diff --git a/scan_data/3RScan/instance_id_to_gmm_color/0cac7538-8d6f-2d13-8c23-d635c21d0f17.json b/scan_data/3RScan/instance_id_to_gmm_color/0cac7538-8d6f-2d13-8c23-d635c21d0f17.json
new file mode 100644
index 0000000000000000000000000000000000000000..13d0bb1aed22c3f6e9188819ac0424bae47a890c
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/0cac7538-8d6f-2d13-8c23-d635c21d0f17.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/0cac753a-8d6f-2d13-8f04-2073b87af440.json b/scan_data/3RScan/instance_id_to_gmm_color/0cac753a-8d6f-2d13-8f04-2073b87af440.json
new file mode 100644
index 0000000000000000000000000000000000000000..e119ae09b48c542560636b6d542ded6da47fa7e4
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/0cac753a-8d6f-2d13-8f04-2073b87af440.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/0cac753c-8d6f-2d13-8e27-e0664fc33bb9.json b/scan_data/3RScan/instance_id_to_gmm_color/0cac753c-8d6f-2d13-8e27-e0664fc33bb9.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc7229453a3b3693bf6c825876c0e9bb8da6f18e
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/0cac753c-8d6f-2d13-8e27-e0664fc33bb9.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_gmm_color/0cac7540-8d6f-2d13-8eee-36ba2a428e3f.json b/scan_data/3RScan/instance_id_to_gmm_color/0cac7540-8d6f-2d13-8eee-36ba2a428e3f.json
new file mode 100644
index 0000000000000000000000000000000000000000..54769651e223fdd4b19447f5cc0a922c973fafcd
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/0cac7540-8d6f-2d13-8eee-36ba2a428e3f.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/0cac7547-8d6f-2d13-8c9c-08cad6632f46.json b/scan_data/3RScan/instance_id_to_gmm_color/0cac7547-8d6f-2d13-8c9c-08cad6632f46.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ad8d80b12725448ec31f0a6c686ec05fcff637f
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/0cac7547-8d6f-2d13-8c9c-08cad6632f46.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/0cac7621-8d6f-2d13-8cb1-ac43b90f4141.json b/scan_data/3RScan/instance_id_to_gmm_color/0cac7621-8d6f-2d13-8cb1-ac43b90f4141.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e4ae379082de8b67865c8ed155c96f0eaf5cda1
--- /dev/null
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/0cac7623-8d6f-2d13-8da0-462e7fc0bea2.json b/scan_data/3RScan/instance_id_to_gmm_color/0cac7623-8d6f-2d13-8da0-462e7fc0bea2.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e56df902208dc505481697baf0bb878f881689a
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/0cac7623-8d6f-2d13-8da0-462e7fc0bea2.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/198aaa74-0ba3-26f6-8792-66b6388b17ca.json b/scan_data/3RScan/instance_id_to_gmm_color/198aaa74-0ba3-26f6-8792-66b6388b17ca.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed8f61121c69088c7d6c38bfe769567289847033
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/198aaa74-0ba3-26f6-8792-66b6388b17ca.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/198aaa76-0ba3-26f6-84de-6c13263a60bc.json b/scan_data/3RScan/instance_id_to_gmm_color/198aaa76-0ba3-26f6-84de-6c13263a60bc.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfaeb6f909c3652d3d7ffe81fd1eda0cfeaf2618
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/198aaa76-0ba3-26f6-84de-6c13263a60bc.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/19eda6f4-55aa-29a0-8893-8eac3a4d8193.json b/scan_data/3RScan/instance_id_to_gmm_color/19eda6f4-55aa-29a0-8893-8eac3a4d8193.json
new file mode 100644
index 0000000000000000000000000000000000000000..c518d9a27bbc12fddbb0c59b2909a120aac94112
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/19eda6f4-55aa-29a0-8893-8eac3a4d8193.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/19f1a892-a988-2bf8-8c91-0705cf396888.json b/scan_data/3RScan/instance_id_to_gmm_color/19f1a892-a988-2bf8-8c91-0705cf396888.json
new file mode 100644
index 0000000000000000000000000000000000000000..02c204f9d8aec61fd7b6202abfd5278765706e3c
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/19f1a892-a988-2bf8-8c91-0705cf396888.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/19f1a897-a988-2bf8-8f8d-f3b64da81c2a.json b/scan_data/3RScan/instance_id_to_gmm_color/19f1a897-a988-2bf8-8f8d-f3b64da81c2a.json
new file mode 100644
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/1abf0914-a3da-2be8-8014-c0e3f94d64f0.json b/scan_data/3RScan/instance_id_to_gmm_color/1abf0914-a3da-2be8-8014-c0e3f94d64f0.json
new file mode 100644
index 0000000000000000000000000000000000000000..054f098dbe901639fe6637320ae2c3a4a0261794
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/1abf0914-a3da-2be8-8014-c0e3f94d64f0.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/1c211544-f201-2d25-85bb-7569eac370e9.json b/scan_data/3RScan/instance_id_to_gmm_color/1c211544-f201-2d25-85bb-7569eac370e9.json
new file mode 100644
index 0000000000000000000000000000000000000000..b63de9da5dc01e4edf953c4150b9c86f8f96e11e
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+++ b/scan_data/3RScan/instance_id_to_gmm_color/1c211544-f201-2d25-85bb-7569eac370e9.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/1c211546-f201-2d25-862b-6323518ec6e1.json b/scan_data/3RScan/instance_id_to_gmm_color/1c211546-f201-2d25-862b-6323518ec6e1.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d966475b711e7e8de449b364b7ca9b02e314a48
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/1c211546-f201-2d25-862b-6323518ec6e1.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/20c993cd-698f-29c5-8575-6a18e0e920cc.json b/scan_data/3RScan/instance_id_to_gmm_color/20c993cd-698f-29c5-8575-6a18e0e920cc.json
new file mode 100644
index 0000000000000000000000000000000000000000..456587458274d2fb423938c3c80b2ebb64c26596
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/20c993cf-698f-29c5-86c7-e2ee784936a1.json b/scan_data/3RScan/instance_id_to_gmm_color/20c993cf-698f-29c5-86c7-e2ee784936a1.json
new file mode 100644
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/210cdba9-9e8d-2832-862b-b37293fcc0e1.json b/scan_data/3RScan/instance_id_to_gmm_color/210cdba9-9e8d-2832-862b-b37293fcc0e1.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a9d6279ab562c6755ea9d110bd03ae6e4d58801
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/210cdba9-9e8d-2832-862b-b37293fcc0e1.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/4d3d82a8-8cf4-2e04-8025-48aca980e0be.json b/scan_data/3RScan/instance_id_to_gmm_color/4d3d82a8-8cf4-2e04-8025-48aca980e0be.json
new file mode 100644
index 0000000000000000000000000000000000000000..af1f32b910edd34319911b05536a25f3cbc7eb19
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/4d3d82a8-8cf4-2e04-8025-48aca980e0be.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/4d3d82ae-8cf4-2e04-80de-20f96c814d9c.json b/scan_data/3RScan/instance_id_to_gmm_color/4d3d82ae-8cf4-2e04-80de-20f96c814d9c.json
new file mode 100644
index 0000000000000000000000000000000000000000..043d8d435e267843f454c048b94a1db104c8bd8e
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/4d3d82ae-8cf4-2e04-80de-20f96c814d9c.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/4d3d82b0-8cf4-2e04-80a8-c955ea964c2f.json b/scan_data/3RScan/instance_id_to_gmm_color/4d3d82b0-8cf4-2e04-80a8-c955ea964c2f.json
new file mode 100644
index 0000000000000000000000000000000000000000..779527a16d7dd14c949d7ae2c69381495b2035ef
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/4d3d82b0-8cf4-2e04-80a8-c955ea964c2f.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/4d3d82b6-8cf4-2e04-830a-4303fa0e79c7.json b/scan_data/3RScan/instance_id_to_gmm_color/4d3d82b6-8cf4-2e04-830a-4303fa0e79c7.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3d0a9daef424a76b67022be42519357e515fd08
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/4d3d82b6-8cf4-2e04-830a-4303fa0e79c7.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/4d3d82b8-8cf4-2e04-803d-3091a545e57a.json b/scan_data/3RScan/instance_id_to_gmm_color/4d3d82b8-8cf4-2e04-803d-3091a545e57a.json
new file mode 100644
index 0000000000000000000000000000000000000000..288ee0cf2db719f7a8b89da6148c8ca6bcf50fc4
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/4d3d82b8-8cf4-2e04-803d-3091a545e57a.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/4d3d82ba-8cf4-2e04-8218-432a802344be.json b/scan_data/3RScan/instance_id_to_gmm_color/4d3d82ba-8cf4-2e04-8218-432a802344be.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8412100a4817b160d53899212b186baded55ccd
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/4d3d82ba-8cf4-2e04-8218-432a802344be.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/4d3d82bc-8cf4-2e04-8007-e2f7fe679737.json b/scan_data/3RScan/instance_id_to_gmm_color/4d3d82bc-8cf4-2e04-8007-e2f7fe679737.json
new file mode 100644
index 0000000000000000000000000000000000000000..c28a24d42b2a77341f149bbe16a393ec10195e92
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/4d3d82bc-8cf4-2e04-8007-e2f7fe679737.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/4e858c81-fd93-2cb4-8469-d9226116b5de.json b/scan_data/3RScan/instance_id_to_gmm_color/4e858c81-fd93-2cb4-8469-d9226116b5de.json
new file mode 100644
index 0000000000000000000000000000000000000000..3518b63efc508ffd34b8b1752e27e239c6a899a9
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+++ b/scan_data/3RScan/instance_id_to_gmm_color/4e858c81-fd93-2cb4-8469-d9226116b5de.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/6ed384fe-7db9-2d45-8086-01bab3279730.json b/scan_data/3RScan/instance_id_to_gmm_color/6ed384fe-7db9-2d45-8086-01bab3279730.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fa48bf9b33b5bbb48f65b93fd0f71a1e7b09889
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/6ed384fe-7db9-2d45-8086-01bab3279730.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/6ed38500-7db9-2d45-810c-865e82827b54.json b/scan_data/3RScan/instance_id_to_gmm_color/6ed38500-7db9-2d45-810c-865e82827b54.json
new file mode 100644
index 0000000000000000000000000000000000000000..00cd2dae1dc2c27a73ab129bb1fb9ee01df677d3
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/6ed38500-7db9-2d45-810c-865e82827b54.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/6ed38502-7db9-2d45-8219-6521d44b8025.json b/scan_data/3RScan/instance_id_to_gmm_color/6ed38502-7db9-2d45-8219-6521d44b8025.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e2faee9646a81ca49825eb305277f2777e90846
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/6ed38502-7db9-2d45-8219-6521d44b8025.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/7747a51f-9431-24e8-8720-19e267b3b828.json b/scan_data/3RScan/instance_id_to_gmm_color/7747a51f-9431-24e8-8720-19e267b3b828.json
new file mode 100644
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/7747a521-9431-24e8-84e7-7e01eaee08c4.json b/scan_data/3RScan/instance_id_to_gmm_color/7747a521-9431-24e8-84e7-7e01eaee08c4.json
new file mode 100644
index 0000000000000000000000000000000000000000..917cf469b285fa719de10dda1b02e89e379aff88
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/7747a521-9431-24e8-84e7-7e01eaee08c4.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/7747a523-9431-24e8-86ca-377091c35f6e.json b/scan_data/3RScan/instance_id_to_gmm_color/7747a523-9431-24e8-86ca-377091c35f6e.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2ff3b5dd3ef83f8b4ea08d570e99ee67fd862bb
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/7747a523-9431-24e8-86ca-377091c35f6e.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/77941460-cfdf-29cb-86c7-1f60e2ecd07a.json b/scan_data/3RScan/instance_id_to_gmm_color/77941460-cfdf-29cb-86c7-1f60e2ecd07a.json
new file mode 100644
index 0000000000000000000000000000000000000000..0dceb9463b92efa8a0c3f501d27890c0bf40bfe7
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/77941460-cfdf-29cb-86c7-1f60e2ecd07a.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/77941462-cfdf-29cb-85a6-eb23498f9206.json b/scan_data/3RScan/instance_id_to_gmm_color/77941462-cfdf-29cb-85a6-eb23498f9206.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a944f0208003169029235e380fab1ab6437abde
--- /dev/null
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/77941464-cfdf-29cb-87f4-0465d3b9ab00.json b/scan_data/3RScan/instance_id_to_gmm_color/77941464-cfdf-29cb-87f4-0465d3b9ab00.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d72e8e1d4ceef1a6ad09f88fc624bfe2d31740b
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/77941464-cfdf-29cb-87f4-0465d3b9ab00.json
@@ -0,0 +1 @@
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/77941466-cfdf-29cb-865f-0e2fcea3af87.json b/scan_data/3RScan/instance_id_to_gmm_color/77941466-cfdf-29cb-865f-0e2fcea3af87.json
new file mode 100644
index 0000000000000000000000000000000000000000..06774f7c1d7347d8582ead895b373b97f47b0768
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/77941466-cfdf-29cb-865f-0e2fcea3af87.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/7794146a-cfdf-29cb-8705-f3f89d9ed3ae.json b/scan_data/3RScan/instance_id_to_gmm_color/7794146a-cfdf-29cb-8705-f3f89d9ed3ae.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2cc2c4f3757a2f74f83528e88d31038a3a5c906
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/7794146a-cfdf-29cb-8705-f3f89d9ed3ae.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_gmm_color/787ed580-9d98-2c97-8167-6d3b445da2c0.json b/scan_data/3RScan/instance_id_to_gmm_color/787ed580-9d98-2c97-8167-6d3b445da2c0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d84210df1910db27f30bfa5d4af044fdfb8b472
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/787ed580-9d98-2c97-8167-6d3b445da2c0.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/a8952593-9035-254b-8f40-bc82e6bcbbb1.json b/scan_data/3RScan/instance_id_to_gmm_color/a8952593-9035-254b-8f40-bc82e6bcbbb1.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab434fdb8d8c184822832d7f0d7f5786879f9803
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/a8952593-9035-254b-8f40-bc82e6bcbbb1.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/a8952595-9035-254b-8c74-9c22ced19216.json b/scan_data/3RScan/instance_id_to_gmm_color/a8952595-9035-254b-8c74-9c22ced19216.json
new file mode 100644
index 0000000000000000000000000000000000000000..6206450d368555237d27e3971daa675819c1192a
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+++ b/scan_data/3RScan/instance_id_to_gmm_color/a8952595-9035-254b-8c74-9c22ced19216.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/c7895f39-339c-2d13-81c3-261003fc3b01.json b/scan_data/3RScan/instance_id_to_gmm_color/c7895f39-339c-2d13-81c3-261003fc3b01.json
new file mode 100644
index 0000000000000000000000000000000000000000..19a85f29394494cb4fc720bcc2e719a200f98292
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/c7895f39-339c-2d13-81c3-261003fc3b01.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/c7895f3e-339c-2d13-832a-b3636f113063.json b/scan_data/3RScan/instance_id_to_gmm_color/c7895f3e-339c-2d13-832a-b3636f113063.json
new file mode 100644
index 0000000000000000000000000000000000000000..202fd48a8dfae8c5bd9fc14a328437e87e95c59f
--- /dev/null
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/c7895f42-339c-2d13-814f-994062b318b0.json b/scan_data/3RScan/instance_id_to_gmm_color/c7895f42-339c-2d13-814f-994062b318b0.json
new file mode 100644
index 0000000000000000000000000000000000000000..96dc2b1022be131f6ff2ca2422484c6197db9ee2
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/c7895f42-339c-2d13-814f-994062b318b0.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/c7895f44-339c-2d13-8103-3e9dcc3be375.json b/scan_data/3RScan/instance_id_to_gmm_color/c7895f44-339c-2d13-8103-3e9dcc3be375.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf9f25004bb4c49e0b1f477e3f21e625715be56a
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/c7895f44-339c-2d13-8103-3e9dcc3be375.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/c7895f46-339c-2d13-81c6-395674134ef2.json b/scan_data/3RScan/instance_id_to_gmm_color/c7895f46-339c-2d13-81c6-395674134ef2.json
new file mode 100644
index 0000000000000000000000000000000000000000..491e90f5ee176ea92483a29e786b4eeea002d490
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/c7895f46-339c-2d13-81c6-395674134ef2.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/c7895f4c-339c-2d13-8383-527f405b18c3.json b/scan_data/3RScan/instance_id_to_gmm_color/c7895f4c-339c-2d13-8383-527f405b18c3.json
new file mode 100644
index 0000000000000000000000000000000000000000..a28686e071f7411f4f86960b174525271b1f157b
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/c7895f4c-339c-2d13-8383-527f405b18c3.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/c7895f4e-339c-2d13-80d3-90eaa1403a25.json b/scan_data/3RScan/instance_id_to_gmm_color/c7895f4e-339c-2d13-80d3-90eaa1403a25.json
new file mode 100644
index 0000000000000000000000000000000000000000..1420487de01c751fabdda5c5cb730138f7a6e967
--- /dev/null
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/c7895f50-339c-2d13-828c-1d01eab90a00.json b/scan_data/3RScan/instance_id_to_gmm_color/c7895f50-339c-2d13-828c-1d01eab90a00.json
new file mode 100644
index 0000000000000000000000000000000000000000..02381ada237b7ba754860a8da9b1a8bafe8e1fc2
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/c7895f50-339c-2d13-828c-1d01eab90a00.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/c7895f5d-339c-2d13-8003-0763dfb1b23c.json b/scan_data/3RScan/instance_id_to_gmm_color/c7895f5d-339c-2d13-8003-0763dfb1b23c.json
new file mode 100644
index 0000000000000000000000000000000000000000..033bf157041134cb0f41b497b47376226dfeff95
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/c7895f5d-339c-2d13-8003-0763dfb1b23c.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/c7895f5f-339c-2d13-82db-e99a08b5f679.json b/scan_data/3RScan/instance_id_to_gmm_color/c7895f5f-339c-2d13-82db-e99a08b5f679.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c16accb50369b044bc96c7ebe869b88297c223e
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/c7895f5f-339c-2d13-82db-e99a08b5f679.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/c7895f61-339c-2d13-8004-3cbebf317f21.json b/scan_data/3RScan/instance_id_to_gmm_color/c7895f61-339c-2d13-8004-3cbebf317f21.json
new file mode 100644
index 0000000000000000000000000000000000000000..de33a115e2ebe9dadb6e6b9357aca5edbe3151b5
--- /dev/null
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/c7895f63-339c-2d13-81a3-0b07b1eb23b4.json b/scan_data/3RScan/instance_id_to_gmm_color/c7895f63-339c-2d13-81a3-0b07b1eb23b4.json
new file mode 100644
index 0000000000000000000000000000000000000000..4092dbb645f947addcac5ca5df2717309a0fe6c9
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/c7895f63-339c-2d13-81a3-0b07b1eb23b4.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/c7895f6d-339c-2d13-8078-90c61bd6f685.json b/scan_data/3RScan/instance_id_to_gmm_color/c7895f6d-339c-2d13-8078-90c61bd6f685.json
new file mode 100644
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--- /dev/null
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\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/0cac757e-8d6f-2d13-8f1d-ef6123d53655.json b/scan_data/3RScan/instance_id_to_name/0cac757e-8d6f-2d13-8f1d-ef6123d53655.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1c72562aeff13900597b84b151f69fb27a37f14
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/0cac757e-8d6f-2d13-8f1d-ef6123d53655.json
@@ -0,0 +1 @@
+["object", "floor", "sofa", "table", "table", "wall", "object", "object", "object", "toilet", "curtain", "wall", "display case", "cabinet", "armchair", "lamp", "tv stand", "shelf", "curtain", "curtain", "wall", "cabinet", "object", "wall", "object", "potted plant", "object", "pillow", "basket", "object", "shelf", "object", "object", "object", "object", "object", "potted plant", "object", "object", "lamp", "object", "box", "mirror", "object", "blanket", "pillow", "pillow", "pillow", "pillow", "potted plant", "lamp", "tv", "plate"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/0cac7580-8d6f-2d13-8c9d-d45247b5244b.json b/scan_data/3RScan/instance_id_to_name/0cac7580-8d6f-2d13-8c9d-d45247b5244b.json
new file mode 100644
index 0000000000000000000000000000000000000000..2eb47b3b33651a75f768e7f398374fd1cb6f4a03
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/0cac7580-8d6f-2d13-8c9d-d45247b5244b.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/0cac7582-8d6f-2d13-8d4b-e4041cb166c4.json b/scan_data/3RScan/instance_id_to_name/0cac7582-8d6f-2d13-8d4b-e4041cb166c4.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8236f1c19c47e3902711e0f783d2c63bbcdad5d
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/0cac7582-8d6f-2d13-8d4b-e4041cb166c4.json
@@ -0,0 +1 @@
+["object", "floor", "sofa", "coffee table", "wall", "shelf", "cabinet", "object", "cabinet", "tv stand", "picture", "wall", "toilet", "toilet", "curtain", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "potted plant", "stool", "stool", "object", "potted plant", "stool", "lamp", "curtain", "curtain", "object", "object", "object", "fan", "tv", "object", "object", "object", "object", "object", "object", "decoration", "object", "object", "object", "object", "object", "object", "pillow", "pillow", "pillow", "blanket", "pillow", "pillow"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/0cac7584-8d6f-2d13-8df8-c05e4307b418.json b/scan_data/3RScan/instance_id_to_name/0cac7584-8d6f-2d13-8df8-c05e4307b418.json
new file mode 100644
index 0000000000000000000000000000000000000000..18abda54c81c68a023033a39be8491c3f7b55a66
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/0cac7584-8d6f-2d13-8df8-c05e4307b418.json
@@ -0,0 +1 @@
+["object", "floor", "sofa", "coffee table", "wall", "shelf", "cabinet", "object", "cabinet", "tv stand", "picture", "wall", "toilet", "toilet", "curtain", "shelf", "lamp", "lamp", "lamp", "lamp", "lamp", "object", "object", "object", "treadmill", "object", "object", "frame", "frame", "box", "potted plant", "stool", "stool", "object", "potted plant", "stool", "lamp", "curtain", "curtain", "object", "object", "object", "fan", "tv", "plate", "object", "object", "object", "object", "object", "decoration", "ceiling", "object", "object", "object", "object", "object", "pillow", "pillow", "pillow", "blanket", "pillow", "pillow"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/0cac758d-8d6f-2d13-8d21-9133668b4d7d.json b/scan_data/3RScan/instance_id_to_name/0cac758d-8d6f-2d13-8d21-9133668b4d7d.json
new file mode 100644
index 0000000000000000000000000000000000000000..89e0718c20432c142bb0641c19e8bc41239ca934
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/0cac758d-8d6f-2d13-8d21-9133668b4d7d.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "bed", "toilet", "toilet", "wardrobe", "object", "curtain", "wall", "table", "chair", "shelf", "beanbag chair", "clothes hanger", "wall", "shelf", "object", "ceiling", "object", "object", "object", "laundry basket", "pillow", "pillow", "picture", "pictures", "decoration", "picture", "shelf", "picture", "object", "object", "object", "box", "box"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/0cac7595-8d6f-2d13-8cad-f51af4c9aba2.json b/scan_data/3RScan/instance_id_to_name/0cac7595-8d6f-2d13-8cad-f51af4c9aba2.json
new file mode 100644
index 0000000000000000000000000000000000000000..af16fc573d882f80fb7817e915c6f7887102fe63
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/0cac7595-8d6f-2d13-8cad-f51af4c9aba2.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "toilet", "wall", "object", "object", "object", "object", "object", "object", "object", "toilet", "wall", "cabinet", "stand", "picture", "object", "wall", "object", "object", "box", "object", "object", "object", "ceiling", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "basket", "object", "shelf", "object", "object", "object", "paper", "object", "paper", "paper", "paper", "wall", "wall", "picture", "object", "object", "towel", "wall", "object", "light", "object", "box", "box", "box", "box", "box", "box"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/0cac7597-8d6f-2d13-8c9c-6f8542021d5c.json b/scan_data/3RScan/instance_id_to_name/0cac7597-8d6f-2d13-8c9c-6f8542021d5c.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddc3a5fbab23e02b61951a0d2a8d4ef0aa10a9ae
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/0cac7597-8d6f-2d13-8c9c-6f8542021d5c.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "toilet", "wall", "wall", "object", "wall", "door", "wall", "wardrobe", "rack stand", "toilet", "wall", "cabinet", "stand", "picture", "object", "wall", "toilet", "wall", "box", "object", "object", "ceiling", "ceiling", "object", "object", "pillow", "clothes hanger", "clothes hanger", "object", "object", "object", "light", "object", "decoration", "object", "lamp", "picture", "basket", "basket", "shelf", "shelf", "shelf", "object", "paper", "object", "paper", "paper", "paper", "wall", "wall", "picture", "picture", "object", "towel", "wall", "object", "light", "light", "box"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/0cac7599-8d6f-2d13-8e7f-4217750a64cc.json b/scan_data/3RScan/instance_id_to_name/0cac7599-8d6f-2d13-8e7f-4217750a64cc.json
new file mode 100644
index 0000000000000000000000000000000000000000..5399c032bce8b5d7ea7b5d267e058ce823962512
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/0cac7599-8d6f-2d13-8e7f-4217750a64cc.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "wall", "wall", "wall", "wardrobe", "armchair", "bed", "baby changing station", "curtain", "light", "stuffed animal", "light", "shelf", "shelf", "shelf", "object", "trash bin", "pillow", "shelf", "object", "cabinet", "object", "shelf", "object", "ceiling", "object", "shelf", "object", "object", "shelf", "picture", "doorframe", "speaker", "object", "object", "shelf", "shelf", "shelf", "shelf", "object", "object", "picture", "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", "pillow", "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", "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", "blanket", "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", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "pillow", "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", "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", "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", "books"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/0cac759b-8d6f-2d13-8e3b-2e3bc1ee1158.json b/scan_data/3RScan/instance_id_to_name/0cac759b-8d6f-2d13-8e3b-2e3bc1ee1158.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f9af926f113b22ee1482e6ff1450ac19dddcd6a
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/0cac759b-8d6f-2d13-8e3b-2e3bc1ee1158.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "wall", "wall", "wall", "wardrobe", "armchair", "bed", "baby changing station", "curtain", "light", "stuffed animal", "light", "shelf", "shelf", "shelf", "object", "trash bin", "pillow", "shelf", "object", "cabinet", "object", "shelf", "object", "ceiling", "pillow", "shelf", "object", "object", "object", "picture", "doorframe", "speaker", "object", "object", "shelf", "shelf", "shelf", "shelf", "object", "object", "picture", "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", "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", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "blanket", "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", "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", "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", "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", "books"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/0cac759d-8d6f-2d13-8e8b-c3730d9fe563.json b/scan_data/3RScan/instance_id_to_name/0cac759d-8d6f-2d13-8e8b-c3730d9fe563.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f9af926f113b22ee1482e6ff1450ac19dddcd6a
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/0cac759d-8d6f-2d13-8e8b-c3730d9fe563.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "wall", "wall", "wall", "wardrobe", "armchair", "bed", "baby changing station", "curtain", "light", "stuffed animal", "light", "shelf", "shelf", "shelf", "object", "trash bin", "pillow", "shelf", "object", "cabinet", "object", "shelf", "object", "ceiling", "pillow", "shelf", "object", "object", "object", "picture", "doorframe", "speaker", "object", "object", "shelf", "shelf", "shelf", "shelf", "object", "object", "picture", "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", "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", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "blanket", "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", "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", "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", "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", "books"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/0cac75a1-8d6f-2d13-8dab-0ecc3b317dc7.json b/scan_data/3RScan/instance_id_to_name/0cac75a1-8d6f-2d13-8dab-0ecc3b317dc7.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b2b49553e2faebe1d9687a8c9cccbfb35132f1f
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/0cac75a1-8d6f-2d13-8dab-0ecc3b317dc7.json
@@ -0,0 +1 @@
+["object", "floor", "bathroom cabinet", "sink", "sink", "wall", "wall", "wall", "wall", "shower curtain", "towel", "towel", "bathroom cabinet", "bathroom cabinet", "shelf", "object", "bathroom cabinet", "bathroom cabinet", "bathroom cabinet", "object", "laundry basket", "toilet", "object", "wall", "towel", "towel", "towel", "object", "wall", "shower wall", "object", "ceiling"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/0cac75a7-8d6f-2d13-8fdc-083ff44d10fb.json b/scan_data/3RScan/instance_id_to_name/0cac75a7-8d6f-2d13-8fdc-083ff44d10fb.json
new file mode 100644
index 0000000000000000000000000000000000000000..05e8537fcb187f55b62b28f8c68256b65e717e63
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/0cac75a7-8d6f-2d13-8fdc-083ff44d10fb.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "bed", "toilet", "nightstand", "nightstand", "table", "shelf", "shelf", "object", "blinds", "clothing", "wall", "window", "picture", "picture", "object", "ceiling", "lamp", "object", "lamp", "lamp", "pillow", "pillow", "pillow", "pillow", "object", "object"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/0cac75ab-8d6f-2d13-8fea-b1eb7e9bf6e7.json b/scan_data/3RScan/instance_id_to_name/0cac75ab-8d6f-2d13-8fea-b1eb7e9bf6e7.json
new file mode 100644
index 0000000000000000000000000000000000000000..95b76d85c74fed4d56c3ff02cf71c031b04a4e32
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/0cac75ab-8d6f-2d13-8fea-b1eb7e9bf6e7.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "display case", "table", "object", "wall", "counter", "kitchen cabinet", "kitchen cabinet", "kitchen cabinet", "wall", "wall", "wall", "wall", "range hood", "wall", "clock", "object", "object", "object", "chair", "chair", "object", "object", "carseat", "object", "object", "object", "plate", "lamp", "object", "shelf", "shelf", "shelf", "object", "sign", "kitchen mixer", "sink", "object", "object", "object", "object", "plate", "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", "stove", "oven", "wall", "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", "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", "chair", "object", "object", "object", "object", "chair", "object", "object", "object", "object", "ceiling"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/0cac75ad-8d6f-2d13-8c74-5de4dfc4affc.json b/scan_data/3RScan/instance_id_to_name/0cac75ad-8d6f-2d13-8c74-5de4dfc4affc.json
new file mode 100644
index 0000000000000000000000000000000000000000..35a26630261c924b875df8bed322a84aab18f5e4
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/0cac75ad-8d6f-2d13-8c74-5de4dfc4affc.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "display case", "table", "wall", "wall", "counter", "kitchen cabinet", "kitchen cabinet", "kitchen cabinet", "wall", "wall", "wall", "wall", "range hood", "wall", "clock", "object", "object", "object", "chair", "chair", "object", "object", "carseat", "trash bin", "broom", "object", "plate", "lamp", "object", "shelf", "shelf", "shelf", "object", "sign", "kitchen mixer", "sink", "object", "object", "object", "object", "plate", "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", "stove", "oven", "wall", "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", "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", "chair", "object", "object", "object", "object", "chair", "object", "object", "object", "object", "ceiling"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/0cac75af-8d6f-2d13-8f9e-ed3f62665aed.json b/scan_data/3RScan/instance_id_to_name/0cac75af-8d6f-2d13-8f9e-ed3f62665aed.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d055ca19ca35155b7ad621e19edd0e72ca7ac06
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/0cac75af-8d6f-2d13-8f9e-ed3f62665aed.json
@@ -0,0 +1 @@
+["object", "floor", "object", "object", "object", "object", "object", "wall", "counter", "kitchen cabinet", "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", "kitchen mixer", "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", "stove", "oven"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/0cac75b1-8d6f-2d13-8c17-9099db8915bc.json b/scan_data/3RScan/instance_id_to_name/0cac75b1-8d6f-2d13-8c17-9099db8915bc.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea5b7681e7847746790b3818eb61245705856d75
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/0cac75b1-8d6f-2d13-8c17-9099db8915bc.json
@@ -0,0 +1 @@
+["object", "floor", "couch", "table", "chair", "chair", "toilet", "couch", "wall", "couch", "table", "table", "chair", "table", "chair", "shelf", "lamp", "chair", "table", "mirror", "shelf", "bench", "stuffed animal", "wall", "stool", "chair", "chair", "chair", "chair", "shelf", "potted plant", "wall", "mirror", "shelf", "toilet", "wall", "shelf", "object", "wall", "object", "ceiling", "object", "object", "frame", "frame", "decoration", "object", "object", "object", "object", "cloth", "vase", "pillow", "pillow", "pillow", "pillow", "pillow", "pillow", "pillow", "lamp", "object", "pillow", "pillow", "pillow", "pillow", "pillow", "lamp", "object", "potted plant", "object", "wall", "shelf", "drawer", "potted plant", "shelf", "object", "object", "object", "object", "object", "pillow", "pillow", "pillow", "pillow", "pillow", "pillow", "pillow", "pillow", "pillow", "pillow", "pillow", "pillow", "pillow", "book", "pillow"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/0cac75b3-8d6f-2d13-8f4b-3d74070429df.json b/scan_data/3RScan/instance_id_to_name/0cac75b3-8d6f-2d13-8f4b-3d74070429df.json
new file mode 100644
index 0000000000000000000000000000000000000000..7177fed1ad768fa251662830b38340c04ee6e353
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/0cac75b3-8d6f-2d13-8f4b-3d74070429df.json
@@ -0,0 +1 @@
+["object", "floor", "couch", "table", "chair", "chair", "toilet", "object", "object", "couch", "table", "table", "chair", "table", "chair", "object", "lamp", "chair", "table", "mirror", "object", "object", "object", "wall", "stool", "chair", "object", "chair", "chair", "shelf", "potted plant", "wall", "object", "shelf", "toilet", "wall", "shelf", "object", "object", "object", "ceiling", "object", "object", "object", "object", "decoration", "object", "object", "object", "object", "cloth", "vase", "object", "object", "object", "object", "object", "object", "object", "object", "object", "pillow", "pillow", "pillow", "object", "pillow", "lamp", "object", "potted plant", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/0cac75b7-8d6f-2d13-8cb2-0b4e06913140.json b/scan_data/3RScan/instance_id_to_name/0cac75b7-8d6f-2d13-8cb2-0b4e06913140.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a0bca68fbba52be92d97503a599166f8a753969
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/0cac75b7-8d6f-2d13-8cb2-0b4e06913140.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "wall", "object", "curtain", "curtain", "window", "table", "bench", "chair", "chair", "object", "sofa", "table", "end table", "end table", "end table", "desk", "chair", "shelf", "shelf", "tv stand", "shelf", "toilet", "stool", "stool", "cabinet", "object", "object", "object", "object", "object", "stand", "shelf", "lamp", "object", "object", "cart", "object", "box", "tv", "object", "object", "shelf", "shelf", "box", "potted plant", "potted plant", "object", "pillow", "pillow", "pillow", "pillow", "pillow", "pillow", "boxes", "object", "decoration", "object", "object", "monitor", "object", "shelf", "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", "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", "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", "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", "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", "object", "object", "object", "object", "object", "ceiling", "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", "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", "decoration"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/0cac75dc-8d6f-2d13-8d08-9c497bd6acdc.json b/scan_data/3RScan/instance_id_to_name/0cac75dc-8d6f-2d13-8d08-9c497bd6acdc.json
new file mode 100644
index 0000000000000000000000000000000000000000..3173ad6e728da6d451def2ed84f175e0099abc6e
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/0cac75dc-8d6f-2d13-8d08-9c497bd6acdc.json
@@ -0,0 +1 @@
+["object", "floor", "couch", "wall", "curtain", "wall", "fireplace", "table", "wall", "curtain", "display case", "display case", "wall", "toilet", "wall", "object", "shelf", "shelf", "ceiling", "shelf", "shelf", "decoration", "shelf", "chair", "chair", "object", "plate", "object", "box", "picture", "board", "wall", "lamp", "object", "ceiling", "object", "object", "object", "object", "light", "object", "object", "object", "candle", "object", "cabinet", "object", "shelf", "object", "pillow", "pillow", "pillow", "pillow"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/0cac75fc-8d6f-2d13-8c59-13d52e366f38.json b/scan_data/3RScan/instance_id_to_name/0cac75fc-8d6f-2d13-8c59-13d52e366f38.json
new file mode 100644
index 0000000000000000000000000000000000000000..b618e8706df39552bb8e0996d2d0b1fb04215390
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/0cac75fc-8d6f-2d13-8c59-13d52e366f38.json
@@ -0,0 +1 @@
+["object", "floor", "chair", "chair", "table", "curtain", "wall", "object", "wall", "kitchen counter", "kitchen counter", "wall", "kitchen cabinet", "kitchen cabinet", "kitchen cabinet", "shelf", "oven", "shelf", "telephone", "ceiling"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/0cac75fe-8d6f-2d13-8dd8-87c100e95f4d.json b/scan_data/3RScan/instance_id_to_name/0cac75fe-8d6f-2d13-8dd8-87c100e95f4d.json
new file mode 100644
index 0000000000000000000000000000000000000000..b618e8706df39552bb8e0996d2d0b1fb04215390
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/0cac75fe-8d6f-2d13-8dd8-87c100e95f4d.json
@@ -0,0 +1 @@
+["object", "floor", "chair", "chair", "table", "curtain", "wall", "object", "wall", "kitchen counter", "kitchen counter", "wall", "kitchen cabinet", "kitchen cabinet", "kitchen cabinet", "shelf", "oven", "shelf", "telephone", "ceiling"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/0cac7602-8d6f-2d13-8ca7-c26866c2e42f.json b/scan_data/3RScan/instance_id_to_name/0cac7602-8d6f-2d13-8ca7-c26866c2e42f.json
new file mode 100644
index 0000000000000000000000000000000000000000..e335928686c04c42eca1591315bbd8d4dee94819
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/0cac7602-8d6f-2d13-8ca7-c26866c2e42f.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "curtain", "table", "chair", "chair", "kitchen cabinet", "wall", "shelf", "counter", "object", "wall", "kitchen cabinet", "kitchen cabinet", "kitchen cabinet", "sink", "object", "wall", "object", "ceiling", "object", "object", "object", "object", "object", "object", "object", "wall", "chair", "clock", "potted plant", "frying pan", "stove", "light", "plate", "plate"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/0cac7604-8d6f-2d13-8e39-784396ee3b8c.json b/scan_data/3RScan/instance_id_to_name/0cac7604-8d6f-2d13-8e39-784396ee3b8c.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ed9d984306afe32a6d09583e6848385c0da14c6
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/0cac7604-8d6f-2d13-8e39-784396ee3b8c.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "curtain", "table", "chair", "chair", "kitchen cabinet", "wall", "shelf", "counter", "object", "wall", "kitchen cabinet", "kitchen cabinet", "kitchen cabinet", "sink", "object", "wall", "object", "ceiling", "object", "object", "object", "object", "object", "object", "object", "wall", "chair", "clock", "object", "frying pan", "stove", "object", "plate", "plate"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/1776ad7a-4db7-2333-8afa-5fb5440b2edc.json b/scan_data/3RScan/instance_id_to_name/1776ad7a-4db7-2333-8afa-5fb5440b2edc.json
new file mode 100644
index 0000000000000000000000000000000000000000..e11cd537ac04dca5776e4c7e7e37a41aeb4a3d56
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/1776ad7a-4db7-2333-8afa-5fb5440b2edc.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "window", "counter", "wall", "wall", "kitchen cabinet", "kitchen cabinet", "wall", "wall", "chair", "wall", "wall", "object", "object", "object", "ceiling", "microwave", "bowl", "bag", "microwave", "potted plant", "stool", "object", "stool", "sink", "towel", "object", "object", "object", "wall"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/1776ad7c-4db7-2333-88b3-edb7a9803f6f.json b/scan_data/3RScan/instance_id_to_name/1776ad7c-4db7-2333-88b3-edb7a9803f6f.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c79034091f718de7c3e62d321be48bfd74c3091
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/1776ad7c-4db7-2333-88b3-edb7a9803f6f.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "window", "counter", "wall", "wall", "kitchen cabinet", "kitchen cabinet", "wall", "wall", "chair", "wall", "wall", "object", "object", "object", "ceiling", "microwave", "bowl", "bag", "microwave", "potted plant", "stool", "object", "stool", "object", "towel"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/1776ad86-4db7-2333-8935-240e44ccb16d.json b/scan_data/3RScan/instance_id_to_name/1776ad86-4db7-2333-8935-240e44ccb16d.json
new file mode 100644
index 0000000000000000000000000000000000000000..d736367357c466ea6814947e46dfedbef0e0b79b
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/1776ad86-4db7-2333-8935-240e44ccb16d.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "table", "chair", "chair", "chair", "chair", "wall", "object", "object"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/1776ad88-4db7-2333-887f-8be533122e06.json b/scan_data/3RScan/instance_id_to_name/1776ad88-4db7-2333-887f-8be533122e06.json
new file mode 100644
index 0000000000000000000000000000000000000000..c65d8f816f7299818a7e5ebbf4d7fab087750ad5
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/1776ad88-4db7-2333-887f-8be533122e06.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "cabinet", "window", "vase", "pot", "pot", "potted plant", "pot", "potted plant", "table", "stairs", "object", "chair", "chair", "chair", "object", "object", "object", "object", "object", "window"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/1776ad8a-4db7-2333-8909-97b950726515.json b/scan_data/3RScan/instance_id_to_name/1776ad8a-4db7-2333-8909-97b950726515.json
new file mode 100644
index 0000000000000000000000000000000000000000..c65d8f816f7299818a7e5ebbf4d7fab087750ad5
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/1776ad8a-4db7-2333-8909-97b950726515.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "cabinet", "window", "vase", "pot", "pot", "potted plant", "pot", "potted plant", "table", "stairs", "object", "chair", "chair", "chair", "object", "object", "object", "object", "object", "window"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/185d7417-3698-223c-8a26-b3a5fce593d4.json b/scan_data/3RScan/instance_id_to_name/185d7417-3698-223c-8a26-b3a5fce593d4.json
new file mode 100644
index 0000000000000000000000000000000000000000..1325f8084232d1d9dcaca19f6a9becf82bef9f0f
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/185d7417-3698-223c-8a26-b3a5fce593d4.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "ceiling", "wall", "kitchen cabinet", "kitchen counter", "object", "kitchen cabinet", "object", "trash can", "window", "object", "sink", "microwave", "wall", "shelf", "oven", "kitchen cabinet", "object", "object", "object", "basket", "shelf", "object", "object", "coffee maker", "object", "lamp", "stove", "object", "wall", "trash can", "trash can", "box", "object", "object", "object", "object", "object", "object", "object", "stool", "object", "box", "case"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/185d7419-3698-223c-8b18-2dccc08c66d9.json b/scan_data/3RScan/instance_id_to_name/185d7419-3698-223c-8b18-2dccc08c66d9.json
new file mode 100644
index 0000000000000000000000000000000000000000..330fe572f3093cdff8368e2142e92523e8dd001e
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/185d7419-3698-223c-8b18-2dccc08c66d9.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "ceiling", "wall", "kitchen cabinet", "kitchen counter", "object", "kitchen cabinet", "object", "trash can", "window", "object", "sink", "microwave", "wall", "shelf", "oven", "kitchen cabinet", "object", "object", "object", "basket", "shelf", "object", "object", "coffee maker", "potted plant", "lamp", "stove", "object", "wall", "trash can", "trash can", "box", "object", "object", "object", "object", "object", "bananas", "object", "stool", "object", "box", "case"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/185d741b-3698-223c-8ba0-48db6ecbe220.json b/scan_data/3RScan/instance_id_to_name/185d741b-3698-223c-8ba0-48db6ecbe220.json
new file mode 100644
index 0000000000000000000000000000000000000000..086b94852570143db53afcea3eaf757847562486
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/185d741b-3698-223c-8ba0-48db6ecbe220.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "door", "object", "object", "wall", "wall", "wall", "wall", "heater", "bathtub", "shower curtain", "sink", "bathroom cabinet", "toilet", "window", "trash bin", "bathroom cabinet", "basket", "ceiling", "object", "object", "object", "object", "object", "lamp", "lamp", "object", "object", "object", "object", "windowsill", "basket", "doorframe"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/185d741d-3698-223c-8837-9dafd682c7f0.json b/scan_data/3RScan/instance_id_to_name/185d741d-3698-223c-8837-9dafd682c7f0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0dc9eaa7d25305d2b0fbfa20ff78d166c97e8595
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/185d741d-3698-223c-8837-9dafd682c7f0.json
@@ -0,0 +1 @@
+["object", "floor", "bed", "nightstand", "wall", "wall", "object", "wall", "ceiling", "wall", "toilet", "object", "window", "object", "ottoman", "object", "stairs", "frame", "object", "object", "object", "frame", "light", "object", "object", "object", "object", "object", "object", "object", "object", "picture", "object", "object", "object", "blanket", "pillow", "pillow", "pillow"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/185d741f-3698-223c-8a4c-5e77f82f9251.json b/scan_data/3RScan/instance_id_to_name/185d741f-3698-223c-8a4c-5e77f82f9251.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e3d66abe0ae86e35b4385e1fd214b6ae8c8bb98
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/185d741f-3698-223c-8a4c-5e77f82f9251.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "door", "wall", "ceiling", "wall", "wall", "shelf", "wall", "clothing", "clothing", "wardrobe", "drawer", "drawer", "boxes", "shelf", "object", "object", "object", "carpet", "object", "object", "object", "clothing", "clothing", "clothing", "clothing", "object", "clothing", "boxes"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/185d7421-3698-223c-8b02-a4befeb2dab9.json b/scan_data/3RScan/instance_id_to_name/185d7421-3698-223c-8b02-a4befeb2dab9.json
new file mode 100644
index 0000000000000000000000000000000000000000..a43bfb312a06a50dd1d23c1c0096ff6957d977ca
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/185d7421-3698-223c-8b02-a4befeb2dab9.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "object", "sofa", "wall", "blackboard", "blackboard", "wall", "cabinet", "table", "chair", "chair", "chair", "chair", "chair", "object", "chair", "object", "foosball table", "chair", "ceiling", "light", "light", "light", "light", "light", "light", "wall", "object", "window", "windowsill", "windowsill", "door", "radiator", "radiator", "desk", "desk", "desk", "object", "box", "object", "object", "sink", "object", "object", "object", "object", "chair", "object", "object", "blinds", "object", "object", "object", "object", "object", "wall", "object", "object", "object", "object", "pillow", "pillow", "pillow", "box", "soap dispenser", "hand dryer", "object", "object", "light", "clock", "object", "object", "table"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/185d7423-3698-223c-8879-80ad9339afce.json b/scan_data/3RScan/instance_id_to_name/185d7423-3698-223c-8879-80ad9339afce.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c5b0fe665c47bde48a6ba258596df7076270809
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/185d7423-3698-223c-8879-80ad9339afce.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "whiteboard", "wall", "wall", "window", "windowsill", "windowsill", "heater", "ceiling", "ceiling", "light", "door", "chair", "chair", "table", "chair", "chair", "chair", "object", "object", "object", "object", "door", "object", "wall", "blinds", "object", "object", "object", "chair", "light", "blinds", "window", "object", "object", "object", "chair", "chair"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/185d7425-3698-223c-8ac8-78643cbdc3d1.json b/scan_data/3RScan/instance_id_to_name/185d7425-3698-223c-8ac8-78643cbdc3d1.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa89869124f2a6b27a84b9f0aa055e0c94f34384
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/185d7425-3698-223c-8ac8-78643cbdc3d1.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "whiteboard", "wall", "wall", "window", "object", "windowsill", "heater", "ceiling", "ceiling", "object", "door", "chair", "chair", "table", "chair", "chair", "chair", "object", "object", "object", "object", "door", "object", "wall", "blinds", "wall", "object", "object", "chair", "light", "blinds", "window", "object", "object", "object", "chair", "chair", "wall"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/185d7427-3698-223c-8996-74a451349121.json b/scan_data/3RScan/instance_id_to_name/185d7427-3698-223c-8996-74a451349121.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a9adcac836c7e7e9d6edf45e601c12f5a0b40d4
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/185d7427-3698-223c-8996-74a451349121.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "whiteboard", "wall", "wall", "window", "windowsill", "windowsill", "heater", "ceiling", "ceiling", "light", "door", "chair", "chair", "table", "chair", "chair", "chair", "object", "object", "object", "object", "door", "object", "wall", "blinds", "wall", "object", "object", "chair", "light", "blinds", "window", "object", "object", "object", "chair", "chair"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/185d7429-3698-223c-8a42-8c2d18d51531.json b/scan_data/3RScan/instance_id_to_name/185d7429-3698-223c-8a42-8c2d18d51531.json
new file mode 100644
index 0000000000000000000000000000000000000000..e69323f81742ceeea8aa55c4f4762526c7f9f18a
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/185d7429-3698-223c-8a42-8c2d18d51531.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "whiteboard", "wall", "wall", "window", "windowsill", "windowsill", "heater", "ceiling", "ceiling", "light", "door", "chair", "chair", "table", "chair", "chair", "chair", "object", "object", "object", "object", "door", "object", "wall", "blinds", "object", "object", "object", "chair", "light", "blinds", "window", "object", "object", "object", "chair", "chair", "wall"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/18d4d91f-7eb5-280e-8757-1eb6f43ecfd2.json b/scan_data/3RScan/instance_id_to_name/18d4d91f-7eb5-280e-8757-1eb6f43ecfd2.json
new file mode 100644
index 0000000000000000000000000000000000000000..e48d9f2c3f14764217e7bd5374be01199cddf431
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/18d4d91f-7eb5-280e-8757-1eb6f43ecfd2.json
@@ -0,0 +1 @@
+["object", "floor", "object", "bed", "wall", "wall", "wall", "curtain", "ceiling", "lamp", "chair", "shelf", "clothing", "chair", "table", "curtain", "wall", "object", "window", "shelf", "blanket", "pillow", "pillow", "box", "box", "box", "stool", "laundry basket", "clothing", "rack stand", "blanket", "laundry basket", "object", "object", "radiator", "door", "table", "object", "object", "backpack", "shelf"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/18d4d922-7eb5-280e-87bb-af3229fb1f13.json b/scan_data/3RScan/instance_id_to_name/18d4d922-7eb5-280e-87bb-af3229fb1f13.json
new file mode 100644
index 0000000000000000000000000000000000000000..ace98b69ac51a5f626da607292ef8a49f6eafc96
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/18d4d922-7eb5-280e-87bb-af3229fb1f13.json
@@ -0,0 +1 @@
+["object", "floor", "toilet", "wall", "wall", "wall", "wall", "door", "heater", "sink", "shower", "lamp", "ceiling", "object", "object", "shelf", "trash can", "toilet brush", "toilet brush", "box"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/18d4d924-7eb5-280e-8764-f9654f215144.json b/scan_data/3RScan/instance_id_to_name/18d4d924-7eb5-280e-8764-f9654f215144.json
new file mode 100644
index 0000000000000000000000000000000000000000..ace98b69ac51a5f626da607292ef8a49f6eafc96
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/18d4d924-7eb5-280e-8764-f9654f215144.json
@@ -0,0 +1 @@
+["object", "floor", "toilet", "wall", "wall", "wall", "wall", "door", "heater", "sink", "shower", "lamp", "ceiling", "object", "object", "shelf", "trash can", "toilet brush", "toilet brush", "box"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/18d4d926-7eb5-280e-87df-199e66f2babd.json b/scan_data/3RScan/instance_id_to_name/18d4d926-7eb5-280e-87df-199e66f2babd.json
new file mode 100644
index 0000000000000000000000000000000000000000..791dc1d2430ae393bdaec1f3bba5817f1987c243
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/18d4d926-7eb5-280e-87df-199e66f2babd.json
@@ -0,0 +1 @@
+["object", "floor", "chair", "table", "wall", "ceiling", "shelf", "wall", "door", "shelf", "wall", "shelf", "wardrobe", "object", "sofa", "wall", "object", "window", "wall", "object", "wall", "wall", "desk", "chair", "piano", "suitcase", "shelf", "wall", "stairs", "object", "object", "box", "object", "toilet", "radiator", "shelf", "fireplace", "box", "picture", "object", "shelf", "wall", "shelf", "object", "object", "object", "desk", "shelf", "blanket", "papers", "papers", "box", "papers", "chair", "box", "box", "box", "object", "paper towel roll", "paper towel roll", "box", "box", "object", "bag", "papers", "wall", "table lamp", "box", "box", "object", "bag", "object", "box", "box", "object", "object", "object", "object", "candle", "shelf", "stool", "box", "box", "box"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/198aaa74-0ba3-26f6-8792-66b6388b17ca.json b/scan_data/3RScan/instance_id_to_name/198aaa74-0ba3-26f6-8792-66b6388b17ca.json
new file mode 100644
index 0000000000000000000000000000000000000000..a03069cba24fa036c26d1891df28947c7e2687b6
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/198aaa74-0ba3-26f6-8792-66b6388b17ca.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "wall", "door", "door", "picture", "door", "wall", "wall", "door", "wall", "door", "ceiling", "door", "door", "door", "door", "clothes dryers", "heater", "object", "clothing", "object", "clothes dryers", "toilet", "object", "shoe rack", "rack stand", "clothing", "object", "object", "potted plant", "doorframe", "doorframe", "doorframe", "doorframe", "doorframe", "object", "potted plant", "object", "laundry basket", "doorframe", "object", "object", "object", "doorframe", "doorframe", "clothes dryers"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/198aaa76-0ba3-26f6-84de-6c13263a60bc.json b/scan_data/3RScan/instance_id_to_name/198aaa76-0ba3-26f6-84de-6c13263a60bc.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3b5316ccc5482443fa7b8c72446f96a5421bf05
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/198aaa76-0ba3-26f6-84de-6c13263a60bc.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "wall", "door", "door", "picture", "door", "wall", "wall", "door", "wall", "door", "ceiling", "door", "door", "door", "door", "clothes dryers", "heater", "object", "object", "object", "clothes dryers", "toilet", "object", "shoe rack", "rack stand", "clothing", "object", "object", "potted plant", "doorframe", "doorframe", "doorframe", "doorframe", "doorframe", "object", "potted plant", "object", "laundry basket", "doorframe", "shoes", "object", "object", "doorframe", "doorframe", "clothes dryers", "rug", "towel", "shoes", "shoes", "shoes", "shoes", "rug", "shoes"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/283ccfeb-107c-24d5-8bbf-05519a3c7c47.json b/scan_data/3RScan/instance_id_to_name/283ccfeb-107c-24d5-8bbf-05519a3c7c47.json
new file mode 100644
index 0000000000000000000000000000000000000000..d693dffdf543d52617fc4292eaf1433659e21c41
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/283ccfeb-107c-24d5-8bbf-05519a3c7c47.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "window", "window", "wall", "bed", "blanket", "pillow", "pillow", "cushion", "cushion", "nightstand", "table lamp", "nightstand", "wall", "wall", "ceiling", "stool", "object", "clothing", "lamp", "door", "heater", "bag", "bag", "backpack", "fan", "wall", "tv", "tv stand", "object", "object", "wall"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/283ccfed-107c-24d5-8b72-5f6004ef4f94.json b/scan_data/3RScan/instance_id_to_name/283ccfed-107c-24d5-8b72-5f6004ef4f94.json
new file mode 100644
index 0000000000000000000000000000000000000000..c59eada6e3be111def4af26735fbb67bdc177088
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/283ccfed-107c-24d5-8b72-5f6004ef4f94.json
@@ -0,0 +1 @@
+["object", "floor", "toilet", "trash can", "wall", "wall", "door", "wall", "wall", "sink", "clothes dryers", "object", "soap dispenser", "object", "hand dryer", "shower", "ceiling", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "towel"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/283ccfef-107c-24d5-8aa6-c570e923c134.json b/scan_data/3RScan/instance_id_to_name/283ccfef-107c-24d5-8aa6-c570e923c134.json
new file mode 100644
index 0000000000000000000000000000000000000000..83f2cf1cd39f18e0784491878d73a803382281d7
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/283ccfef-107c-24d5-8aa6-c570e923c134.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "object", "object", "object", "object", "object", "object", "object", "object", "wall", "wall", "picture", "chair", "chair", "table", "table", "chair", "object", "chair", "chair", "chair", "object", "object", "object", "cabinet", "ceiling", "object", "decoration", "object", "object", "object", "wall", "object", "object", "object", "object", "lamp", "lamp", "object", "object", "picture", "wall", "picture"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/283ccff1-107c-24d5-8b6f-9bd3a42ca380.json b/scan_data/3RScan/instance_id_to_name/283ccff1-107c-24d5-8b6f-9bd3a42ca380.json
new file mode 100644
index 0000000000000000000000000000000000000000..955a3cc9d84a9001dd58b3839268ae3c7ff5c448
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/283ccff1-107c-24d5-8b6f-9bd3a42ca380.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "door", "heater", "wall", "door", "door", "wall", "object", "elevator", "wall", "wall", "stair", "wall", "wall", "window", "pillar", "wall", "wall", "wall", "door", "door", "object", "sofa", "fire extinguisher", "cushion", "cushion", "table", "chair", "ceiling", "object", "doorframe", "door"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/283ccff5-107c-24d5-886c-1d3a1319186a.json b/scan_data/3RScan/instance_id_to_name/283ccff5-107c-24d5-886c-1d3a1319186a.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9b77b30a69f1bc47d3d305016eaf701853ffa16
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/283ccff5-107c-24d5-886c-1d3a1319186a.json
@@ -0,0 +1 @@
+["object", "floor", "toilet", "trash can", "wall", "wall", "door", "wall", "wall", "sink", "clothes dryers", "towel", "soap dispenser", "laundry basket", "hand dryer", "shower", "ceiling", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "clothing"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/2a7f9476-080c-26f9-86e9-c7ce1c76fc07.json b/scan_data/3RScan/instance_id_to_name/2a7f9476-080c-26f9-86e9-c7ce1c76fc07.json
new file mode 100644
index 0000000000000000000000000000000000000000..eca51eb426b91337f8b887350492b12296c7fbe5
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/2a7f9476-080c-26f9-86e9-c7ce1c76fc07.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "object", "wall", "object", "ceiling", "kitchen cabinet", "refrigerator", "kitchen cabinet", "kitchen counter", "oven", "sink", "cutting board", "kitchen mixer", "microwave", "kettle", "box", "wall", "bag", "object", "object", "object", "microwave", "microwave", "microwave", "basket", "jar", "coffee maker", "microwave", "box"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/2e369523-e133-204c-91f9-6f3deaa8e11e.json b/scan_data/3RScan/instance_id_to_name/2e369523-e133-204c-91f9-6f3deaa8e11e.json
new file mode 100644
index 0000000000000000000000000000000000000000..7157e0efbe85d6e6133a1f4b73f139ffcdc3d185
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/2e369523-e133-204c-91f9-6f3deaa8e11e.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "wall", "curtain", "cabinet", "cabinet", "armchair", "pillow", "armchair", "pillow", "lamp", "cabinet"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/2e369525-e133-204c-93ab-2b23ce5ef16e.json b/scan_data/3RScan/instance_id_to_name/2e369525-e133-204c-93ab-2b23ce5ef16e.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0d7698e4d952c43d706247345983d81427314bc
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/2e369525-e133-204c-93ab-2b23ce5ef16e.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "object", "curtain", "cabinet", "cabinet", "armchair", "pillow", "armchair", "pillow", "object", "cabinet"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/2e369527-e133-204c-91cc-bb874b8fd4ae.json b/scan_data/3RScan/instance_id_to_name/2e369527-e133-204c-91cc-bb874b8fd4ae.json
new file mode 100644
index 0000000000000000000000000000000000000000..d00df1b32d1782cea9018dfffe0beb56741c66a4
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/2e369527-e133-204c-91cc-bb874b8fd4ae.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "wall", "curtain", "cabinet", "cabinet", "armchair", "object", "armchair", "pillow", "lamp", "cabinet"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/2e369529-e133-204c-91f5-6ab463d511c1.json b/scan_data/3RScan/instance_id_to_name/2e369529-e133-204c-91f5-6ab463d511c1.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b573994ff955afdc5400485e162d62f2755d3a8
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/2e369529-e133-204c-91f5-6ab463d511c1.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "wall", "curtain", "cabinet", "cabinet", "armchair", "pillow", "armchair", "pillow", "lamp", "cabinet", "object", "lamp"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/2e36952b-e133-204c-911e-7644cb34e8b2.json b/scan_data/3RScan/instance_id_to_name/2e36952b-e133-204c-911e-7644cb34e8b2.json
new file mode 100644
index 0000000000000000000000000000000000000000..b25a053655896ef85ff866a49f1b88e12dd4ed12
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/2e36952b-e133-204c-911e-7644cb34e8b2.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "wall", "curtain", "cabinet", "cabinet", "armchair", "pillow", "armchair", "pillow", "lamp"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/2e36953b-e133-204c-931b-a2cf0f93fed6.json b/scan_data/3RScan/instance_id_to_name/2e36953b-e133-204c-931b-a2cf0f93fed6.json
new file mode 100644
index 0000000000000000000000000000000000000000..692738c10b2fa3c8ff4d5c75d077bb5d827ef239
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/2e36953b-e133-204c-931b-a2cf0f93fed6.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "toilet"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/5555108d-36f1-29c0-8b37-5efa2bef59d4.json b/scan_data/3RScan/instance_id_to_name/5555108d-36f1-29c0-8b37-5efa2bef59d4.json
new file mode 100644
index 0000000000000000000000000000000000000000..33d61ee3cccecbafd808f1b7162d15cb6afd3cf5
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/5555108d-36f1-29c0-8b37-5efa2bef59d4.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "whiteboard", "blinds", "wall", "window", "wall", "wall", "curtain", "heater", "object", "window", "ceiling", "whiteboard", "light", "object", "light", "light", "table", "chair", "object", "chair", "chair", "chair", "chair", "chair", "object", "object", "chair", "trash can", "windowsill", "object", "windowsill"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/5555108f-36f1-29c0-8b75-21a0bb8b1833.json b/scan_data/3RScan/instance_id_to_name/5555108f-36f1-29c0-8b75-21a0bb8b1833.json
new file mode 100644
index 0000000000000000000000000000000000000000..33d61ee3cccecbafd808f1b7162d15cb6afd3cf5
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/5555108f-36f1-29c0-8b75-21a0bb8b1833.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "whiteboard", "blinds", "wall", "window", "wall", "wall", "curtain", "heater", "object", "window", "ceiling", "whiteboard", "light", "object", "light", "light", "table", "chair", "object", "chair", "chair", "chair", "chair", "chair", "object", "object", "chair", "trash can", "windowsill", "object", "windowsill"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/56d957e9-0184-2301-8c3e-ff1c86c6b50c.json b/scan_data/3RScan/instance_id_to_name/56d957e9-0184-2301-8c3e-ff1c86c6b50c.json
new file mode 100644
index 0000000000000000000000000000000000000000..f26b0a9c983080e5c45895d5320b75e965b194af
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/56d957e9-0184-2301-8c3e-ff1c86c6b50c.json
@@ -0,0 +1 @@
+["object", "floor", "couch"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/56d957ed-0184-2301-8f4f-616c3b537e45.json b/scan_data/3RScan/instance_id_to_name/56d957ed-0184-2301-8f4f-616c3b537e45.json
new file mode 100644
index 0000000000000000000000000000000000000000..f26b0a9c983080e5c45895d5320b75e965b194af
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/56d957ed-0184-2301-8f4f-616c3b537e45.json
@@ -0,0 +1 @@
+["object", "floor", "couch"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/68bae762-3567-2f7c-80f8-2d44a8d24782.json b/scan_data/3RScan/instance_id_to_name/68bae762-3567-2f7c-80f8-2d44a8d24782.json
new file mode 100644
index 0000000000000000000000000000000000000000..36e26235db1008de916c0f142837603bf33e43b5
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/68bae762-3567-2f7c-80f8-2d44a8d24782.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "cabinet", "window", "vase", "pot", "pot", "potted plant", "pot", "potted plant", "table", "stairs", "object", "chair", "chair", "chair", "window"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/717ad1f3-b350-2996-8897-3c57a14e3d05.json b/scan_data/3RScan/instance_id_to_name/717ad1f3-b350-2996-8897-3c57a14e3d05.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c4ae15397bad9a6285faf252675e9afe9825037
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/717ad1f3-b350-2996-8897-3c57a14e3d05.json
@@ -0,0 +1 @@
+["object", "wall", "floor", "ceiling", "wall", "object", "light", "wall", "window", "board", "desk", "box", "object", "desk", "bowl", "box", "object", "object", "object", "object", "chair"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/7272e161-a01b-20f6-8b5a-0b97efeb6545.json b/scan_data/3RScan/instance_id_to_name/7272e161-a01b-20f6-8b5a-0b97efeb6545.json
new file mode 100644
index 0000000000000000000000000000000000000000..aca80cfc6c1c53e056e6650d973dcfb79ac4339c
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/7272e161-a01b-20f6-8b5a-0b97efeb6545.json
@@ -0,0 +1 @@
+["object", "floor", "couch", "wall", "lamp", "wall", "armchair", "wall", "tv", "tv stand", "shelf", "wall", "shelf", "table", "object", "boxes", "end table", "lamp", "lamp", "pillow", "pillow", "pillow", "pillow", "pillow", "object", "pillow", "blanket", "window", "curtain", "light", "light", "box", "object", "object", "object", "box", "lamp", "object", "object", "object", "object", "object", "object", "object", "picture", "object", "object", "object", "object", "shelf", "object", "object", "object", "object", "object", "object", "object", "window"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/7272e16c-a01b-20f6-8961-a0927b4a7629.json b/scan_data/3RScan/instance_id_to_name/7272e16c-a01b-20f6-8961-a0927b4a7629.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a5458ae1bd3d70248c9c8ab4cb33d5b0f0ac365
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/7272e16c-a01b-20f6-8961-a0927b4a7629.json
@@ -0,0 +1 @@
+["object", "wall", "wall", "wall", "wall", "floor", "toilet", "bathroom cabinet", "bathroom cabinet", "sink", "object", "object", "object", "object", "shower curtain", "ceiling", "object", "potted plant", "toilet brush", "towel", "object", "object", "object", "wall", "object", "towel", "object", "object", "object", "object", "shelf", "mirror", "plant", "towel"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/7272e17c-a01b-20f6-8b2f-e659331ae41a.json b/scan_data/3RScan/instance_id_to_name/7272e17c-a01b-20f6-8b2f-e659331ae41a.json
new file mode 100644
index 0000000000000000000000000000000000000000..cab5bc98ff91229703f2bb9f3a6bb67e80bc15cc
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/7272e17c-a01b-20f6-8b2f-e659331ae41a.json
@@ -0,0 +1 @@
+["object", "floor", "bed", "blanket", "wardrobe", "wall", "chair", "object", "object", "object", "wall", "pillow", "object", "wall", "object", "pillow", "object", "window", "object", "curtain", "pillow", "pillow", "pillow", "object", "object", "object", "curtain", "table", "shelf", "box", "box", "picture", "picture", "object", "table", "ceiling", "ceiling", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "chair"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/7272e182-a01b-20f6-89b8-3bdec0091c89.json b/scan_data/3RScan/instance_id_to_name/7272e182-a01b-20f6-89b8-3bdec0091c89.json
new file mode 100644
index 0000000000000000000000000000000000000000..56a31850322e6efdd59b7a9a6cdbf80547344702
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/7272e182-a01b-20f6-89b8-3bdec0091c89.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "wall", "wall", "bathtub", "kitchen cabinet", "kitchen cabinet", "wall", "wall", "towel", "object", "object", "object", "bathroom cabinet", "object", "cabinet", "object", "toilet", "object", "potted plant", "clothing", "towel", "object", "object", "ceiling", "object", "object", "object", "object", "object", "object", "object", "potted plant", "object", "object", "object", "potted plant", "object", "box", "object", "shelf", "potted plant", "object", "potted plant", "object", "object", "towel", "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", "box"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/7272e189-a01b-20f6-8a2e-05b6c8395143.json b/scan_data/3RScan/instance_id_to_name/7272e189-a01b-20f6-8a2e-05b6c8395143.json
new file mode 100644
index 0000000000000000000000000000000000000000..95966c67b3c4494f5e87927bbe33aa0eac816afb
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/7272e189-a01b-20f6-8a2e-05b6c8395143.json
@@ -0,0 +1 @@
+["object", "floor", "wardrobe", "wall", "shelf", "wardrobe", "clothing", "object", "ceiling", "light", "light", "shelf", "clothing", "clothing", "object", "shoes", "clothing", "shoes", "shoes", "object", "object", "shoes", "shoes", "object", "shoes", "shoes", "object", "purse", "shoes", "shoes", "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", "desk", "wall", "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", "purse", "wardrobe", "purse"]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/41048193.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/41048193.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b97d7f35d15d28c1f60c052d976e0f06c45d8da
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/41048193.json
@@ -0,0 +1 @@
+[{"weights": [0.44, 0.28375, 0.27625], "means": [[156.97500610351562, 141.13409423828125, 116.5460205078125], [203.67576599121094, 195.51806640625, 176.18150329589844], [99.31402587890625, 81.90316772460938, 58.326698303222656]]}, {"weights": [0.542910447761194, 0.2007462686567164, 0.2563432835820896], "means": [[67.7230224609375, 38.18625259399414, 13.478350639343262], [98.09293365478516, 79.36617279052734, 57.93494415283203], [35.58515167236328, 15.343523025512695, 4.017467021942139]]}, {"weights": [0.26225, 0.3165, 0.42125], "means": [[211.88845825195312, 210.29360961914062, 205.64537048339844], [105.84439086914062, 90.2519760131836, 69.90284729003906], [163.89376831054688, 152.37210083007812, 135.93472290039062]]}, {"weights": [0.6251912289648138, 0.12595614482406936, 0.24885262621111678], "means": [[43.07177734375, 42.679447174072266, 37.851959228515625], [218.22064208984375, 211.854248046875, 198.60324096679688], [114.16905975341797, 110.51947021484375, 102.83914184570312]]}, {"weights": [0.453125, 0.3111607142857143, 0.2357142857142857], "means": [[89.23054504394531, 47.52709197998047, 15.015763282775879], [140.60401916503906, 98.27403259277344, 62.109039306640625], [174.09848022460938, 145.21591186523438, 117.1837158203125]]}, {"weights": [0.43253968253968256, 0.24761904761904763, 0.3198412698412698], "means": [[169.6697235107422, 156.82936096191406, 138.01834106445312], [221.775634765625, 216.5833282470703, 205.98077392578125], [125.43424224853516, 96.30024719238281, 66.68486022949219]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/42445920.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/42445920.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c09d74a377879fe1823a69282de7ce22d7e20c8
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/42445920.json
@@ -0,0 +1 @@
+[{"weights": [0.37075, 0.2105, 0.41875], "means": [[173.82266235351562, 147.2838897705078, 111.87525177001953], [62.82422637939453, 45.21021270751953, 30.228029251098633], [135.20298767089844, 100.49253845214844, 72.01612091064453]]}, {"weights": [0.4108092144122859, 0.21441228588304784, 0.37477849970466626], "means": [[47.25880813598633, 29.312725067138672, 15.391085624694824], [165.59779357910156, 115.30303192138672, 91.46418762207031], [107.33963775634766, 67.14656829833984, 49.07170867919922]]}, {"weights": [0.4673913043478261, 0.264945652173913, 0.26766304347826086], "means": [[153.5377960205078, 91.2470932006836, 20.130813598632812], [79.4102554321289, 63.64615249633789, 48.651283264160156], [130.2385711669922, 76.64974975585938, 23.974618911743164]]}, {"weights": [0.27347072293097807, 0.323846908734053, 0.4026823683349689], "means": [[110.2631607055664, 84.85167694091797, 64.41148376464844], [204.13333129882812, 159.5161590576172, 119.66363525390625], [40.49797058105469, 32.10235595703125, 23.470348358154297]]}, {"weights": [0.4336099585062241, 0.03423236514522822, 0.5321576763485477], "means": [[19.148324966430664, 11.311004638671875, 3.002392292022705], [72.42424011230469, 35.212120056152344, 13.363636016845703], [30.908382415771484, 16.167640686035156, 4.8635478019714355]]}, {"weights": [0.4155, 0.39675, 0.18775], "means": [[20.256317138671875, 18.74247932434082, 12.765342712402344], [73.09703826904297, 57.56899642944336, 45.29741668701172], [120.85086822509766, 105.56724548339844, 89.70172882080078]]}, {"weights": [0.25168161434977576, 0.26849775784753366, 0.4798206278026906], "means": [[58.02004623413086, 45.09020233154297, 26.40200424194336], [130.91961669921875, 110.25469970703125, 86.75887298583984], [183.4929962158203, 153.174072265625, 126.0846939086914]]}, {"weights": [0.4388560157790927, 0.3510848126232742, 0.21005917159763313], "means": [[117.70561981201172, 81.73932647705078, 40.86741638183594], [62.65730285644531, 32.66292190551758, 6.752809047698975], [176.99530029296875, 135.56338500976562, 78.99530792236328]]}, {"weights": [0.374, 0.38425, 0.24175], "means": [[172.30747985839844, 122.59825897216797, 77.55615234375], [207.6278533935547, 167.7683868408203, 127.998046875], [105.6442642211914, 61.91933822631836, 40.82626724243164]]}, {"weights": [0.2902542372881356, 0.4427966101694915, 0.2669491525423729], "means": [[94.37226104736328, 136.00729370117188, 185.1313934326172], [94.5406723022461, 79.0047836303711, 85.59329986572266], [213.76983642578125, 231.59524536132812, 240.26190185546875]]}, {"weights": [0.42032967032967034, 0.1565934065934066, 0.4230769230769231], "means": [[75.87581634521484, 80.73856353759766, 106.94117736816406], [201.5263214111328, 134.6666717529297, 111.12281036376953], [127.57142639160156, 143.3441619873047, 183.11038208007812]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/42445922.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/42445922.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a57a43856030b2f3d31b2972140391249c54b2f
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/42445922.json
@@ -0,0 +1 @@
+[{"weights": [0.5295, 0.062, 0.4085], "means": [[100.55477142333984, 86.70726776123047, 63.51888656616211], [56.51612854003906, 128.28225708007812, 228.9516143798828], [180.04222106933594, 155.39901733398438, 121.92166137695312]]}, {"weights": [0.59125, 0.195, 0.21375], "means": [[215.76278686523438, 180.58604431152344, 139.84228515625], [108.35128021240234, 83.74871826171875, 53.594871520996094], [150.94151306152344, 121.58946990966797, 88.26667022705078]]}, {"weights": [0.3405, 0.3065, 0.353], "means": [[110.35388946533203, 84.4397964477539, 50.02569580078125], [199.47634887695312, 165.11907958984375, 124.21778106689453], [156.57435607910156, 127.0007095336914, 90.12535095214844]]}, {"weights": [0.5734513274336284, 0.22831858407079647, 0.19823008849557522], "means": [[228.19752502441406, 185.51234436035156, 133.36727905273438], [190.3023223876953, 153.60464477539062, 108.48837280273438], [133.9375, 105.95536041259766, 71.74107360839844]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/42897455.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/42897455.json
new file mode 100644
index 0000000000000000000000000000000000000000..07a62e661eeea8f0ade11a32fd6e28ab68f7917a
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/42897455.json
@@ -0,0 +1 @@
+[{"weights": [0.43675, 0.35925, 0.204], "means": [[152.25587463378906, 122.00572204589844, 81.93302917480469], [200.22059631347656, 173.54905700683594, 140.8573455810547], [67.45833587646484, 46.01102828979492, 23.427696228027344]]}, {"weights": [0.2965, 0.21175, 0.49175], "means": [[50.091060638427734, 35.11973190307617, 20.26559829711914], [200.80992126464844, 177.4439239501953, 152.1711883544922], [124.6919174194336, 99.0777816772461, 65.55109405517578]]}, {"weights": [0.49591280653950953, 0.1427792915531335, 0.36130790190735695], "means": [[100.0988998413086, 77.82417297363281, 56.82637405395508], [56.614501953125, 37.19465637207031, 20.293893814086914], [142.39366149902344, 116.57013702392578, 90.85369873046875]]}, {"weights": [0.311, 0.381, 0.308], "means": [[82.1760482788086, 56.6085205078125, 26.771703720092773], [201.2716522216797, 181.3293914794922, 146.79592895507812], [147.16883850097656, 126.62986755371094, 95.58116912841797]]}, {"weights": [0.5068212824010914, 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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/42897462.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/42897462.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9b555c1ab6b35485e4f1203ed0e427e2430e9fd
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/42897462.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/42898045.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/42898045.json
new file mode 100644
index 0000000000000000000000000000000000000000..3eb984acce5289e0947b65213702274ee6158708
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/42898045.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/42898729.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/42898729.json
new file mode 100644
index 0000000000000000000000000000000000000000..d74bfdb0428c24ffa9e6a258cd1688c8d4dcf458
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/42898729.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/42899486.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/42899486.json
new file mode 100644
index 0000000000000000000000000000000000000000..38efff7b7d91294cef74ea6beedce71c903d7f79
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/42899486.json
@@ -0,0 +1 @@
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/42899489.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/42899489.json
new file mode 100644
index 0000000000000000000000000000000000000000..322bb86eed720e95821c82d4a22028e876a8f168
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/42899489.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/44358729.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/44358729.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b226a14a89f42393e874456c20f73cde6795395
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/44358729.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/44358731.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/44358731.json
new file mode 100644
index 0000000000000000000000000000000000000000..665380815f82c0ff80aa9bc7910db95f56b6c9fb
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/44358731.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/44796189.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/44796189.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ebfdff0714418569608d7a9d1d22a1fdcc5c99a
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/44796189.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/44796190.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/44796190.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5f102fb5aa6f4968c48487dfd24743c367e7692
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/44796190.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/44796191.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/44796191.json
new file mode 100644
index 0000000000000000000000000000000000000000..3db048c5968d6c3879f976a7a925cef7bb6d24f1
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/44796191.json
@@ -0,0 +1 @@
+[{"weights": [0.39425, 0.1285, 0.47725], "means": [[53.705135345458984, 41.407737731933594, 25.85161781311035], [182.47276306152344, 172.1128387451172, 151.11868286132812], [103.66055297851562, 93.46149444580078, 78.01780700683594]]}, {"weights": [0.16825, 0.5415, 0.29025], "means": [[74.19762420654297, 63.038631439208984, 47.19762420654297], [115.45429229736328, 110.04940032958984, 95.23453521728516], [163.58570861816406, 161.4401397705078, 146.5323028564453]]}, {"weights": [0.28925, 0.2875, 0.42325], "means": [[181.1253204345703, 181.0795135498047, 174.02247619628906], [114.68695831298828, 102.65130615234375, 85.94869232177734], [46.34553909301758, 36.33018493652344, 21.07914924621582]]}, {"weights": [0.5150829562594268, 0.27601809954751133, 0.20889894419306185], "means": [[52.190338134765625, 61.38945770263672, 53.51390838623047], [65.10108947753906, 74.13114929199219, 67.30874633789062], [41.830326080322266, 47.40794372558594, 36.85920715332031]]}, {"weights": [0.5762021189894051, 0.2616136919315403, 0.1621841890790546], "means": [[81.86846160888672, 83.71711730957031, 76.1272964477539], [56.06853485107422, 58.2149543762207, 50.87850570678711], [116.95477294921875, 113.29145812988281, 101.45728302001953]]}, {"weights": [0.38256524153248195, 0.50694058856191, 0.110494169905608], "means": [[101.40203094482422, 100.32075500488281, 89.43976593017578], [42.450164794921875, 38.190582275390625, 24.342824935913086], [169.29647827148438, 174.7085418701172, 167.67337036132812]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/44796197.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/44796197.json
new file mode 100644
index 0000000000000000000000000000000000000000..78e0edbbb8c5ff67d2695670f325a0f362a2c14f
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/44796197.json
@@ -0,0 +1 @@
+[{"weights": [0.37625, 0.3495, 0.27425], "means": [[134.30630493164062, 132.46644592285156, 118.34285736083984], [182.7367706298828, 182.97854614257812, 170.683837890625], [74.94712829589844, 65.43755340576172, 49.990882873535156]]}, {"weights": [0.24825, 0.199, 0.55275], "means": [[169.98590087890625, 173.95669555664062, 150.81771850585938], [223.32789611816406, 221.71859741210938, 212.9497528076172], [86.36996459960938, 86.02261352539062, 43.84577178955078]]}, {"weights": [0.397, 0.28225, 0.32075], "means": [[83.7374038696289, 82.6460952758789, 70.1341323852539], [21.93002700805664, 22.163862228393555, 18.720991134643555], [183.39828491210938, 181.38113403320312, 166.97740173339844]]}, {"weights": [1.0], "means": [[6.403958320617676, 9.547147750854492, 4.402793884277344]]}, {"weights": [0.32581100141043723, 0.5592383638928068, 0.114950634696756], "means": [[140.8116912841797, 145.05410766601562, 135.26406860351562], [189.67591857910156, 194.66204833984375, 191.60655212402344], [74.53374481201172, 94.54601287841797, 92.38037109375]]}, {"weights": [0.22617901828681425, 0.4720885466794995, 0.30173243503368624], "means": [[126.9744644165039, 126.39787292480469, 116.90425872802734], [39.51885986328125, 32.02344512939453, 20.56167221069336], [73.71451568603516, 69.9074935913086, 58.446571350097656]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/44796198.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/44796198.json
new file mode 100644
index 0000000000000000000000000000000000000000..c570d5eff80f076c44766a5f999435c79a88b4bd
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/44796198.json
@@ -0,0 +1 @@
+[{"weights": [0.37875, 0.31325, 0.308], "means": [[79.69505310058594, 63.01386260986328, 43.61980056762695], [181.29209899902344, 181.36233520507812, 169.04708862304688], [133.63636779785156, 131.11282348632812, 114.84415435791016]]}, {"weights": [0.28275, 0.372, 0.34525], "means": [[213.35809326171875, 214.46153259277344, 203.60301208496094], [66.50470733642578, 66.7896499633789, 35.65255355834961], [124.4380874633789, 125.68501281738281, 86.16437530517578]]}, {"weights": [0.5918604651162791, 0.22093023255813954, 0.1872093023255814], "means": [[43.74852752685547, 36.48722839355469, 22.416501998901367], [122.85263061523438, 123.13157653808594, 117.14736938476562], [81.23602294921875, 80.19254302978516, 70.99378967285156]]}, {"weights": [0.623546511627907, 0.12112403100775193, 0.2553294573643411], "means": [[185.10101318359375, 186.7070770263672, 180.10877990722656], [86.04000091552734, 96.09600067138672, 89.8479995727539], [139.79885864257812, 145.64137268066406, 136.7666015625]]}, {"weights": [0.9445407279029463, 0.01386481802426343, 0.0415944540727903], "means": [[5.8862385749816895, 7.93211030960083, 3.557798147201538], [88.375, 89.5, 74.75], [38.83333206176758, 40.16666793823242, 32.33333206176758]]}, {"weights": [0.23425, 0.3445, 0.42125], "means": [[23.996797561645508, 25.003202438354492, 20.595518112182617], [192.91944885253906, 189.35340881347656, 170.89187622070312], [86.30801391601562, 84.74005889892578, 71.20830535888672]]}, {"weights": [0.4655, 0.08225, 0.45225], "means": [[57.89151382446289, 42.578948974609375, 37.29054641723633], [106.80242919921875, 99.40121459960938, 97.85713958740234], [38.30956268310547, 17.68712043762207, 11.26423454284668]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/45261072.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261072.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b5ac914126a6adabadce809e0db2c6665850e4e
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261072.json
@@ -0,0 +1 @@
+[{"weights": [0.34825, 0.1845, 0.46725], "means": [[207.20172119140625, 195.47308349609375, 177.5139923095703], [68.53252410888672, 53.89973068237305, 37.23848342895508], [153.6056671142578, 132.6131591796875, 107.71107482910156]]}, {"weights": [0.34075, 0.275, 0.38425], "means": [[145.59207153320312, 143.50477600097656, 131.3851776123047], [216.60818481445312, 217.04635620117188, 210.28363037109375], [105.72933959960938, 99.98113250732422, 86.34027099609375]]}, {"weights": [0.385286783042394, 0.07481296758104738, 0.5399002493765586], "means": [[205.94174194335938, 205.5533905029297, 193.33981323242188], [109.5999984741211, 108.94999694824219, 99.43333435058594], [165.95150756835938, 164.23326110839844, 151.57505798339844]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/45261073.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261073.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e822b8baa3c97f8b0e6190abd6b190467fdd908
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261073.json
@@ -0,0 +1 @@
+[{"weights": [0.24025, 0.36375, 0.396], "means": [[74.4464111328125, 58.67741775512695, 40.39542007446289], [196.20619201660156, 189.40550231933594, 175.10446166992188], [140.0094757080078, 120.3794174194336, 97.54608917236328]]}, {"weights": [0.24157764995891537, 0.3188167625308135, 0.4396055875102712], "means": [[137.8911590576172, 134.96258544921875, 123.54421997070312], [210.06185913085938, 209.24742126464844, 198.4407196044922], [179.4168243408203, 177.78878784179688, 166.25607299804688]]}, {"weights": [0.54875, 0.20475, 0.2465], "means": [[118.3248291015625, 113.3690185546875, 100.08018493652344], [212.10501098632812, 215.3418731689453, 210.7887725830078], [156.703857421875, 155.1744384765625, 143.8671417236328]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/45261078.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261078.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba1f7e9a6fa0f82c003a45997e5b242bff67feff
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261078.json
@@ -0,0 +1 @@
+[{"weights": [0.429, 0.2305, 0.3405], "means": [[124.80069732666016, 103.58915710449219, 79.88228607177734], [65.11280059814453, 48.90455627441406, 30.005422592163086], [183.87664794921875, 179.16079711914062, 165.9302520751953]]}, {"weights": [0.51375, 0.30075, 0.1855], "means": [[108.68272399902344, 103.85206604003906, 90.96739959716797], [147.13632202148438, 145.08395385742188, 133.30174255371094], [214.2681884765625, 214.60781860351562, 208.62667846679688]]}, {"weights": [0.39631988676574664, 0.4012738853503185, 0.2024062278839349], "means": [[129.95535278320312, 127.02678680419922, 116.05535888671875], [168.7848358154297, 166.65078735351562, 155.34039306640625], [207.0034942626953, 205.6992950439453, 195.26922607421875]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/45261080.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261080.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bcf2abb4db63ab051bc5a398141339e8c0fbb87
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261080.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/45261087.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261087.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fc9f05c5f94fd4fceae5abcbb97a6eb9a07ecab
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261087.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/45261089.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261089.json
new file mode 100644
index 0000000000000000000000000000000000000000..15f6890d4abf073c69c5a5076c075b04d2cb7cc5
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261089.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/45261096.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261096.json
new file mode 100644
index 0000000000000000000000000000000000000000..34b8cf227b7bcb0674d82cbf46933fd70fc33588
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261096.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/45261099.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261099.json
new file mode 100644
index 0000000000000000000000000000000000000000..f89997857df4d9198c9fc90500e5387fe8cd66cb
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261099.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/45261100.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261100.json
new file mode 100644
index 0000000000000000000000000000000000000000..4044e7e8639a4ec76ae05ec9a425b1cdcf467ece
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261100.json
@@ -0,0 +1 @@
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/45261108.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261108.json
new file mode 100644
index 0000000000000000000000000000000000000000..79a3d543520e37e5a5c78f2626f13424372a0a37
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261108.json
@@ -0,0 +1 @@
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/45261121.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261121.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0f5e88e15e585c1497804bbf22c4e116780835a
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261121.json
@@ -0,0 +1 @@
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/45261128.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261128.json
new file mode 100644
index 0000000000000000000000000000000000000000..61eb67f881337c629bf7772329cdf0f6b55307f3
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261128.json
@@ -0,0 +1 @@
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/45261129.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261129.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0dfebe94c6bee021049ddac9139fc94719c3304
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261129.json
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/45261133.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261133.json
new file mode 100644
index 0000000000000000000000000000000000000000..38fa386dea1f3336d39984ff47e47a9535bdd3d6
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261133.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/45261140.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261140.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f959b17eb0f1adb1c7c2061c403d412f138c3d3
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261140.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/45261142.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261142.json
new file mode 100644
index 0000000000000000000000000000000000000000..799410b2493625899a3d146c7420d8980cf5399a
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261142.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/45261143.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261143.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e3631a49a7d666bb9f48689bf4a1044e945b88f
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261143.json
@@ -0,0 +1 @@
+[{"weights": [0.239, 0.25675, 0.50425], "means": [[89.33472442626953, 90.43409729003906, 88.40271759033203], [187.03213500976562, 196.14801025390625, 201.9737091064453], [135.10659790039062, 141.2151641845703, 142.63856506347656]]}, {"weights": [0.5905, 0.1565, 0.253], "means": [[175.85986328125, 193.83023071289062, 219.8077850341797], [57.76357650756836, 67.61341857910156, 70.40894317626953], [131.23023986816406, 141.2223358154297, 150.18182373046875]]}, {"weights": [0.5755347593582888, 0.13368983957219252, 0.2907754010695187], "means": [[127.4239273071289, 133.37863159179688, 132.4099884033203], [83.2300033569336, 88.88500213623047, 86.74500274658203], [167.59080505371094, 175.48965454101562, 176.2919464111328]]}, {"weights": [0.6047120418848168, 0.3036649214659686, 0.09162303664921466], "means": [[132.53787231445312, 144.31494140625, 155.56060791015625], [177.86422729492188, 195.98060607910156, 212.78233337402344], [89.9142837524414, 99.0857162475586, 106.4142837524414]]}, {"weights": [0.41087186727850333, 0.26050123543946346, 0.3286268972820332], "means": [[129.3324737548828, 133.9914093017578, 132.89002990722656], [86.5379409790039, 88.03116607666016, 84.69647979736328], [183.21482849121094, 196.6079559326172, 203.45542907714844]]}, {"weights": [0.050642479213907785, 0.8488284202569917, 0.10052910052910052], "means": [[53.73134231567383, 53.47761154174805, 52.850746154785156], [5.3446125984191895, 11.083703994750977, 8.30632209777832], [25.248119354248047, 32.06766891479492, 30.7593994140625]]}, {"weights": [0.3910088865656038, 0.2875065342394145, 0.3214845791949817], "means": [[121.69786071777344, 131.10427856445312, 132.24732971191406], [157.3000030517578, 168.30181884765625, 172.1890869140625], [88.47154235839844, 96.32032775878906, 95.90406799316406]]}, {"weights": [0.29075, 0.3815, 0.32775], "means": [[100.58125305175781, 108.7016372680664, 108.35167694091797], [166.91481018066406, 174.93971252441406, 177.2182159423828], [136.1822967529297, 144.4950408935547, 146.42486572265625]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/45261144.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261144.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d5c964ede1bc47ac77a82ef759aa82a71dae957
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261144.json
@@ -0,0 +1 @@
+[{"weights": [0.18225, 0.3025, 0.51525], "means": [[73.50479888916016, 77.03018188476562, 74.04115295410156], [181.42478942871094, 190.84628295898438, 197.52975463867188], [126.92139434814453, 134.3202362060547, 137.1620635986328]]}, {"weights": [0.65675, 0.1775, 0.16575], "means": [[170.00914001464844, 189.07232666015625, 217.95584106445312], [142.08309936523438, 152.70562744140625, 163.47886657714844], [57.51432800292969, 68.77375793457031, 73.70286560058594]]}, {"weights": [0.3619361936193619, 0.5478547854785478, 0.09020902090209021], "means": [[172.1261444091797, 190.72947692871094, 208.37538146972656], [126.10943603515625, 138.6365509033203, 151.0642547607422], [64.61585235595703, 73.75, 81.21951293945312]]}, {"weights": [0.41935483870967744, 0.3225806451612903, 0.25806451612903225], "means": [[121.22393035888672, 127.96239471435547, 128.8290557861328], [86.17778015136719, 91.45333099365234, 89.92222595214844], [161.45555114746094, 170.72222900390625, 175.0861053466797]]}, {"weights": [0.21333735666867834, 0.315932407966204, 0.47073023536511766], "means": [[69.18104553222656, 69.74964904785156, 66.00848388671875], [177.60935974121094, 191.6905517578125, 200.40306091308594], [118.86859130859375, 122.69230651855469, 120.78076934814453]]}, {"weights": [0.3952, 0.2981333333333333, 0.30666666666666664], "means": [[135.95816040039062, 143.43589782714844, 144.83670043945312], [177.71556091308594, 191.7459716796875, 199.1448974609375], [80.3391342163086, 81.5199966430664, 72.60521697998047]]}, {"weights": [0.26625, 0.16675, 0.567], "means": [[124.70516204833984, 132.6309814453125, 133.853515625], [81.6266860961914, 71.63568115234375, 55.661170959472656], [161.2927703857422, 168.38580322265625, 169.79100036621094]]}, {"weights": [0.23270951993490643, 0.04800650935720097, 0.7192839707078926], "means": [[27.01049041748047, 33.52098083496094, 33.69230651855469], [75.38983154296875, 81.27118682861328, 83.28813934326172], [10.678732872009277, 16.62104034423828, 15.248868942260742]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/45261588.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261588.json
new file mode 100644
index 0000000000000000000000000000000000000000..8eb093fcfaacddf686481c6a77e48fd533beeee8
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261588.json
@@ -0,0 +1 @@
+[{"weights": [0.332, 0.41675, 0.25125], "means": [[83.13328552246094, 72.009033203125, 57.742469787597656], [145.8224334716797, 138.2405548095703, 125.74745178222656], [196.40696716308594, 194.9432830810547, 184.86766052246094]]}, {"weights": [0.40175, 0.1, 0.49825], "means": [[194.79153442382812, 189.2103271484375, 173.5563201904297], [93.08999633789062, 89.75, 76.75250244140625], [156.92774963378906, 150.06773376464844, 133.0336151123047]]}, {"weights": [0.4350076103500761, 0.36560121765601217, 0.1993911719939117], "means": [[145.86004638671875, 140.25611877441406, 128.08396911621094], [192.75103759765625, 182.67694091796875, 164.50125122070312], [105.59542083740234, 100.59542083740234, 90.222900390625]]}, {"weights": [0.228, 0.31725, 0.45475], "means": [[34.810306549072266, 36.074562072753906, 28.87938690185547], [117.71395111083984, 114.65563201904297, 101.96375274658203], [205.2187957763672, 202.85540771484375, 189.57064819335938]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/45261594.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261594.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecb4a966827993dc9c80ea90ee1e782482e101fb
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261594.json
@@ -0,0 +1 @@
+[{"weights": [0.35325, 0.29275, 0.354], "means": [[188.75796508789062, 185.71337890625, 174.20736694335938], [137.6114501953125, 131.43978881835938, 118.53714752197266], [88.55720520019531, 75.08474731445312, 58.46398162841797]]}, {"weights": [0.12025, 0.48975, 0.39], "means": [[90.38045501708984, 89.40540313720703, 76.28274536132812], [158.82440185546875, 153.19244384765625, 136.06381225585938], [198.67051696777344, 194.7474365234375, 178.7730712890625]]}, {"weights": [0.1943760984182777, 0.3929701230228471, 0.4126537785588752], "means": [[103.98553466796875, 99.2603988647461, 88.9710693359375], [198.9409637451172, 190.5974884033203, 172.97227478027344], [158.99063110351562, 150.79898071289062, 134.6303253173828]]}, {"weights": [0.24575, 0.22425, 0.53], "means": [[141.30416870117188, 139.55340576171875, 128.7151641845703], [56.93868637084961, 56.245262145996094, 48.13935470581055], [203.125, 204.5438690185547, 194.82357788085938]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/45261598.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261598.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf21495d9af2f7bd860c46989605508b3690ec1b
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261598.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/45261600.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261600.json
new file mode 100644
index 0000000000000000000000000000000000000000..75dc39c5d4e70b064a6d2e8a22b4ed6ac7d4cc04
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261600.json
@@ -0,0 +1 @@
+[{"weights": [0.3665, 0.16125, 0.47225], "means": [[187.3383331298828, 177.0634307861328, 158.53683471679688], [59.488372802734375, 49.6217041015625, 39.16123962402344], [138.22445678710938, 117.47856140136719, 94.2059326171875]]}, {"weights": [0.14675, 0.3755, 0.47775], "means": [[152.56558227539062, 149.62521362304688, 137.20272827148438], [81.37350463867188, 86.6185073852539, 87.54393768310547], [31.75143814086914, 37.77655792236328, 39.490840911865234]]}, {"weights": [0.1738241308793456, 0.43660531697341515, 0.3895705521472393], "means": [[152.25294494628906, 151.35882568359375, 149.67059326171875], [30.316160202026367, 34.14754104614258, 39.573768615722656], [90.56167602539062, 75.75852966308594, 78.24147033691406]]}, {"weights": [0.60775, 0.22, 0.17225], "means": [[73.85602569580078, 81.45084381103516, 80.78033447265625], [116.28295135498047, 119.75, 112.73863983154297], [145.447021484375, 151.1044921875, 145.52249145507812]]}, {"weights": [0.3283052351375333, 0.6157941437444543, 0.055900621118012424], "means": [[44.24189376831055, 47.048648834228516, 42.297298431396484], [14.297550201416016, 18.79827117919922, 15.579971313476562], [96.31745910644531, 102.23809814453125, 100.18254089355469]]}, {"weights": [0.5855, 0.13675, 0.27775], "means": [[18.270708084106445, 20.705379486083984, 16.67848014831543], [145.00914001464844, 142.7952423095703, 133.70384216308594], [70.84968566894531, 72.18901824951172, 64.09900665283203]]}, {"weights": [0.33525, 0.3135, 0.35125], "means": [[40.76808166503906, 40.369873046875, 35.50484848022461], [139.91627502441406, 133.85964965820312, 120.41866302490234], [89.37935638427734, 88.5160140991211, 82.75017547607422]]}, {"weights": [0.5308056872037915, 0.12440758293838862, 0.3447867298578199], "means": [[15.209821701049805, 14.535714149475098, 10.763392448425293], [138.88571166992188, 101.29523468017578, 72.95237731933594], [79.86598205566406, 61.44673538208008, 45.0]]}, {"weights": [0.7221526908635795, 0.18523153942428036, 0.09261576971214018], "means": [[176.9965362548828, 135.1785125732422, 83.63085174560547], [72.50675964355469, 49.9594612121582, 27.716217041015625], [128.70269775390625, 95.71621704101562, 60.25675582885742]]}, {"weights": [0.4592274678111588, 0.19527896995708155, 0.34549356223175964], "means": [[173.71495056152344, 137.27102661132812, 89.82243347167969], [207.1758270263672, 178.37362670898438, 130.59339904785156], [145.58384704589844, 116.84471893310547, 79.6832275390625]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/45261601.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261601.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb6d302a4d80b14cd61e6d46e3d15f53b66a648f
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261601.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/45261615.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261615.json
new file mode 100644
index 0000000000000000000000000000000000000000..843be25b4657d7020397274c9467aace7b79c6c7
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261615.json
@@ -0,0 +1 @@
+[{"weights": [0.46425, 0.347, 0.18875], "means": [[146.63111877441406, 140.1303253173828, 125.0484619140625], [209.4488525390625, 205.6988525390625, 190.4092254638672], [76.5682144165039, 70.75761413574219, 59.72450256347656]]}, {"weights": [0.51875, 0.16975, 0.3115], "means": [[139.40963745117188, 135.96481323242188, 126.00482177734375], [39.630340576171875, 40.17820358276367, 36.48600769042969], [197.78330993652344, 193.33868408203125, 182.343505859375]]}, {"weights": [0.24925, 0.346, 0.40475], "means": [[77.98896789550781, 74.7352066040039, 64.28184509277344], [205.41908264160156, 199.6127166748047, 187.660400390625], [148.60345458984375, 143.17233276367188, 130.9759063720703]]}, {"weights": [0.565743073047859, 0.09118387909319899, 0.34307304785894205], "means": [[23.576135635375977, 22.829919815063477, 19.678539276123047], [106.8342514038086, 108.85635375976562, 103.2375717163086], [49.56387710571289, 48.176212310791016, 43.425846099853516]]}, {"weights": [0.32675, 0.2975, 0.37575], "means": [[197.87298583984375, 190.50726318359375, 175.7987823486328], [64.93109130859375, 64.01512908935547, 57.079830169677734], [127.13506317138672, 122.2588119506836, 111.35794830322266]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/45261619.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261619.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5217b0da10539f13f9bb162058f0cfec6d4ebf7
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261619.json
@@ -0,0 +1 @@
+[{"weights": [0.379, 0.40525, 0.21575], "means": [[207.11477661132812, 204.96240234375, 192.01121520996094], [150.38063049316406, 144.87106323242188, 131.29673767089844], [74.29779815673828, 70.1552734375, 60.38470458984375]]}, {"weights": [0.23475, 0.36675, 0.3985], "means": [[46.58253479003906, 46.949947357177734, 43.535675048828125], [198.9175262451172, 194.69325256347656, 185.36537170410156], [133.65684509277344, 131.2747802734375, 124.30740356445312]]}, {"weights": [0.455, 0.28475, 0.26025], "means": [[142.56922912597656, 138.5274658203125, 131.52911376953125], [76.02107238769531, 73.57506561279297, 67.74363708496094], [216.87704467773438, 210.955810546875, 202.86647033691406]]}, {"weights": [0.43260011280315847, 0.3925549915397631, 0.1748448956570784], "means": [[20.595827102661133, 20.251628875732422, 18.77574920654297], [53.17097854614258, 49.72413635253906, 44.340518951416016], [127.4483871459961, 126.84516143798828, 120.70967864990234]]}, {"weights": [0.384, 0.3275, 0.2885], "means": [[125.71614837646484, 119.76302337646484, 109.234375], [184.1595458984375, 175.58168029785156, 162.01144409179688], [56.02252960205078, 53.408145904541016, 47.903812408447266]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47115336.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47115336.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3e28afc656a461f4f46f10741720698df02e5bf
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47115336.json
@@ -0,0 +1 @@
+[{"weights": [0.23325, 0.332, 0.43475], "means": [[92.35476684570312, 84.151123046875, 69.78885650634766], [209.58433532714844, 205.0376434326172, 190.2725830078125], [159.07188415527344, 148.38009643554688, 129.2472686767578]]}, {"weights": [0.32625, 0.35575, 0.318], "means": [[84.23908233642578, 80.53410339355469, 71.4337158203125], [7.945186138153076, 10.148981094360352, 6.632466793060303], [44.579402923583984, 44.45125961303711, 37.78223419189453]]}, {"weights": [0.3475, 0.45875, 0.19375], "means": [[198.689208984375, 193.49639892578125, 178.98776245117188], [133.87411499023438, 128.5896453857422, 118.08283233642578], [63.945804595947266, 62.65677261352539, 58.99483871459961]]}, {"weights": [0.41825, 0.27225, 0.3095], "means": [[68.57621002197266, 66.41303253173828, 56.19485855102539], [203.7089080810547, 200.2929229736328, 184.58401489257812], [129.3957977294922, 126.21324920654297, 113.35702514648438]]}, {"weights": [0.0925, 0.7485, 0.159], "means": [[163.9918975830078, 160.74864196777344, 150.7432403564453], [22.346359252929688, 24.916500091552734, 21.61623191833496], [76.54087829589844, 73.23270416259766, 67.91981506347656]]}, {"weights": [0.30125, 0.095, 0.60375], "means": [[60.227386474609375, 60.767635345458984, 55.62572479248047], [112.50263214111328, 111.26841735839844, 104.56315612792969], [28.072050094604492, 30.388404846191406, 26.187992095947266]]}, {"weights": [0.6669176706827309, 0.0356425702811245, 0.29743975903614456], "means": [[10.275498390197754, 15.626646995544434, 12.557019233703613], [125.2957763671875, 125.7042236328125, 118.44366455078125], [42.40084457397461, 45.71730041503906, 41.1755256652832]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47115338.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47115338.json
new file mode 100644
index 0000000000000000000000000000000000000000..f36d2c0363752f49baf023d467dfe7361d7a499f
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47115338.json
@@ -0,0 +1 @@
+[{"weights": [0.22175, 0.39, 0.38825], "means": [[94.73506164550781, 86.8478012084961, 71.92897033691406], [212.32884216308594, 208.8775634765625, 194.94166564941406], [160.5254364013672, 150.08177185058594, 130.8641357421875]]}, {"weights": [0.17125, 0.737, 0.09175], "means": [[85.97372436523438, 83.53722381591797, 76.15912628173828], [27.69877815246582, 30.03595733642578, 26.99966049194336], [173.35694885253906, 171.57765197753906, 158.847412109375]]}, {"weights": [0.25575, 0.3625, 0.38175], "means": [[199.52786254882812, 195.06939697265625, 177.40567016601562], [69.70413970947266, 67.33172607421875, 57.20551681518555], [126.46627044677734, 123.12901306152344, 108.67910766601562]]}, {"weights": [0.26925, 0.371, 0.35975], "means": [[73.60353088378906, 69.31568908691406, 63.586814880371094], [196.5121307373047, 191.51483154296875, 175.69204711914062], [134.4510040283203, 129.27728271484375, 117.88742065429688]]}, {"weights": [0.5864496260448746, 0.0387153541575011, 0.3748350197976243], "means": [[39.569393157958984, 39.327083587646484, 32.368343353271484], [175.4204559326172, 177.81817626953125, 172.8295440673828], [93.07746124267578, 90.33567810058594, 82.81925201416016]]}, {"weights": [0.44961697112551563, 0.42015321154979374, 0.13022981732469063], "means": [[22.439712524414062, 25.746395111083984, 22.205110549926758], [65.19074249267578, 64.75806427001953, 60.94389724731445], [130.21267700195312, 121.18778228759766, 119.61764526367188]]}, {"weights": [0.3395, 0.5135, 0.147], "means": [[83.01177978515625, 83.454345703125, 79.63623046875], [32.96348571777344, 35.0034065246582, 30.878286361694336], [163.7840118408203, 164.8401336669922, 159.08843994140625]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47115350.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47115350.json
new file mode 100644
index 0000000000000000000000000000000000000000..111354b49752e675db9864d12262a7a62e4e3a4b
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47115350.json
@@ -0,0 +1 @@
+[{"weights": [0.315, 0.357, 0.328], "means": [[81.92619323730469, 59.00555419921875, 36.70158767700195], [152.15615844726562, 137.64076232910156, 114.57003021240234], [197.15625, 199.43902587890625, 188.5205841064453]]}, {"weights": [0.24775, 0.2055, 0.54675], "means": [[107.03531646728516, 97.66397857666016, 95.72250366210938], [169.95985412597656, 175.92213439941406, 185.21775817871094], [34.160037994384766, 24.811614990234375, 21.01920509338379]]}, {"weights": [0.3395, 0.53725, 0.12325], "means": [[115.72017669677734, 59.96907043457031, 62.80412292480469], [65.73429870605469, 19.49232292175293, 22.230804443359375], [191.38742065429688, 191.1217041015625, 186.79310607910156]]}, {"weights": [0.2248939179632249, 0.6315417256011315, 0.14356435643564355], "means": [[239.4874267578125, 223.1100616455078, 200.87420654296875], [72.44120788574219, 41.501678466796875, 23.291152954101562], [169.29556274414062, 137.51231384277344, 113.57142639160156]]}, {"weights": [0.532051282051282, 0.38461538461538464, 0.08333333333333333], "means": [[77.13855743408203, 49.27108383178711, 33.78915786743164], [176.9583282470703, 139.27499389648438, 99.88333129882812], [176.0, 197.84616088867188, 208.23077392578125]]}, {"weights": [0.1155, 0.7305, 0.154], "means": [[191.02597045898438, 175.24891662597656, 160.91342163085938], [52.517112731933594, 36.84907531738281, 32.682411193847656], [132.37661743164062, 102.42369842529297, 89.05681610107422]]}, {"weights": [0.31353135313531355, 0.33851956624233853, 0.347949080622348], "means": [[150.11277770996094, 141.3413543701172, 129.09022521972656], [195.24513244628906, 191.50975036621094, 183.49581909179688], [104.17073059082031, 90.06233215332031, 71.34688568115234]]}, {"weights": [0.46, 0.28475, 0.25525], "means": [[46.53478240966797, 41.42934799194336, 35.884239196777344], [194.7216796875, 192.3863067626953, 180.589111328125], [113.86190032958984, 102.72576141357422, 87.66111755371094]]}, {"weights": [0.25729316116690576, 0.3472022955523673, 0.39550454328072693], "means": [[160.8494415283203, 152.5130157470703, 139.34014892578125], [110.07437896728516, 95.89669799804688, 75.4765853881836], [206.03990173339844, 204.54776000976562, 197.32769775390625]]}, {"weights": [0.6997193638914874, 0.07390084190832553, 0.22637979420018708], "means": [[10.453208923339844, 11.312833786010742, 5.640374183654785], [90.37974548339844, 88.79747009277344, 79.55696105957031], [45.45041275024414, 48.6363639831543, 41.71900939941406]]}, {"weights": [0.56475, 0.099, 0.33625], "means": [[27.262948989868164, 19.970340728759766, 12.099159240722656], [112.16666412353516, 100.5227279663086, 87.85101318359375], [59.290706634521484, 46.34795379638672, 33.22453689575195]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47115352.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47115352.json
new file mode 100644
index 0000000000000000000000000000000000000000..f013b0ce69ea5381963f8792f8a5fe6c8b7e5c2b
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47115352.json
@@ -0,0 +1 @@
+[{"weights": [0.27975, 0.437, 0.28325], "means": [[148.67471313476562, 125.13226318359375, 96.0339584350586], [197.3552703857422, 193.76487731933594, 178.66819763183594], [77.59046936035156, 53.789939880371094, 32.48190689086914]]}, {"weights": [0.358, 0.14975, 0.49225], "means": [[97.07332611083984, 76.95111846923828, 71.6354751586914], [185.52587890625, 165.27378845214844, 146.73289489746094], [45.848655700683594, 31.568817138671875, 29.373794555664062]]}, {"weights": [0.3723958333333333, 0.4088541666666667, 0.21875], "means": [[41.818180084228516, 22.405593872070312, 16.643356323242188], [174.28662109375, 128.0509490966797, 83.26114654541016], [113.36904907226562, 76.02381134033203, 52.80952453613281]]}, {"weights": [0.271, 0.54775, 0.18125], "means": [[126.2850570678711, 121.37269592285156, 120.70110321044922], [38.83432388305664, 29.64764976501465, 27.80419921875], [197.15171813964844, 201.54759216308594, 205.77378845214844]]}, {"weights": [0.21727574750830564, 0.5720930232558139, 0.2106312292358804], "means": [[207.01528930664062, 147.70947265625, 81.55657196044922], [74.69918823242188, 43.659698486328125, 28.200929641723633], [149.68138122558594, 139.32176208496094, 159.88328552246094]]}, {"weights": [0.40075, 0.05725, 0.542], "means": [[118.30255889892578, 57.43730545043945, 61.2932014465332], [190.85153198242188, 184.41921997070312, 185.56768798828125], [63.265220642089844, 19.337177276611328, 21.5]]}, {"weights": [0.29292511377741004, 0.6119155978485726, 0.09515928837401738], "means": [[159.87147521972656, 147.8177947998047, 129.6807861328125], [203.6964111328125, 205.59500122070312, 200.6348876953125], [99.18260955810547, 77.30000305175781, 58.07826232910156]]}, {"weights": [0.6955702167766258, 0.046182846371347785, 0.2582469368520264], "means": [[14.231707572937012, 11.373983383178711, 6.029810428619385], [102.08163452148438, 104.34693908691406, 97.61224365234375], [51.93065643310547, 48.39051055908203, 39.06569290161133]]}, {"weights": [0.27566735112936347, 0.32238193018480493, 0.4019507186858316], "means": [[158.33518981933594, 150.1564178466797, 139.61453247070312], [117.28025817871094, 99.41560363769531, 79.48407745361328], [198.55044555664062, 198.11749267578125, 193.4355010986328]]}, {"weights": [0.29025, 0.47275, 0.237], "means": [[197.7450408935547, 191.78897094726562, 174.6554718017578], [50.65890884399414, 44.159175872802734, 38.29085159301758], [122.93565368652344, 109.22046661376953, 92.72362518310547]]}, {"weights": [0.42575, 0.55925, 0.015], "means": [[62.60481643676758, 50.433353424072266, 36.271873474121094], [28.970497131347656, 19.776933670043945, 9.911041259765625], [165.4166717529297, 168.13333129882812, 163.4499969482422]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47115358.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47115358.json
new file mode 100644
index 0000000000000000000000000000000000000000..9aa5e8177861eb2e29d094d80977835cce24ed75
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47115358.json
@@ -0,0 +1 @@
+[{"weights": [0.30075, 0.37825, 0.321], "means": [[196.3798828125, 196.69326782226562, 185.45387268066406], [152.61203002929688, 134.88499450683594, 108.18638610839844], [83.483642578125, 57.5817756652832, 33.028038024902344]]}, {"weights": [0.19325, 0.45225, 0.3545], "means": [[178.72573852539062, 158.52781677246094, 141.5446319580078], [35.64068603515625, 23.92316246032715, 17.317302703857422], [87.28279113769531, 69.12834930419922, 64.8222885131836]]}, {"weights": [0.46971569839307786, 0.26452410383189123, 0.2657601977750309], "means": [[38.52894592285156, 23.705263137817383, 18.636842727661133], [177.5, 133.0560760498047, 79.93457794189453], [109.93953704833984, 83.00465393066406, 61.03255844116211]]}, {"weights": [0.572, 0.199, 0.229], "means": [[48.838287353515625, 34.32735824584961, 26.96678352355957], [198.87437438964844, 198.62939453125, 197.29647827148438], [120.09716033935547, 105.38973999023438, 95.51309967041016]]}, {"weights": [0.2937584803256445, 0.21370420624151967, 0.4925373134328358], "means": [[124.40646362304688, 82.99307250976562, 58.41108703613281], [201.88571166992188, 154.7936553955078, 112.9111099243164], [76.76033020019531, 41.366390228271484, 20.840219497680664]]}, {"weights": [0.55025, 0.09375, 0.356], "means": [[66.05724334716797, 23.10586166381836, 24.834165573120117], [189.4026641845703, 187.83200073242188, 190.07733154296875], [124.98946380615234, 65.42626190185547, 70.93258666992188]]}, {"weights": [0.40189125295508277, 0.3459416863672183, 0.25216706067769895], "means": [[199.0117645263672, 210.28921508789062, 216.7392120361328], [172.78701782226562, 175.92483520507812, 172.67425537109375], [113.578125, 101.15312194824219, 82.3359375]]}, {"weights": [0.6369376479873717, 0.26992896606156275, 0.0931333859510655], "means": [[7.624535083770752, 6.297397613525391, 2.446096658706665], [35.529239654541016, 31.05555534362793, 21.894737243652344], [80.65254211425781, 72.73728942871094, 56.694915771484375]]}, {"weights": [0.4895, 0.26625, 0.24425], "means": [[49.325843811035156, 43.32124710083008, 38.55873489379883], [193.00094604492188, 192.78872680664062, 182.15211486816406], [114.78096008300781, 106.45240783691406, 94.11258697509766]]}, {"weights": [0.4112370160528801, 0.29367327667610954, 0.29508970727101036], "means": [[145.10906982421875, 132.53271484375, 115.14695739746094], [98.69453430175781, 80.35047912597656, 57.81671905517578], [198.04159545898438, 196.37440490722656, 186.8607940673828]]}, {"weights": [0.303536619326093, 0.1595655806182122, 0.5368978000556948], "means": [[13.062385559082031, 10.81192684173584, 4.279816627502441], [70.57417297363281, 70.35078430175781, 59.28272247314453], [44.05653381347656, 31.395227432250977, 15.857365608215332]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47115361.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47115361.json
new file mode 100644
index 0000000000000000000000000000000000000000..31d441b158d4bc815a1ad2e7222181db5fa56ded
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47115361.json
@@ -0,0 +1 @@
+[{"weights": [0.513, 0.32475, 0.16225], "means": [[192.5389862060547, 188.30116271972656, 174.13255310058594], [128.17552185058594, 124.93148803710938, 107.11624145507812], [56.50385284423828, 53.70261764526367, 42.343605041503906]]}, {"weights": [0.321, 0.44825, 0.23075], "means": [[93.02570343017578, 93.55685424804688, 77.39252471923828], [32.77635192871094, 32.43669891357422, 22.39040756225586], [156.41928100585938, 161.72047424316406, 142.47344970703125]]}, {"weights": [0.41625, 0.454, 0.12975], "means": [[94.63843536376953, 90.78618621826172, 76.43783569335938], [39.876102447509766, 37.41905212402344, 27.28579330444336], [159.07899475097656, 156.34103393554688, 145.81309509277344]]}, {"weights": [0.422, 0.349, 0.229], "means": [[145.55569458007812, 94.43009185791016, 49.73637390136719], [175.96775817871094, 121.31661987304688, 72.36461639404297], [85.31986999511719, 53.55677032470703, 26.629913330078125]]}, {"weights": [0.49592233009708736, 0.4566990291262136, 0.04737864077669903], "means": [[53.74863052368164, 39.20673370361328, 25.93030548095703], [17.90561294555664, 12.386054039001465, 7.379251480102539], [84.45901489257812, 71.91802978515625, 59.696720123291016]]}, {"weights": [0.3568281938325991, 0.3196979232221523, 0.3234738829452486], "means": [[160.74073791503906, 116.30599975585938, 68.41358184814453], [57.89665222167969, 35.695865631103516, 15.644684791564941], [106.38813018798828, 74.09046936035156, 40.9066162109375]]}, {"weights": [0.5068842427332994, 0.4370219275879653, 0.05609382967873534], "means": [[116.93963623046875, 109.64688110351562, 100.2243423461914], [83.35706329345703, 74.08401489257812, 64.8868179321289], [183.75454711914062, 182.9727325439453, 179.08181762695312]]}, {"weights": [0.38786279683377306, 0.018469656992084433, 0.5936675461741425], "means": [[17.385486602783203, 16.911563873291016, 15.913832664489746], [41.0476188659668, 38.9523811340332, 36.095237731933594], [8.44444465637207, 8.322962760925293, 6.05481481552124]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47115362.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47115362.json
new file mode 100644
index 0000000000000000000000000000000000000000..802884b4be7e5689ec8edf3215e4cb65a49e1e70
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47115362.json
@@ -0,0 +1 @@
+[{"weights": [0.449, 0.235, 0.316], "means": [[146.045654296875, 143.1970977783203, 128.14476013183594], [79.3648910522461, 77.4925537109375, 64.36701965332031], [201.52610778808594, 197.42642211914062, 184.43670654296875]]}, {"weights": [0.303, 0.4805, 0.2165], "means": [[35.05115509033203, 38.16914367675781, 30.099834442138672], [88.77783203125, 87.90322875976562, 77.93704223632812], [135.7748260498047, 137.0577392578125, 132.23556518554688]]}, {"weights": [0.403, 0.25925, 0.33775], "means": [[120.3951644897461, 77.2487564086914, 38.54094314575195], [38.77049255371094, 25.941177368164062, 12.433943748474121], [169.9837188720703, 116.16950225830078, 68.71354675292969]]}, {"weights": [0.037418147801683815, 0.6468662301216089, 0.3157156220767072], "means": [[76.26249694824219, 72.23750305175781, 65.88749694824219], [18.06435203552246, 15.840202331542969, 9.208243370056152], [41.06074142456055, 30.165925979614258, 18.687406539916992]]}, {"weights": [0.29727793696275073, 0.2797277936962751, 0.4229942693409742], "means": [[42.16987991333008, 26.5180721282959, 13.038554191589355], [152.67861938476562, 113.79129028320312, 72.86043548583984], [90.6426773071289, 63.55546188354492, 34.98476028442383]]}, {"weights": [0.2155, 0.40875, 0.37575], "means": [[147.1949005126953, 150.54408264160156, 124.09976959228516], [30.108257293701172, 31.698471069335938, 22.188379287719727], [90.31603240966797, 90.17565155029297, 75.45575714111328]]}, {"weights": [0.16644355198572067, 0.5323516287371709, 0.30120481927710846], "means": [[205.77748107910156, 210.1125946044922, 208.6916961669922], [95.03353118896484, 87.53143310546875, 78.96898651123047], [141.5363006591797, 139.4844512939453, 132.20741271972656]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47115363.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47115363.json
new file mode 100644
index 0000000000000000000000000000000000000000..542ac6db28adff885ba29ca206f3ae461aed6958
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47115363.json
@@ -0,0 +1 @@
+[{"weights": [0.44675, 0.17825, 0.375], "means": [[199.49916076660156, 195.3525390625, 181.39283752441406], [67.09817504882812, 61.75035095214844, 48.68723678588867], [143.67666625976562, 139.49400329589844, 123.45133209228516]]}, {"weights": [0.274, 0.415, 0.311], "means": [[157.49087524414062, 159.4607696533203, 135.74908447265625], [27.66867446899414, 28.964458465576172, 19.30301284790039], [87.92765045166016, 87.56832885742188, 68.04823303222656]]}, {"weights": [0.42025, 0.212, 0.36775], "means": [[88.29386901855469, 84.6995849609375, 71.10053253173828], [140.7688751220703, 137.20046997070312, 124.56721496582031], [45.70564270019531, 43.9449348449707, 31.556764602661133]]}, {"weights": [0.4775, 0.12275, 0.39975], "means": [[169.1424102783203, 118.62042236328125, 71.42827606201172], [195.93890380859375, 176.29734802246094, 152.0753631591797], [65.9806137084961, 46.5071907043457, 25.993745803833008]]}, {"weights": [0.4800243976822202, 0.19640134187252212, 0.3235742604452577], "means": [[46.003177642822266, 26.356416702270508, 11.515883445739746], [181.6149139404297, 136.44720458984375, 88.40061950683594], [102.54571533203125, 73.96041107177734, 44.84165954589844]]}, {"weights": [0.8020591165725672, 0.19129857190302224, 0.006642311524410495], "means": [[15.00082778930664, 13.966045379638672, 12.224431037902832], [49.15451431274414, 41.35590362548828, 36.32291793823242], [130.6999969482422, 139.0500030517578, 136.39999389648438]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47115376.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47115376.json
new file mode 100644
index 0000000000000000000000000000000000000000..1686abc770e8c00f75823e99d344d3b488a490c2
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47115376.json
@@ -0,0 +1 @@
+[{"weights": [0.41175, 0.2345, 0.35375], "means": [[197.09532165527344, 194.44566345214844, 180.94656372070312], [68.50106811523438, 61.850746154785156, 47.94562911987305], [144.38233947753906, 136.97738647460938, 120.30741882324219]]}, {"weights": [0.374, 0.32125, 0.30475], "means": [[56.49531936645508, 55.70053482055664, 45.45387649536133], [223.2248992919922, 220.99533081054688, 217.08482360839844], [175.57998657226562, 168.74569702148438, 158.27235412597656]]}, {"weights": [0.534740545294635, 0.25065963060686014, 0.21459982409850484], "means": [[165.1792755126953, 164.5707244873047, 148.76809692382812], [109.78596496582031, 102.78245544433594, 81.84561157226562], [25.213115692138672, 24.647541046142578, 17.028688430786133]]}, {"weights": [0.512087912087912, 0.2824175824175824, 0.20549450549450549], "means": [[88.46566772460938, 81.06867218017578, 70.28755187988281], [158.42022705078125, 154.80934143066406, 144.28793334960938], [15.053476333618164, 12.433155059814453, 8.245988845825195]]}, {"weights": [0.12457684495599188, 0.6482735274204469, 0.22714962762356128], "means": [[38.573368072509766, 38.10869598388672, 31.309782028198242], [201.7900848388672, 201.08668518066406, 184.48406982421875], [112.7868881225586, 108.36214447021484, 93.03129577636719]]}, {"weights": [0.44216543375924683, 0.14794889038332212, 0.4098856758574311], "means": [[19.88593101501465, 29.928516387939453, 38.68136978149414], [118.27954864501953, 113.92500305175781, 100.48409271240234], [57.30106735229492, 65.69729614257812, 68.86956787109375]]}, {"weights": [0.3880764904386952, 0.4769403824521935, 0.13498312710911137], "means": [[42.544925689697266, 39.89275360107422, 31.68695640563965], [69.9056625366211, 68.15802001953125, 60.89622497558594], [102.54166412353516, 101.69999694824219, 94.55833435058594]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_name/48017981.json b/scan_data/ARKitScenes/instance_id_to_name/48017981.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef48209f7b4949df30730f53c59f374ee2506faa
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_name/48017981.json
@@ -0,0 +1 @@
+["object", "bed", "cabinet", "cabinet", "cabinet", "table", "chair", "chair"]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_name/48017984.json b/scan_data/ARKitScenes/instance_id_to_name/48017984.json
new file mode 100644
index 0000000000000000000000000000000000000000..7baa5aeb46618bbd1b9bd157218bff0825cfc9d0
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_name/48017984.json
@@ -0,0 +1 @@
+["object", "cabinet", "cabinet", "bed", "cabinet", "cabinet", "table", "chair", "chair"]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_name/48018522.json b/scan_data/ARKitScenes/instance_id_to_name/48018522.json
new file mode 100644
index 0000000000000000000000000000000000000000..565aee3cc8f2d4852d22c5662d6fcdcad080f4f1
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_name/48018522.json
@@ -0,0 +1 @@
+["object", "bed", "cabinet", "cabinet", "cabinet", "tv", "chair", "chair"]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_name/48018523.json b/scan_data/ARKitScenes/instance_id_to_name/48018523.json
new file mode 100644
index 0000000000000000000000000000000000000000..565aee3cc8f2d4852d22c5662d6fcdcad080f4f1
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_name/48018523.json
@@ -0,0 +1 @@
+["object", "bed", "cabinet", "cabinet", "cabinet", "tv", "chair", "chair"]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_name/48018524.json b/scan_data/ARKitScenes/instance_id_to_name/48018524.json
new file mode 100644
index 0000000000000000000000000000000000000000..565aee3cc8f2d4852d22c5662d6fcdcad080f4f1
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_name/48018524.json
@@ -0,0 +1 @@
+["object", "bed", "cabinet", "cabinet", "cabinet", "tv", "chair", "chair"]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_name/48018530.json b/scan_data/ARKitScenes/instance_id_to_name/48018530.json
new file mode 100644
index 0000000000000000000000000000000000000000..d74cb0b6e0c776fde20aebb3ac01e0408c5e24a9
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_name/48018530.json
@@ -0,0 +1 @@
+["object", "cabinet", "tv", "chair", "chair", "cabinet", "bed"]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_name/48018531.json b/scan_data/ARKitScenes/instance_id_to_name/48018531.json
new file mode 100644
index 0000000000000000000000000000000000000000..d74cb0b6e0c776fde20aebb3ac01e0408c5e24a9
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_name/48018531.json
@@ -0,0 +1 @@
+["object", "cabinet", "tv", "chair", "chair", "cabinet", "bed"]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_name/48018532.json b/scan_data/ARKitScenes/instance_id_to_name/48018532.json
new file mode 100644
index 0000000000000000000000000000000000000000..0995fd1f5350b88337173c01bbfbc3a928a45eb4
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_name/48018532.json
@@ -0,0 +1 @@
+["object", "chair", "chair", "cabinet", "tv", "cabinet", "cabinet", "tv", "cabinet"]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_name/48018537.json b/scan_data/ARKitScenes/instance_id_to_name/48018537.json
new file mode 100644
index 0000000000000000000000000000000000000000..f865a61c7f5730431d741f3f9a4833ed093fb39a
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_name/48018537.json
@@ -0,0 +1 @@
+["object", "sofa", "sofa", "sofa", "table", "table", "table", "stool", "cabinet", "stool", "cabinet", "tv", "cabinet", "sofa", "sofa", "table"]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_name/48018538.json b/scan_data/ARKitScenes/instance_id_to_name/48018538.json
new file mode 100644
index 0000000000000000000000000000000000000000..94f7d7ea0d4392ae8cb1636e6d076c5dca5a732e
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_name/48018538.json
@@ -0,0 +1 @@
+["object", "table", "table", "table", "sofa", "sofa", "sofa", "cabinet", "cabinet", "tv", "stool", "sofa", "sofa"]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_name/48018540.json b/scan_data/ARKitScenes/instance_id_to_name/48018540.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed09bf5ba0cb04ce6df5ac16321220050ca5616d
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_name/48018540.json
@@ -0,0 +1 @@
+["object", "cabinet", "tv", "table", "table", "sofa", "sofa", "sofa", "table", "cabinet", "stool", "sofa", "sofa"]
\ No newline at end of file
diff --git a/scan_data/HM3D/instance_id_to_name/00064-gQgtJ9Stk5s_sub018.json b/scan_data/HM3D/instance_id_to_name/00064-gQgtJ9Stk5s_sub018.json
new file mode 100644
index 0000000000000000000000000000000000000000..97a9eeaaeb2b287aee23bfdca1b52420c5ee9c87
--- /dev/null
+++ b/scan_data/HM3D/instance_id_to_name/00064-gQgtJ9Stk5s_sub018.json
@@ -0,0 +1 @@
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diff --git a/scan_data/HM3D/instance_id_to_name/00064-gQgtJ9Stk5s_sub019.json b/scan_data/HM3D/instance_id_to_name/00064-gQgtJ9Stk5s_sub019.json
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index 0000000000000000000000000000000000000000..69e6e2506dbeacb8457c505d03e3aa1212ee55a6
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diff --git a/scan_data/HM3D/instance_id_to_name/00064-gQgtJ9Stk5s_sub020.json b/scan_data/HM3D/instance_id_to_name/00064-gQgtJ9Stk5s_sub020.json
new file mode 100644
index 0000000000000000000000000000000000000000..b65ee51375ad4ac194f97b11c0e53b9a69753530
--- /dev/null
+++ b/scan_data/HM3D/instance_id_to_name/00064-gQgtJ9Stk5s_sub020.json
@@ -0,0 +1 @@
+["object"]
\ No newline at end of file
diff --git a/scan_data/HM3D/instance_id_to_name/00064-gQgtJ9Stk5s_sub021.json b/scan_data/HM3D/instance_id_to_name/00064-gQgtJ9Stk5s_sub021.json
new file mode 100644
index 0000000000000000000000000000000000000000..b65ee51375ad4ac194f97b11c0e53b9a69753530
--- /dev/null
+++ b/scan_data/HM3D/instance_id_to_name/00064-gQgtJ9Stk5s_sub021.json
@@ -0,0 +1 @@
+["object"]
\ No newline at end of file
diff --git a/scan_data/HM3D/instance_id_to_name/00179-MVVzj944atG_sub003.json b/scan_data/HM3D/instance_id_to_name/00179-MVVzj944atG_sub003.json
new file mode 100644
index 0000000000000000000000000000000000000000..62e6600666d56a96276803932dd1b4fd3f4a2c74
--- /dev/null
+++ b/scan_data/HM3D/instance_id_to_name/00179-MVVzj944atG_sub003.json
@@ -0,0 +1 @@
+["object", "object", "object", "object", "object", "window", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "window", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "curtain", "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", "pillow", "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", "curtain", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "coffee table", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "door", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "potted plant", "object", "object", "object", "armchair", "object", "object", "object", "object", "cabinet", "lamp", "object", "object", "object", "object", "window", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "tv", "object", "object", "object", "object", "object", "object", "object", "picture", "object", "object", "pillow", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "potted plant", "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", "pillow", "pillow", "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", "machine", "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", "radiator", "object", "object", "potted plant", "object", "shelf", "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", "window", "object", "cabinet"]
\ No newline at end of file
diff --git a/scan_data/HM3D/instance_id_to_name/00366-fxbzYAGkrtm_sub018.json b/scan_data/HM3D/instance_id_to_name/00366-fxbzYAGkrtm_sub018.json
new file mode 100644
index 0000000000000000000000000000000000000000..61dde33d25222104da28e893cc3be333f7e192ed
--- /dev/null
+++ b/scan_data/HM3D/instance_id_to_name/00366-fxbzYAGkrtm_sub018.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/scan_data/HM3D/instance_id_to_name/00378-DqJKU7YU7dA_sub002.json b/scan_data/HM3D/instance_id_to_name/00378-DqJKU7YU7dA_sub002.json
new file mode 100644
index 0000000000000000000000000000000000000000..5daa4c8bc16017f578d82a6c5b93575ba6bd6d00
--- /dev/null
+++ b/scan_data/HM3D/instance_id_to_name/00378-DqJKU7YU7dA_sub002.json
@@ -0,0 +1 @@
+["object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "decoration", "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", "shoes", "object", "object", "object", "object", "object", "basket", "object", "object", "object", "object", "object", "object", "object", "object", 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"curtain rod"]
\ No newline at end of file
diff --git a/scan_data/HM3D/instance_id_to_name/00592-CthA7sQNTPK_sub007.json b/scan_data/HM3D/instance_id_to_name/00592-CthA7sQNTPK_sub007.json
new file mode 100644
index 0000000000000000000000000000000000000000..0aa229b38f3556f8e3cc4ef9560ddcaefdf34a1b
--- /dev/null
+++ b/scan_data/HM3D/instance_id_to_name/00592-CthA7sQNTPK_sub007.json
@@ -0,0 +1 @@
+["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", "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", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "shower curtain", "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/HM3D/instance_id_to_name/00592-CthA7sQNTPK_sub008.json b/scan_data/HM3D/instance_id_to_name/00592-CthA7sQNTPK_sub008.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9aab52fcc7a5507d6392be2ff6d49e8774e7845
--- /dev/null
+++ b/scan_data/HM3D/instance_id_to_name/00592-CthA7sQNTPK_sub008.json
@@ -0,0 +1 @@
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diff --git a/scan_data/HM3D/instance_id_to_name/00592-CthA7sQNTPK_sub009.json b/scan_data/HM3D/instance_id_to_name/00592-CthA7sQNTPK_sub009.json
new file mode 100644
index 0000000000000000000000000000000000000000..4faa5c14128e79735d366a839a8bc4020527724d
--- /dev/null
+++ b/scan_data/HM3D/instance_id_to_name/00592-CthA7sQNTPK_sub009.json
@@ -0,0 +1 @@
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diff --git a/scan_data/HM3D/instance_id_to_name/00592-CthA7sQNTPK_sub010.json b/scan_data/HM3D/instance_id_to_name/00592-CthA7sQNTPK_sub010.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c37af079ccb24e8792782a9d92f70863e9db1a4
--- /dev/null
+++ b/scan_data/HM3D/instance_id_to_name/00592-CthA7sQNTPK_sub010.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/scan_data/HM3D/instance_id_to_name/00626-XiJhRLvpKpX_sub008.json b/scan_data/HM3D/instance_id_to_name/00626-XiJhRLvpKpX_sub008.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1cd416e1ea05c470962a91bc5e7670797292abb
--- /dev/null
+++ b/scan_data/HM3D/instance_id_to_name/00626-XiJhRLvpKpX_sub008.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/scan_data/HM3D/instance_id_to_name/00626-XiJhRLvpKpX_sub009.json b/scan_data/HM3D/instance_id_to_name/00626-XiJhRLvpKpX_sub009.json
new file mode 100644
index 0000000000000000000000000000000000000000..0da1ce3056d18f3c7023c2a315d9b43f4a1a11f4
--- /dev/null
+++ b/scan_data/HM3D/instance_id_to_name/00626-XiJhRLvpKpX_sub009.json
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diff --git a/scan_data/HM3D/instance_id_to_name/00626-XiJhRLvpKpX_sub010.json b/scan_data/HM3D/instance_id_to_name/00626-XiJhRLvpKpX_sub010.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d5449dc83ba84dc2adb8241ba0e13b36b4d03a4
--- /dev/null
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diff --git a/scan_data/HM3D/instance_id_to_name/00745-yX5efd48dLf_sub007.json b/scan_data/HM3D/instance_id_to_name/00745-yX5efd48dLf_sub007.json
new file mode 100644
index 0000000000000000000000000000000000000000..10feca3f5c67381eece84cf56f2e240b0de5ca07
--- /dev/null
+++ b/scan_data/HM3D/instance_id_to_name/00745-yX5efd48dLf_sub007.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/scan_data/HM3D/instance_id_to_name/00745-yX5efd48dLf_sub008.json b/scan_data/HM3D/instance_id_to_name/00745-yX5efd48dLf_sub008.json
new file mode 100644
index 0000000000000000000000000000000000000000..63a76cbd09e6b3ba3b44eef27949c483c16f7a77
--- /dev/null
+++ b/scan_data/HM3D/instance_id_to_name/00745-yX5efd48dLf_sub008.json
@@ -0,0 +1 @@
+["object", "object", "floor", "object", "object", "object", "object", "picture", "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", "frame", "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", "book", "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", "book", "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", "picture", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "book", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "book", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "door", "object", "book", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "book", "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", "bookshelf", "object", "object", "object", "object", "object", "book", "object", "bookshelf", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "decoration", "object", "object", "book", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "ceiling light", "book", "object", "object", "picture", "object", "picture", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "decoration", "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", "decoration", "object", "object", "object", "object", "rug", "object", "object", "object", "object", "object", "door", "object", "object", "cap", "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", "book", "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", "picture"]
\ No newline at end of file
diff --git a/scan_data/HM3D/instance_id_to_name/00745-yX5efd48dLf_sub009.json b/scan_data/HM3D/instance_id_to_name/00745-yX5efd48dLf_sub009.json
new file mode 100644
index 0000000000000000000000000000000000000000..4007e53490dbd99b02befd3eda8606b0b445a4e6
--- /dev/null
+++ b/scan_data/HM3D/instance_id_to_name/00745-yX5efd48dLf_sub009.json
@@ -0,0 +1 @@
+["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", "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", "picture", "decoration", "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", "chest", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "picture", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "dresser", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "lamp base", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "mirror", "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", "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", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "window", "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", "window", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "basket", "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", "picture", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "decoration", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "painting", "object", "object", "object", "object", "object", "door", "object", "object", "object", "door"]
\ No newline at end of file
diff --git a/scan_data/HM3D/instance_id_to_name/00745-yX5efd48dLf_sub010.json b/scan_data/HM3D/instance_id_to_name/00745-yX5efd48dLf_sub010.json
new file mode 100644
index 0000000000000000000000000000000000000000..eaff02bef61253d0264b22ed7ecbfa9ff6f701bf
--- /dev/null
+++ b/scan_data/HM3D/instance_id_to_name/00745-yX5efd48dLf_sub010.json
@@ -0,0 +1 @@
+["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", "bathroom cabinet", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "shower curtain rod", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "wardrobe", "object", "object", "object", "object", "object", "object", "object", "towel", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "towel", "object", "door", "object", "object", "object", "object", "object", "object", "bathroom vanity", "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", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "mirror", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "towel", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "soap", "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", "rug", "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", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "shelf", "object", "object", "object", "object", "vent", "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", "bathroom vanity", "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", "shower", "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", "frame", "object", "object", "object", "object", "object", "object", "object", "towel", "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", "bag"]
\ No newline at end of file