel roll", "cushion", "shelf", "beanbag chair", "beanbag chair", "shelf", "tv", "ball", "object", "potted plant", "counter", "star", "star", "heater", "sofa", "cushion", "cushion", "cushion", "cushion", "cushion", "cushion", "cushion", "cushion", "cushion", "cushion", "cushion", "cushion", "cushion", "cushion", "paper towel roll", "table", "chair", "object", "ceiling", "light", "light", "light", "light", "light", "object", "window", "window", "lamp"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/751a55a1-fe61-2c3b-8df5-925bfeac2496.json b/scan_data/3RScan/instance_id_to_name/751a55a1-fe61-2c3b-8df5-925bfeac2496.json
new file mode 100644
index 0000000000000000000000000000000000000000..84f3d49ce39d12821f790fe945554b094f02ecd5
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/751a55a1-fe61-2c3b-8df5-925bfeac2496.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "frame", "clothing", "door", "wardrobe", "nightstand", "wall", "mirror", "bed", "pillow", "pillow", "pillow", "wall", "blanket", "shelf", "wall", "sofa", "bag", "cushion", "cushion", "clothing", "bag", "frame", "frame", "tv", "tv stand", "bag", "bag", "container", "tube", "wall", "dining table", "chair", "chair", "chair", "chair", "curtain", "box", "potted plant", "potted plant", "trash can", "door", "box", "table", "potted plant", "ceiling", "object", "object", "object", "object", "shoes"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/751a55a3-fe61-2c3b-8d1b-daad80d1af30.json b/scan_data/3RScan/instance_id_to_name/751a55a3-fe61-2c3b-8d1b-daad80d1af30.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f46aeee4d1d385d25ec6874c8d45060b640deec
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/751a55a3-fe61-2c3b-8d1b-daad80d1af30.json
@@ -0,0 +1 @@
+["object", "floor", "blinds", "wall", "wall", "wall", "object", "object", "wall", "window", "wall", "kitchen cabinet", "kitchen counter", "kitchen cabinet", "toilet", "refrigerator", "box", "microwave", "ceiling", "window", "wall", "heater", "shelf", "trash bin", "shelf", "shelf", "sink", "stove", "oven", "bottle", "soap dispenser", "dish rack", "dish rack", "shelf", "range hood", "kettle", "windowsill", "object", "bag", "toaster", "kettle", "bag", "bag", "microwave"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/751a55a5-fe61-2c3b-8d49-350e8169e05e.json b/scan_data/3RScan/instance_id_to_name/751a55a5-fe61-2c3b-8d49-350e8169e05e.json
new file mode 100644
index 0000000000000000000000000000000000000000..093c5974becc5ffc9cddf1826f01979146f60542
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/751a55a5-fe61-2c3b-8d49-350e8169e05e.json
@@ -0,0 +1 @@
+["object", "floor", "shoes", "shoes", "wall", "wall", "door", "clothing", "ceiling", "door", "object", "curtain", "wall", "wall", "door", "wardrobe", "wall", "toilet", "object", "bag", "toilet paper rolls", "wall", "bag", "bag", "object", "vacuum cleaner", "object", "mirror", "umbrella", "doorframe", "object", "object", "object", "shoes", "object", "clothing"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/751a55a7-fe61-2c3b-8caa-1aa9dfb86ece.json b/scan_data/3RScan/instance_id_to_name/751a55a7-fe61-2c3b-8caa-1aa9dfb86ece.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d2392f4b522a0e9cffd37df7cd05575a4e713b0
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/751a55a7-fe61-2c3b-8caa-1aa9dfb86ece.json
@@ -0,0 +1 @@
+["object", "floor", "bathtub", "wall", "wall", "window", "shelf", "wall", "towels", "heater", "towel", "door", "wall", "wall", "toilet", "trash can", "sink", "shelf", "curtain", "ceiling", "object", "object", "object", "object", "lamp", "object", "object", "toilet brush", "toilet flush button", "shower", "toilet paper dispenser"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/752cc576-920c-26f5-8f6b-040d544069b2.json b/scan_data/3RScan/instance_id_to_name/752cc576-920c-26f5-8f6b-040d544069b2.json
new file mode 100644
index 0000000000000000000000000000000000000000..77ccfdea055d586e54c13fc4c228e292995a261c
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/752cc576-920c-26f5-8f6b-040d544069b2.json
@@ -0,0 +1 @@
+["object", "object", "object", "object", "object", "sofa", "sofa", "object", "object", "coffee table", "desk", "desk", "pillar", "pillar", "object", "desk", "refrigerator", "file cabinet", "desk", "floor", "kitchen counter", "kitchen cabinet", "wall", "wardrobe", "wall", "wall", "wall", "wall", "tv", "tv stand", "cabinet", "cabinet", "heater", "ceiling", "object", "object", "object", "object", "object", "object", "object", "object", "chair", "chair", "chair", "trash can", "object", "wall", "bottle", "wall", "wall", "sink", "stove", "oven", "bag", "box", "object", "object", "object", "wall", "object", "object", "object", "object", "object", "trash can", "dart board", "box", "lamp", "wall", "chair", "object", "object", "speaker", "speaker", "object", "object", "table"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/752cc59d-920c-26f5-8d45-d78b49fe63f3.json b/scan_data/3RScan/instance_id_to_name/752cc59d-920c-26f5-8d45-d78b49fe63f3.json
new file mode 100644
index 0000000000000000000000000000000000000000..9380d2c10437016a10bd03537b027c6d00252119
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/752cc59d-920c-26f5-8d45-d78b49fe63f3.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "blackboard", "chair", "chair", "desk", "chair", "wall", "blackboard", "wall", "object", "window", "windowsill", "radiator", "radiator", "table", "chair", "chair", "monitor", "chair", "blinds", "wall", "window", "ceiling", "ceiling", "light", "object", "object", "chair", "chair", "light", "light", "object", "object", "monitor", "monitor", "object", "object", "object", "chair", "monitor"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/baf67393-8e94-22f8-8198-961bc5ea7f20.json b/scan_data/3RScan/instance_id_to_name/baf67393-8e94-22f8-8198-961bc5ea7f20.json
new file mode 100644
index 0000000000000000000000000000000000000000..af1bf40ba1df690ec73afae0f8ac90b0cb06a1c2
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/baf67393-8e94-22f8-8198-961bc5ea7f20.json
@@ -0,0 +1 @@
+["object", "floor", "bench", "bench", "wall", "table", "table", "table", "object", "object", "table", "table", "table", "table", "table", "chair", "chair", "chair", "chair", "chair", "chair", "chair", "chair", "chair", "chair", "chair", "chair", "chair", "chair", "chair", "chair", "chair", "chair", "chair", "column", "object", "chair", "pillar", "object", "object", "object", "object", "object", "object", "wall", "object", "object", "potted plant"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/c7895f4c-339c-2d13-8383-527f405b18c3.json b/scan_data/3RScan/instance_id_to_name/c7895f4c-339c-2d13-8383-527f405b18c3.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a7c2c73f856370e8a0d92c1c18bf94fed911714
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/c7895f4c-339c-2d13-8383-527f405b18c3.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "curtain", "object", "dining table", "object", "chair", "chair", "chair", "chair", "paper towel dispenser", "object", "shelf", "shelf", "shelf", "wall", "kitchen cabinet", "object", "object", "object", "object", "object", "rack stand", "object", "object", "object", "object", "object", "lamp", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "box"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/c7895f4e-339c-2d13-80d3-90eaa1403a25.json b/scan_data/3RScan/instance_id_to_name/c7895f4e-339c-2d13-80d3-90eaa1403a25.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a43eccefa2fa32f755fbc60d84b676897c24bd8
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/c7895f4e-339c-2d13-80d3-90eaa1403a25.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "wall", "rack stand", "cabinet", "kitchen cabinet", "kitchen cabinet", "kitchen cabinet", "sink", "object", "object", "dining table", "paper towel dispenser", "bench", "cushion", "chair", "chair", "object", "light", "object", "object", "curtain", "shelf", "object", "object", "potted plant", "potted plant"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/c7895f50-339c-2d13-828c-1d01eab90a00.json b/scan_data/3RScan/instance_id_to_name/c7895f50-339c-2d13-828c-1d01eab90a00.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e658343328f8fd4421b3ec762227de2571d6824
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/c7895f50-339c-2d13-828c-1d01eab90a00.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "wall", "rack stand", "cabinet", "kitchen cabinet", "kitchen cabinet", "kitchen cabinet", "sink", "object", "object", "dining table", "paper towel dispenser", "bench", "cushion", "chair", "chair", "object", "light", "object", "object", "curtain", "shelf", "ceiling", "object", "potted plant", "potted plant"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/c7895f5d-339c-2d13-8003-0763dfb1b23c.json b/scan_data/3RScan/instance_id_to_name/c7895f5d-339c-2d13-8003-0763dfb1b23c.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1746c7bbbf391f847a6eef85c298d7d81db8290
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/c7895f5d-339c-2d13-8003-0763dfb1b23c.json
@@ -0,0 +1 @@
+["object", "floor", "rug", "wall", "frame", "curtain", "kitchen cabinet", "kitchen cabinet", "wall", "dish rack", "dish rack", "object", "object", "object", "object", "object", "sign", "chair", "chair", "chair", "chair", "dining table", "object", "plate", "kitchen cabinet", "kitchen cabinet", "ceiling", "ceiling", "object", "object", "object", "object", "sink", "object", "paper towel dispenser", "wall", "ceiling", "ceiling", "chair"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/c7895f5f-339c-2d13-82db-e99a08b5f679.json b/scan_data/3RScan/instance_id_to_name/c7895f5f-339c-2d13-82db-e99a08b5f679.json
new file mode 100644
index 0000000000000000000000000000000000000000..18ad2541d930a9baf6faa461471f57cc5325502d
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/c7895f5f-339c-2d13-82db-e99a08b5f679.json
@@ -0,0 +1 @@
+["object", "floor", "rug", "wall", "frame", "curtain", "kitchen cabinet", "kitchen cabinet", "wall", "dish rack", "dish rack", "object", "object", "object", "object", "object", "sign", "object", "chair", "chair", "chair", "dining table", "object", "object", "kitchen cabinet", "kitchen cabinet", "ceiling", "ceiling", "object", "object", "object", "ceiling", "object", "object", "object", "object", "object", "object", "chair"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/c92fb580-f771-2064-866d-8aeb53e8360d.json b/scan_data/3RScan/instance_id_to_name/c92fb580-f771-2064-866d-8aeb53e8360d.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e2b983ec69410e9daa8b3d1e593d311f5105cd1
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/c92fb580-f771-2064-866d-8aeb53e8360d.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "wall", "cabinet", "boxes", "heater", "curtain", "window", "windowsill", "object", "potted plant", "potted plant", "wall", "curtain", "door", "bed", "object", "object", "object", "cabinet", "boxes", "object", "door", "ceiling", "basket", "clothing", "picture", "shelf", "curtain", "object", "object", "blanket", "object", "object", "object", "bag", "object", "object", "potted plant", "potted plant", "curtain", "object", "suitcase", "object", "bag", "wall"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/c92fb58c-f771-2064-8496-688a5baaf5c6.json b/scan_data/3RScan/instance_id_to_name/c92fb58c-f771-2064-8496-688a5baaf5c6.json
new file mode 100644
index 0000000000000000000000000000000000000000..a76c5cbe13a38a0a242791055068453eb8a2adcb
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/c92fb58c-f771-2064-8496-688a5baaf5c6.json
@@ -0,0 +1 @@
+["object", "toilet", "trash bin", "sink", "wall", "wall", "wall", "object", "object", "mirror", "wall", "door", "floor", "towel", "object", "window", "potted plant", "object", "object", "object", "toilet paper rolls", "object", "radiator", "object", "object", "shelf", "windowsill"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/c92fb58e-f771-2064-85ec-a3446ebee692.json b/scan_data/3RScan/instance_id_to_name/c92fb58e-f771-2064-85ec-a3446ebee692.json
new file mode 100644
index 0000000000000000000000000000000000000000..2044f17208c6d19c1b3771fb0406317bd49df25d
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/c92fb58e-f771-2064-85ec-a3446ebee692.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "shelf", "window", "table", "shelf", "wall", "door", "heater", "office chair", "ceiling", "light", "wall", "window", "shelf", "shelf", "shelf", "shelf", "shelf", "box", "box", "windowsill", "box", "box", "box", "box", "box", "trash can", "object", "box", "box", "shelf", "object", "box", "box", "box", "box", "shelf", "printer", "shelf", "shelf", "shelf", "ladder", "object", "box", "laptop"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/c92fb590-f771-2064-8665-19d71d08c0ef.json b/scan_data/3RScan/instance_id_to_name/c92fb590-f771-2064-8665-19d71d08c0ef.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4e4382b98c8c94cd724007785c707063a0ff6c2
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/c92fb590-f771-2064-8665-19d71d08c0ef.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "object", "object", "object", "table", "shelf", "object", "object", "heater", "office chair", "object", "object", "object", "object", "object", "object", "object", "object", "shelf", "object", "object", "object", "object", "object", "object", "object", "object", "trash can", "object", "box", "box", "shelf", "object", "box", "object", "object", "box", "shelf", "printer", "object", "shelf", "shelf", "object", "object", "object", "laptop"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/cdcaf5b9-ddd8-2ed6-9407-e5600914b733.json b/scan_data/3RScan/instance_id_to_name/cdcaf5b9-ddd8-2ed6-9407-e5600914b733.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ccb0aaebb4b514d5cb7de0bfa492c387183929c
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/cdcaf5b9-ddd8-2ed6-9407-e5600914b733.json
@@ -0,0 +1 @@
+["object", "floor", "ceiling", "water heater", "object", "wall", "wall", "box", "box", "object", "object", "box", "wall", "wall", "wall", "clothing", "board", "clothing", "shelf", "shelf", "box", "bucket", "bucket", "bucket", "bag", "bag", "bag", "bag", "box", "box", "object", "box", "object", "object", "object", "object", "object", "shelf", "shelf", "tube", "window", "bucket", "box", "object", "shelf", "object", "object", "bucket", "object", "box", "box", "box", "box", "object", "bag", "object", "shoes", "object", "tube", "object", "box", "shoes", "heater", "bag", "bag", "cabinet", "pipe", "object", "box", "box", "object", "stool", "object", "board", "object", "vacuum cleaner", "object", "object", "object", "object", "box", "box"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/cdcaf5bb-ddd8-2ed6-9714-55394577db57.json b/scan_data/3RScan/instance_id_to_name/cdcaf5bb-ddd8-2ed6-9714-55394577db57.json
new file mode 100644
index 0000000000000000000000000000000000000000..a419e63a945d35af61319e23416728f22bba7963
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/cdcaf5bb-ddd8-2ed6-9714-55394577db57.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "heater", "window", "wall", "door", "wardrobe", "refrigerator", "window", "window", "wall", "shelf", "object", "kitchen cabinet", "table", "box", "box", "box", "shelf", "ceiling", "object", "box", "basket", "counter", "box", "object", "object", "object", "box", "light", "wall", "object", "object", "object", "wall", "kitchen cabinet", "drawer", "object", "object", "object", "chair", "basket", "box", "object", "object", "box", "basket", "object", "object", "object", "object", "object", "object", "box", "object", "object", "bucket"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/cdcaf5bd-ddd8-2ed6-97c3-489e105e4dde.json b/scan_data/3RScan/instance_id_to_name/cdcaf5bd-ddd8-2ed6-97c3-489e105e4dde.json
new file mode 100644
index 0000000000000000000000000000000000000000..59798143b5b3239a81f00e21c4c60edd9d7ff128
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/cdcaf5bd-ddd8-2ed6-97c3-489e105e4dde.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "door", "window", "wall", "ceiling", "wall", "door", "shelf", "window", "potted plant", "object", "floor", "object", "object", "doorframe", "object", "doorframe", "frame", "object", "object", "plant", "light", "plant", "plant", "vase", "vase", "object", "potted plant", "potted plant", "potted plant", "potted plant", "bench", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "door"]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_name/48018109.json b/scan_data/ARKitScenes/instance_id_to_name/48018109.json
new file mode 100644
index 0000000000000000000000000000000000000000..c21ea1bc8655b78a1788014b7b371b9819e80678
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_name/48018109.json
@@ -0,0 +1 @@
+["object", "cabinet", "cabinet", "cabinet", "table", "cabinet", "tv", "tv", "cabinet", "cabinet", "cabinet", "sofa", "table", "bed"]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_name/48018113.json b/scan_data/ARKitScenes/instance_id_to_name/48018113.json
new file mode 100644
index 0000000000000000000000000000000000000000..0edacb824cf17c1595bebd955b697c481fb71972
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_name/48018113.json
@@ -0,0 +1 @@
+["object", "cabinet", "oven", "cabinet", "dishwasher", "cabinet", "stove", "sink", "cabinet", "cabinet", "cabinet", "cabinet", "cabinet", "cabinet", "cabinet", "cabinet", "table", "chair", "chair", "chair", "refrigerator", "chair", "stool", "cabinet"]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_name/48018512.json b/scan_data/ARKitScenes/instance_id_to_name/48018512.json
new file mode 100644
index 0000000000000000000000000000000000000000..da45dd289f81debd4edea86d0df9c1850b230bc5
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_name/48018512.json
@@ -0,0 +1 @@
+["object", "sofa", "cabinet", "chair", "table", "shelf", "table"]
\ No newline at end of file
diff --git a/scan_data/HM3D/instance_id_to_gmm_color/00330-WhNyDTnd9g5_sub007.json b/scan_data/HM3D/instance_id_to_gmm_color/00330-WhNyDTnd9g5_sub007.json
new file mode 100644
index 0000000000000000000000000000000000000000..04d5249d6411b0fe0d56934f159ea927e065b1b7
--- /dev/null
+++ b/scan_data/HM3D/instance_id_to_gmm_color/00330-WhNyDTnd9g5_sub007.json
@@ -0,0 +1 @@
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diff --git a/scan_data/HM3D/instance_id_to_gmm_color/00330-WhNyDTnd9g5_sub008.json b/scan_data/HM3D/instance_id_to_gmm_color/00330-WhNyDTnd9g5_sub008.json
new file mode 100644
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diff --git a/scan_data/HM3D/instance_id_to_gmm_color/00330-WhNyDTnd9g5_sub010.json b/scan_data/HM3D/instance_id_to_gmm_color/00330-WhNyDTnd9g5_sub010.json
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diff --git a/scan_data/HM3D/instance_id_to_gmm_color/00330-WhNyDTnd9g5_sub011.json b/scan_data/HM3D/instance_id_to_gmm_color/00330-WhNyDTnd9g5_sub011.json
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new file mode 100644
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diff --git a/scan_data/HM3D/instance_id_to_gmm_color/00366-fxbzYAGkrtm_sub003.json b/scan_data/HM3D/instance_id_to_gmm_color/00366-fxbzYAGkrtm_sub003.json
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diff --git a/scan_data/HM3D/instance_id_to_gmm_color/00366-fxbzYAGkrtm_sub004.json b/scan_data/HM3D/instance_id_to_gmm_color/00366-fxbzYAGkrtm_sub004.json
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diff --git a/scan_data/HM3D/instance_id_to_gmm_color/00366-fxbzYAGkrtm_sub005.json b/scan_data/HM3D/instance_id_to_gmm_color/00366-fxbzYAGkrtm_sub005.json
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diff --git a/scan_data/HM3D/instance_id_to_gmm_color/00366-fxbzYAGkrtm_sub006.json b/scan_data/HM3D/instance_id_to_gmm_color/00366-fxbzYAGkrtm_sub006.json
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diff --git a/scan_data/HM3D/instance_id_to_gmm_color/00366-fxbzYAGkrtm_sub007.json b/scan_data/HM3D/instance_id_to_gmm_color/00366-fxbzYAGkrtm_sub007.json
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diff --git a/scan_data/HM3D/instance_id_to_gmm_color/00366-fxbzYAGkrtm_sub008.json b/scan_data/HM3D/instance_id_to_gmm_color/00366-fxbzYAGkrtm_sub008.json
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diff --git a/scan_data/HM3D/instance_id_to_gmm_color/00366-fxbzYAGkrtm_sub009.json b/scan_data/HM3D/instance_id_to_gmm_color/00366-fxbzYAGkrtm_sub009.json
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diff --git a/scan_data/HM3D/instance_id_to_gmm_color/00366-fxbzYAGkrtm_sub010.json b/scan_data/HM3D/instance_id_to_gmm_color/00366-fxbzYAGkrtm_sub010.json
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diff --git a/scan_data/HM3D/instance_id_to_gmm_color/00366-fxbzYAGkrtm_sub011.json b/scan_data/HM3D/instance_id_to_gmm_color/00366-fxbzYAGkrtm_sub011.json
new file mode 100644
index 0000000000000000000000000000000000000000..02751b895b3743b98efeac455f4ff1cc30f4843a
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diff --git a/scan_data/HM3D/instance_id_to_gmm_color/00366-fxbzYAGkrtm_sub013.json b/scan_data/HM3D/instance_id_to_gmm_color/00366-fxbzYAGkrtm_sub013.json
new file mode 100644
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diff --git a/scan_data/HM3D/instance_id_to_gmm_color/00366-fxbzYAGkrtm_sub014.json b/scan_data/HM3D/instance_id_to_gmm_color/00366-fxbzYAGkrtm_sub014.json
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diff --git a/scan_data/HM3D/instance_id_to_gmm_color/00366-fxbzYAGkrtm_sub015.json b/scan_data/HM3D/instance_id_to_gmm_color/00366-fxbzYAGkrtm_sub015.json
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diff --git a/scan_data/HM3D/instance_id_to_gmm_color/00366-fxbzYAGkrtm_sub016.json b/scan_data/HM3D/instance_id_to_gmm_color/00366-fxbzYAGkrtm_sub016.json
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diff --git a/scan_data/HM3D/instance_id_to_gmm_color/00366-fxbzYAGkrtm_sub017.json b/scan_data/HM3D/instance_id_to_gmm_color/00366-fxbzYAGkrtm_sub017.json
new file mode 100644
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diff --git a/scan_data/HM3D/instance_id_to_gmm_color/00366-fxbzYAGkrtm_sub018.json b/scan_data/HM3D/instance_id_to_gmm_color/00366-fxbzYAGkrtm_sub018.json
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new file mode 100644
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