diff --git a/annotations/splits/hm3d_test.txt b/annotations/splits/hm3d_test.txt
new file mode 100644
index 0000000000000000000000000000000000000000..934648e6bd0c4ac9410b10ec2d57faa4767e9aef
--- /dev/null
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diff --git a/annotations/splits/hm3d_train.txt b/annotations/splits/hm3d_train.txt
new file mode 100644
index 0000000000000000000000000000000000000000..86011618659a7c3f2522c15c2040c40c693012b1
--- /dev/null
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/10b1796b-3938-2467-88bc-c224c21bc91c.json b/scan_data/3RScan/instance_id_to_gmm_color/10b1796b-3938-2467-88bc-c224c21bc91c.json
new file mode 100644
index 0000000000000000000000000000000000000000..be08249972c38cb3e33ae181b2157b82525c8868
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/10b1796b-3938-2467-88bc-c224c21bc91c.json
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\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_gmm_color/10b17971-3938-2467-8a86-2b42613aa7ec.json b/scan_data/3RScan/instance_id_to_gmm_color/10b17971-3938-2467-8a86-2b42613aa7ec.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b80a60a4e063ab1613f745476ed75458e7e3533
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/10b17971-3938-2467-8a86-2b42613aa7ec.json
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\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_gmm_color/1776ad88-4db7-2333-887f-8be533122e06.json b/scan_data/3RScan/instance_id_to_gmm_color/1776ad88-4db7-2333-887f-8be533122e06.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6a4b4d91272f20b972f467ef07f8c213a1e35d8
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/1776ad88-4db7-2333-887f-8be533122e06.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/1776ad8a-4db7-2333-8909-97b950726515.json b/scan_data/3RScan/instance_id_to_gmm_color/1776ad8a-4db7-2333-8909-97b950726515.json
new file mode 100644
index 0000000000000000000000000000000000000000..08e0356931ddb53bb40fe10cde2961915525d88d
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/1776ad8a-4db7-2333-8909-97b950726515.json
@@ -0,0 +1 @@
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/1d234024-e280-2b1a-8c28-2743fefed020.json b/scan_data/3RScan/instance_id_to_gmm_color/1d234024-e280-2b1a-8c28-2743fefed020.json
new file mode 100644
index 0000000000000000000000000000000000000000..411a0bc3396b5bf752bf1658fc68faa1a0493029
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/1d234024-e280-2b1a-8c28-2743fefed020.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/1d234026-e280-2b1a-8fe1-713e28269f4d.json b/scan_data/3RScan/instance_id_to_gmm_color/1d234026-e280-2b1a-8fe1-713e28269f4d.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7d579d8fc997701cf4cd15e379b781c5639e671
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/1d234026-e280-2b1a-8fe1-713e28269f4d.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/1d23402c-e280-2b1a-8e31-9a88c9c1fb91.json b/scan_data/3RScan/instance_id_to_gmm_color/1d23402c-e280-2b1a-8e31-9a88c9c1fb91.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a807185b97c51a23b2e6c831b71d991837e7a0e
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/1d23402c-e280-2b1a-8e31-9a88c9c1fb91.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/1d2f850c-d757-207c-8fba-60b90a7d4691.json b/scan_data/3RScan/instance_id_to_gmm_color/1d2f850c-d757-207c-8fba-60b90a7d4691.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cc40740b708639bf659540ba44596d64bc34bff
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/1d2f850c-d757-207c-8fba-60b90a7d4691.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/1d2f850e-d757-207c-8eea-5d41656673f4.json b/scan_data/3RScan/instance_id_to_gmm_color/1d2f850e-d757-207c-8eea-5d41656673f4.json
new file mode 100644
index 0000000000000000000000000000000000000000..69321683df4f7ee53c3fc964daf10d84962dd54b
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/1d2f850e-d757-207c-8eea-5d41656673f4.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/352e9c3a-69fb-27a7-897c-83e7341b28eb.json b/scan_data/3RScan/instance_id_to_gmm_color/352e9c3a-69fb-27a7-897c-83e7341b28eb.json
new file mode 100644
index 0000000000000000000000000000000000000000..6128585fb3315612e66812825a558b6fdec2a2a3
--- /dev/null
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/43b8cae7-6678-2e38-9986-dc6f18ac7bb0.json b/scan_data/3RScan/instance_id_to_gmm_color/43b8cae7-6678-2e38-9986-dc6f18ac7bb0.json
new file mode 100644
index 0000000000000000000000000000000000000000..03cbcad768b30c2898973e9d1cbc371ce84fd17a
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/43b8cae7-6678-2e38-9986-dc6f18ac7bb0.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/5630cfd8-12bf-2860-8773-e3dde9da2aff.json b/scan_data/3RScan/instance_id_to_gmm_color/5630cfd8-12bf-2860-8773-e3dde9da2aff.json
new file mode 100644
index 0000000000000000000000000000000000000000..476cecb8f3b24e69be594aa8b268a4087823db93
--- /dev/null
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/6bde603f-9162-246f-8ca4-5bb5c9fe9974.json b/scan_data/3RScan/instance_id_to_gmm_color/6bde603f-9162-246f-8ca4-5bb5c9fe9974.json
new file mode 100644
index 0000000000000000000000000000000000000000..14c1d980a2f494082e3752152ed78100d288f066
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/6bde603f-9162-246f-8ca4-5bb5c9fe9974.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/6bde60da-9162-246f-8ec0-a5f4760ef7b8.json b/scan_data/3RScan/instance_id_to_gmm_color/6bde60da-9162-246f-8ec0-a5f4760ef7b8.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d271319ba520abca68ccd2de3317c6fdb3679a5
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/6bde60da-9162-246f-8ec0-a5f4760ef7b8.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/6bde60dc-9162-246f-8c8c-9403300d2636.json b/scan_data/3RScan/instance_id_to_gmm_color/6bde60dc-9162-246f-8c8c-9403300d2636.json
new file mode 100644
index 0000000000000000000000000000000000000000..d29882210bfa175a588c3471862fa203cbea1cf4
--- /dev/null
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/7ab2a9d3-ebc6-2056-8afd-e80dc7e1558f.json b/scan_data/3RScan/instance_id_to_gmm_color/7ab2a9d3-ebc6-2056-8afd-e80dc7e1558f.json
new file mode 100644
index 0000000000000000000000000000000000000000..9018c6f74dadffca804aabe909e1b81fee4663b2
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/7ab2a9d3-ebc6-2056-8afd-e80dc7e1558f.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/aa20278a-8bc8-2c5b-9c90-fec1272e21f7.json b/scan_data/3RScan/instance_id_to_gmm_color/aa20278a-8bc8-2c5b-9c90-fec1272e21f7.json
new file mode 100644
index 0000000000000000000000000000000000000000..557cdf02647c56645caa7c77b478f92868d16335
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/aa20278a-8bc8-2c5b-9c90-fec1272e21f7.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/ab835f92-54c6-29a1-99eb-63169a21d553.json b/scan_data/3RScan/instance_id_to_gmm_color/ab835f92-54c6-29a1-99eb-63169a21d553.json
new file mode 100644
index 0000000000000000000000000000000000000000..beb36cf7d558fa3b60c2cd0b6ea9ae7471a42d35
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/ab835f92-54c6-29a1-99eb-63169a21d553.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/ad408cad-84db-2095-8be8-68c0f94d8d14.json b/scan_data/3RScan/instance_id_to_gmm_color/ad408cad-84db-2095-8be8-68c0f94d8d14.json
new file mode 100644
index 0000000000000000000000000000000000000000..dae3bcd024652b9322c84435e8ed71f518de19d8
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+++ b/scan_data/3RScan/instance_id_to_gmm_color/ad408cad-84db-2095-8be8-68c0f94d8d14.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/eee5b056-ee2d-28f4-9bbe-f7ddf37895a6.json b/scan_data/3RScan/instance_id_to_gmm_color/eee5b056-ee2d-28f4-9bbe-f7ddf37895a6.json
new file mode 100644
index 0000000000000000000000000000000000000000..a259fd367407d7d6944be8f517e70da76919e71e
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/eee5b056-ee2d-28f4-9bbe-f7ddf37895a6.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/fcf66daa-622d-291c-8548-a1163ee299b4.json b/scan_data/3RScan/instance_id_to_gmm_color/fcf66daa-622d-291c-8548-a1163ee299b4.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1df0676834226fdb5c6021b7c6dfc22a230f7c7
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/fcf66daa-622d-291c-8548-a1163ee299b4.json
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\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/0988ea78-eb32-2e61-80ee-e4a44170bce9.json b/scan_data/3RScan/instance_id_to_name/0988ea78-eb32-2e61-80ee-e4a44170bce9.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7e970a4d9f644db7c549960fd31b266b9ba5420
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/0988ea78-eb32-2e61-80ee-e4a44170bce9.json
@@ -0,0 +1 @@
+["object", "floor", "carpet", "wall", "wall", "door", "towel", "towel", "object", "toilet", "wall", "floor", "object", "object", "object", "object", "object", "toiletry", "ceiling", "sink", "shelf", "object", "floor", "bathtub", "shower curtain", "shower wall", "window", "frame", "object", "toiletry", "object", "radiator", "towel", "towel", "object", "object", "object", "object", "object", "windowsill", "light"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/0cac75c4-8d6f-2d13-8c37-fcfaf141ae5a.json b/scan_data/3RScan/instance_id_to_name/0cac75c4-8d6f-2d13-8c37-fcfaf141ae5a.json
new file mode 100644
index 0000000000000000000000000000000000000000..700cd82a526dc7f9f75d2173446e7f8e1987779a
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/0cac75c4-8d6f-2d13-8c37-fcfaf141ae5a.json
@@ -0,0 +1 @@
+["object", "floor", "sofa", "table", "curtain", "wall", "picture", "picture", "toilet", "picture", "wall", "tv stand", "cabinet", "shelf", "toilet", "cabinet", "ceiling", "object", "object", "object", "box", "tv", "cabinet", "object", "object", "object", "potted plant", "box", "candle", "candle", "shelf", "pillow", "pillow", "object", "pillow", "pillow", "pillow", "cup", "cup"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/0cac75c6-8d6f-2d13-8d35-f0128b4fb7a9.json b/scan_data/3RScan/instance_id_to_name/0cac75c6-8d6f-2d13-8d35-f0128b4fb7a9.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe19415dfec9d573ce8274275400d2d473ab5f4c
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/0cac75c6-8d6f-2d13-8d35-f0128b4fb7a9.json
@@ -0,0 +1 @@
+["object", "floor", "sofa", "table", "curtain", "wall", "picture", "picture", "toilet", "picture", "wall", "tv stand", "cabinet", "shelf", "toilet", "cabinet", "object", "object", "object", "object", "box", "tv", "cabinet", "object", "object", "object", "potted plant", "box", "candle", "candle", "shelf", "pillow", "pillow", "object", "pillow", "pillow", "pillow"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/0f2f271f-b736-2f71-8f74-15fd679c80d5.json b/scan_data/3RScan/instance_id_to_name/0f2f271f-b736-2f71-8f74-15fd679c80d5.json
new file mode 100644
index 0000000000000000000000000000000000000000..55fc64c01e849c2417cbef08eeaea4bd0817aece
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/0f2f271f-b736-2f71-8f74-15fd679c80d5.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "cabinet", "shelf", "object", "object", "box", "wall", "door", "wall", "whiteboard", "wall", "blinds", "window", "heater", "desk", "chair", "stand", "monitor", "chair", "chair", "chair", "desk", "stand", "ceiling", "light", "light", "monitor", "object", "folder", "box", "object", "object", "object", "object", "object", "trash can", "trash can", "backpack", "object", "stand", "object", "backpack", "humidifier", "object", "object", "potted plant", "telephone", "object", "object", "monitor", "object", "object", "object", "object", "object", "windowsill"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/0f2f2721-b736-2f71-8cd7-8f86d4bd0437.json b/scan_data/3RScan/instance_id_to_name/0f2f2721-b736-2f71-8cd7-8f86d4bd0437.json
new file mode 100644
index 0000000000000000000000000000000000000000..a97496ed6caedec4b3146e31e8eda5e4d92a7652
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/0f2f2721-b736-2f71-8cd7-8f86d4bd0437.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "cabinet", "shelf", "object", "object", "box", "wall", "door", "wall", "whiteboard", "wall", "blinds", "window", "heater", "desk", "chair", "stand", "monitor", "chair", "chair", "chair", "desk", "stand", "ceiling", "light", "light", "monitor", "object", "object", "box", "object", "object", "object", "object", "object", "trash can", "trash can", "backpack", "backpack", "stand", "object", "backpack", "humidifier", "object", "object", "potted plant", "object", "object", "object", "monitor", "object", "object", "telephone", "object", "object", "windowsill", "computer tower"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/0f2f2723-b736-2f71-8c94-f692cca76661.json b/scan_data/3RScan/instance_id_to_name/0f2f2723-b736-2f71-8c94-f692cca76661.json
new file mode 100644
index 0000000000000000000000000000000000000000..337bca8fa977407f5cab69812413802079b2818c
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/0f2f2723-b736-2f71-8c94-f692cca76661.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "bookshelf", "wall", "object", "wall", "object", "wardrobe", "object", "wall", "curtain", "windowsill", "heater", "heater", "window", "light", "light", "ceiling", "table", "stand", "stand", "chair", "chair", "chair", "object", "object", "chair", "computer tower", "object", "trash can", "trash can", "paper towel roll", "paper towel roll", "object", "computer tower", "computer tower", "object", "books", "humidifier", "telephone", "object", "monitor", "object", "monitor", "object", "blackboard", "floor", "wall", "door", "door"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/10a993b0-b1ad-2404-85b7-3eac1e66b413.json b/scan_data/3RScan/instance_id_to_name/10a993b0-b1ad-2404-85b7-3eac1e66b413.json
new file mode 100644
index 0000000000000000000000000000000000000000..bac0da146a043c913daa30f7eab77b717fdaa37d
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/10a993b0-b1ad-2404-85b7-3eac1e66b413.json
@@ -0,0 +1 @@
+["object", "floor", "carpet", "object", "wall", "closet", "door", "wall", "wall", "door", "wall", "object", "wall", "door", "shelf", "object", "clothes dryers", "object", "container", "object", "object", "object", "object", "clothing", "cabinet", "sink", "shelf", "washing machine", "object", "washing machine", "object", "ceiling", "object", "object", "basket", "basket", "basket", "object", "object", "object", "object", "doorframe", "lamp", "object", "object", "object", "object", "object", "object", "doorframe", "object", "object", "shoes", "object", "object", "clothing", "clothing", "clothes dryers", "object", "shelf", "object", "wall", "doorframe"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/10b1795b-3938-2467-88fe-b10cad8913f8.json b/scan_data/3RScan/instance_id_to_name/10b1795b-3938-2467-88fe-b10cad8913f8.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c2a4932437950d08b03bcf2106550fa2989b90d
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/10b1795b-3938-2467-88fe-b10cad8913f8.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "curtain", "decoration", "chandelier", "object", "wall", "shelf", "cabinet", "sewing machine", "box", "box", "shelf", "decoration", "decoration", "wardrobe", "ceiling", "object", "object", "object", "wall", "shelf", "wardrobe", "object", "object", "object", "object", "object", "object", "object", "bag", "bag", "object", "jar", "jar", "bucket", "bag", "object", "object", "doorframe", "bowl", "object", "object", "object", "object", "object", "object", "object", "wall"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/1776ad84-4db7-2333-8aa7-2cc9126d5f71.json b/scan_data/3RScan/instance_id_to_name/1776ad84-4db7-2333-8aa7-2cc9126d5f71.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7701eb1e05140f370f1c2950e9ae57da78c8972
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/1776ad84-4db7-2333-8aa7-2cc9126d5f71.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "object", "table", "chair", "chair", "chair", "chair", "object", "object", "object", "wall"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/1d2f850c-d757-207c-8fba-60b90a7d4691.json b/scan_data/3RScan/instance_id_to_name/1d2f850c-d757-207c-8fba-60b90a7d4691.json
new file mode 100644
index 0000000000000000000000000000000000000000..4eebe38b00f967d21535e74e1e31a973bd2a47fb
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/1d2f850c-d757-207c-8fba-60b90a7d4691.json
@@ -0,0 +1 @@
+["object", "floor", "sofa", "wall", "wall", "curtain", "window", "lamp", "object", "ceiling", "table", "light", "curtain", "window", "curtain", "chair", "wall", "tv", "fireplace", "box", "tv stand", "wall", "wall", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "shelf", "object", "storage bin", "object", "object", "object", "object", "blanket", "picture", "pillow", "pillow", "pillow", "pillow", "pillow", "pillow", "potted plant", "potted plant", "decoration", "decoration", "frame", "decoration", "decoration", "potted plant", "drum set", "bucket", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "decoration", "object", "object", "object", "object", "object", "basket", "basket", "stairs", "wall", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "blanket"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/4d3d829e-8cf4-2e04-8318-b76f02d91c93.json b/scan_data/3RScan/instance_id_to_name/4d3d829e-8cf4-2e04-8318-b76f02d91c93.json
new file mode 100644
index 0000000000000000000000000000000000000000..79e00e40aa5afa2cd67c219c92a5dd7dc6078ab4
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/4d3d829e-8cf4-2e04-8318-b76f02d91c93.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "bed", "nightstand", "nightstand", "bag", "lamp", "wall", "door", "wall", "wall", "wall", "desk", "chair", "toilet", "wall", "wall", "ceiling", "fan", "trash bin", "lamp", "blinds", "door", "pillow", "pillow"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/6a360567-fa53-2915-9617-da8aa432752d.json b/scan_data/3RScan/instance_id_to_name/6a360567-fa53-2915-9617-da8aa432752d.json
new file mode 100644
index 0000000000000000000000000000000000000000..580e99aa40971ee139a2ede7e993d1923040795a
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/6a360567-fa53-2915-9617-da8aa432752d.json
@@ -0,0 +1 @@
+["object", "crib", "baby changing station", "object", "object", "object", "shelf", "object", "floor", "wall", "object", "shelf", "object", "object", "object", "object", "object", "object", "object", "ceiling", "object", "object", "object", "shelf", "light", "light", "sign", "sign", "blanket", "blanket", "pillow"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/6bde6043-9162-246f-8e11-613aba0df55c.json b/scan_data/3RScan/instance_id_to_name/6bde6043-9162-246f-8e11-613aba0df55c.json
new file mode 100644
index 0000000000000000000000000000000000000000..e668741f1610d8abc6077f52f0ac4b6d6572dd88
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/6bde6043-9162-246f-8e11-613aba0df55c.json
@@ -0,0 +1 @@
+["object", "floor", "bar", "stool", "stool", "object", "stool", "object", "stool", "stool", "stool"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/6bde6045-9162-246f-8dff-b27ff180a6ae.json b/scan_data/3RScan/instance_id_to_name/6bde6045-9162-246f-8dff-b27ff180a6ae.json
new file mode 100644
index 0000000000000000000000000000000000000000..c13030984ed8ca89297dc4e538fb978bf1b1084f
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/6bde6045-9162-246f-8dff-b27ff180a6ae.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "couch", "object", "armchair", "armchair", "armchair", "armchair", "armchair", "coffee table", "coffee table", "coffee table", "coffee table", "coffee table", "object", "object", "bench", "bar", "stool", "stool", "object", "stool"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/6e67e55f-1209-2cd0-8194-8c6278434c80.json b/scan_data/3RScan/instance_id_to_name/6e67e55f-1209-2cd0-8194-8c6278434c80.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8200ea721c59af38982f88adf6430ce329a828f
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/6e67e55f-1209-2cd0-8194-8c6278434c80.json
@@ -0,0 +1 @@
+["object", "floor", "wardrobe", "object", "object", "wall", "ceiling", "door", "wall", "wall", "curtain", "object", "couch", "object", "object", "object", "desk", "lamp", "fan", "keyboard", "object", "vase", "object", "chair", "table"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/8eabc407-5af7-2f32-86af-6e962fa7cebd.json b/scan_data/3RScan/instance_id_to_name/8eabc407-5af7-2f32-86af-6e962fa7cebd.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1bfb2ccfa00623e1e05c4f6e254f8c379211985
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/8eabc407-5af7-2f32-86af-6e962fa7cebd.json
@@ -0,0 +1 @@
+["object", "wall", "wall", "object", "wall", "object", "cabinet", "shelf", "object", "blinds", "blinds", "window", "ceiling", "shelf", "floor", "box", "object", "box", "object", "box", "box", "wood", "wall", "radiator", "windowsill", "desk", "printer", "box", "printer", "box", "object", "box", "box", "box", "box", "object", "object", "object", "box", "box", "box", "object", "light", "bucket", "light", "object", "object", "object", "object", "object", "object", "door"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/8eabc410-5af7-2f32-844d-34726ad2dc7e.json b/scan_data/3RScan/instance_id_to_name/8eabc410-5af7-2f32-844d-34726ad2dc7e.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0ccd29747ecf75bde82579289516395c1c47d6f
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/8eabc410-5af7-2f32-844d-34726ad2dc7e.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "windowsill", "windowsill", "blinds", "blinds", "heater", "heater", "heater", "window", "wall", "wall", "door", "wall", "whiteboard", "ceiling", "light", "light", "light", "light", "light", "light", "desk", "desk", "desk", "desk", "desk", "desk", "chair", "chair", "chair", "chair", "chair", "chair", "object", "chair", "object", "chair", "chair", "chair", "chair", "chair", "object", "chair", "chair", "chair", "chair", "object", "chair", "object", "chair", "chair", "object", "chair", "object", "chair", "chair", "chair", "chair", "chair", "chair", "chair", "chair", "chair", "chair", "chair", "chair", "object", "object", "chair", "chair", "object", "chair", "chair", "chair", "chair", "chair", "chair", "chair", "chair", "object", "chair", "object", "chair", "object", "chair", "chair", "object", "chair", "chair", "chair", "object", "chair", "chair", "chair", "object", "object", "object", "object", "object", "object", "object", "object", "chair", "chair", "sink", "chair", "chair", "chair", "chair", "object", "trash can", "projector"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/8eabc414-5af7-2f32-8797-72769173455b.json b/scan_data/3RScan/instance_id_to_name/8eabc414-5af7-2f32-8797-72769173455b.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd75b321462789dc4fe61a4b2dd67cea339605ad
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/8eabc414-5af7-2f32-8797-72769173455b.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "object", "wall", "wall", "pillar", "window", "ceiling", "object", "object", "object", "window", "desk", "chair", "chair", "chair", "trash can", "tv", "wall"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/8eabc416-5af7-2f32-862f-bc1a368d2932.json b/scan_data/3RScan/instance_id_to_name/8eabc416-5af7-2f32-862f-bc1a368d2932.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c05d7efca07e89e104ed59cf5d07ba2de7d4e98
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/8eabc416-5af7-2f32-862f-bc1a368d2932.json
@@ -0,0 +1 @@
+["object", "floor", "object", "object", "wall", "wall", "wall", "object", "ceiling", "object", "object", "object", "window", "desk", "chair", "chair", "chair", "trash can", "tv", "wall", "object", "object", "object", "object", "light"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/8eabc418-5af7-2f32-85a1-a2709b29c46d.json b/scan_data/3RScan/instance_id_to_name/8eabc418-5af7-2f32-85a1-a2709b29c46d.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f4cc16ffead7c0d4a7023d5de90cf669d09a681
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/8eabc418-5af7-2f32-85a1-a2709b29c46d.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "blackboard", "chair", "chair", "desk", "object", "wall", "blackboard", "wall", "object", "window", "windowsill", "radiator", "radiator", "table", "chair", "chair", "monitor", "chair", "blinds", "wall", "window", "ceiling", "ceiling", "light", "object", "object", "object", "chair", "light", "light", "object", "object", "object", "object", "object", "object", "object", "chair", "monitor"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/8eabc41a-5af7-2f32-8677-c1e3f9b04e62.json b/scan_data/3RScan/instance_id_to_name/8eabc41a-5af7-2f32-8677-c1e3f9b04e62.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f177a8fc5cde377a262b15fac49de8651fac08d
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/8eabc41a-5af7-2f32-8677-c1e3f9b04e62.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "blackboard", "chair", "chair", "desk", "object", "wall", "blackboard", "wall", "object", "window", "windowsill", "radiator", "radiator", "table", "chair", "chair", "monitor", "chair", "blinds", "wall", "window", "ceiling", "ceiling", "light", "object", "object", "object", "chair", "light", "light", "object", "object", "object", "monitor", "object", "object", "object", "chair", "monitor"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/8eabc422-5af7-2f32-860b-db7caac59e10.json b/scan_data/3RScan/instance_id_to_name/8eabc422-5af7-2f32-860b-db7caac59e10.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b94249f0128a2fb0cb94f9b93655b73f8eca2a3
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/8eabc422-5af7-2f32-860b-db7caac59e10.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "object", "wall", "door", "wardrobe", "wall", "wall", "window", "ceiling", "desk", "trash can", "chair", "bed", "object", "shelf", "object", "box", "bag", "box", "bag", "object", "bag", "bag", "bag", "bag", "bag", "bag", "printer", "object", "object", "pillow", "pillow", "pillow", "blanket", "object", "clothing", "clothing"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/8eabc424-5af7-2f32-8624-5cba04f952bc.json b/scan_data/3RScan/instance_id_to_name/8eabc424-5af7-2f32-8624-5cba04f952bc.json
new file mode 100644
index 0000000000000000000000000000000000000000..63fa210e68bb656e1e028a22388d2dc38ca27824
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/8eabc424-5af7-2f32-8624-5cba04f952bc.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "object", "wall", "door", "wardrobe", "wall", "wall", "window", "ceiling", "desk", "trash can", "chair", "bed", "backpack", "shelf", "light", "box", "bag", "box", "bag", "object", "bag", "bag", "bag", "bag", "bag", "bag", "printer", "object", "object", "pillow", "pillow", "pillow", "pillow"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/a0905fec-66f7-2272-9d99-205da6e213fe.json b/scan_data/3RScan/instance_id_to_name/a0905fec-66f7-2272-9d99-205da6e213fe.json
new file mode 100644
index 0000000000000000000000000000000000000000..d54713db7b0c1020ccdb90eb81f6116d77a12118
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/a0905fec-66f7-2272-9d99-205da6e213fe.json
@@ -0,0 +1 @@
+["object", "floor", "bed", "lamp", "toilet", "wall", "curtain", "ceiling", "wall", "curtain", "heater", "wall", "picture", "picture", "lamp", "nightstand", "nightstand", "wall", "plant", "toilet", "object", "chair", "object", "shelf", "object", "potted plant", "object", "object", "object", "object", "object", "object", "object", "window", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "jar", "object", "object", "paper towel roll", "object", "object", "object", "object", "pillow", "pillow", "pillow", "pillow", "pillow", "pillow", "blanket", "pillow", "pillow", "organizer shelf"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/a0905ff2-66f7-2272-9ec9-303aefe3713c.json b/scan_data/3RScan/instance_id_to_name/a0905ff2-66f7-2272-9ec9-303aefe3713c.json
new file mode 100644
index 0000000000000000000000000000000000000000..596ee0eeee3483adb8e1228e8117eaf30bd1ca72
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/a0905ff2-66f7-2272-9ec9-303aefe3713c.json
@@ -0,0 +1 @@
+["object", "floor", "chair", "counter", "counter", "cabinet", "cabinet", "sink", "sink", "clothing", "wall", "towel", "table", "chair", "wall", "wall", "potted plant", "picture", "wall", "plant", "wall", "cabinet", "wall", "ceiling", "wardrobe", "wall", "shelf", "object", "object", "lamp", "coffee table", "object", "towel", "pillow", "wall", "object", "soap dispenser", "wall", "stand", "object", "lamp", "object", "wall", "potted plant", "box", "box", "shower"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/a0905ff4-66f7-2272-9e2c-823789eb613a.json b/scan_data/3RScan/instance_id_to_name/a0905ff4-66f7-2272-9e2c-823789eb613a.json
new file mode 100644
index 0000000000000000000000000000000000000000..8802d48bab395b2a0674bb73a71be2d999316c87
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/a0905ff4-66f7-2272-9e2c-823789eb613a.json
@@ -0,0 +1 @@
+["object", "floor", "object", "object", "object", "chair", "object", "object", "object", "object", "object", "object", "cabinet", "wall", "object", "object", "object", "object", "door", "object", "ceiling", "object", "object", "object", "object", "object", "object", "object", "object", "wall", "wall", "object", "potted plant", "kitchen counter", "kitchen cabinet", "range hood", "object", "potted plant", "box", "object", "object", "wall", "table", "object", "object", "object", "object", "object", "object", "object", "object", "kitchen cabinet", "stove", "oven", "cutting board", "object", "sink", "object", "shelf", "organizer shelf", "wall", "towel", "object", "object", "object", "stool"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/a0905ff8-66f7-2272-9f85-f2fd1396d445.json b/scan_data/3RScan/instance_id_to_name/a0905ff8-66f7-2272-9f85-f2fd1396d445.json
new file mode 100644
index 0000000000000000000000000000000000000000..721c65a6d0968e6a4e56f24f1c852972a387ecff
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/a0905ff8-66f7-2272-9f85-f2fd1396d445.json
@@ -0,0 +1 @@
+["object", "floor", "table", "chair", "chair", "chair", "chair", "chair", "bench", "lamp", "lamp", "wall", "cabinet", "wall", "wall", "object", "object", "wall", "door", "object", "ceiling", "bulletin board", "bulletin board", "object", "object", "object", "object", "picture", "picture", "wall", "wall", "object", "potted plant", "kitchen counter", "object", "object", "object", "potted plant", "box", "object", "lamp", "wall", "object", "trash can", "object", "object", "object", "object", "object", "backpack", "laptop"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/a0905ffa-66f7-2272-9ca9-24c7ec00f34f.json b/scan_data/3RScan/instance_id_to_name/a0905ffa-66f7-2272-9ca9-24c7ec00f34f.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a7d2429edb133eaefc21583990c8c6e9af4e26b
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/a0905ffa-66f7-2272-9ca9-24c7ec00f34f.json
@@ -0,0 +1 @@
+["object", "floor", "table", "chair", "chair", "chair", "chair", "chair", "bench", "lamp", "lamp", "wall", "cabinet", "wall", "wall", "object", "object", "wall", "door", "object", "ceiling", "bulletin board", "bulletin board", "object", "wall", "object", "object", "picture", "picture", "wall", "wall", "object", "potted plant", "kitchen counter", "object", "range hood", "object", "potted plant", "box", "object", "lamp", "wall", "object", "trash can", "object", "object", "object", "object", "object", "backpack", "laptop"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/a8952593-9035-254b-8f40-bc82e6bcbbb1.json b/scan_data/3RScan/instance_id_to_name/a8952593-9035-254b-8f40-bc82e6bcbbb1.json
new file mode 100644
index 0000000000000000000000000000000000000000..f653634d5a16c80f2f9fd652d1b7276ae6d76dde
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/a8952593-9035-254b-8f40-bc82e6bcbbb1.json
@@ -0,0 +1 @@
+["object", "object", "object", "object", "floor", "sofa"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/baf673a8-8e94-22f8-837d-d39420725d90.json b/scan_data/3RScan/instance_id_to_name/baf673a8-8e94-22f8-837d-d39420725d90.json
new file mode 100644
index 0000000000000000000000000000000000000000..6be458bb67448791a880ae330d8d254ba15b896e
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/baf673a8-8e94-22f8-837d-d39420725d90.json
@@ -0,0 +1 @@
+["object", "floor", "armchair", "armchair", "ottoman", "ottoman", "sofa", "magazine", "curtain", "curtain", "ceiling", "pillar", "armchair"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/baf673ae-8e94-22f8-82be-ce30b52711a4.json b/scan_data/3RScan/instance_id_to_name/baf673ae-8e94-22f8-82be-ce30b52711a4.json
new file mode 100644
index 0000000000000000000000000000000000000000..58c3ee3ec3d90f22015b273d507326c583a4c85c
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/baf673ae-8e94-22f8-82be-ce30b52711a4.json
@@ -0,0 +1 @@
+["object", "floor", "armchair", "armchair", "armchair", "armchair", "armchair", "armchair", "armchair", "table", "wall", "wall", "wall", "curtain", "object", "object", "object", "object", "table", "armchair", "wall", "wall"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/bcb0fe19-4f39-2c70-9cb7-a6993671cc91.json b/scan_data/3RScan/instance_id_to_name/bcb0fe19-4f39-2c70-9cb7-a6993671cc91.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcc1cc2f84cb459652d1d3c95daae9263aed8cff
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/bcb0fe19-4f39-2c70-9cb7-a6993671cc91.json
@@ -0,0 +1 @@
+["object", "floor", "object", "bookshelf", "wall", "object", "table", "cushion", "cushion", "chair", "table", "sofa", "object", "object", "object", "footstool", "ceiling", "object", "object", "object", "object", "object", "object", "object", "object", "door"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/bcb0fe1b-4f39-2c70-9f8c-2256ea9752ab.json b/scan_data/3RScan/instance_id_to_name/bcb0fe1b-4f39-2c70-9f8c-2256ea9752ab.json
new file mode 100644
index 0000000000000000000000000000000000000000..556e1165a64cecb2109379359629e291028c2550
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/bcb0fe1b-4f39-2c70-9f8c-2256ea9752ab.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "cabinet", "suitcase", "object", "object", "crate", "lamp", "wall", "window", "curtain", "wall", "cabinet", "picture", "picture", "cabinet", "wall", "bed", "pillow", "ceiling", "lamp"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/bcb0fe1d-4f39-2c70-9e89-5c098ed27d6d.json b/scan_data/3RScan/instance_id_to_name/bcb0fe1d-4f39-2c70-9e89-5c098ed27d6d.json
new file mode 100644
index 0000000000000000000000000000000000000000..02f313e53ee6b62ad3478fea00643aac833969cf
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/bcb0fe1d-4f39-2c70-9e89-5c098ed27d6d.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "cabinet", "suitcase", "object", "object", "crate", "lamp", "wall", "window", "curtain", "wall", "cabinet", "picture", "object", "cabinet", "wall", "bed", "pillow", "ceiling", "lamp"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/bcb0fe1f-4f39-2c70-9e7f-a9d783c159fc.json b/scan_data/3RScan/instance_id_to_name/bcb0fe1f-4f39-2c70-9e7f-a9d783c159fc.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2f11b609ce35ba7885eac5c692d3c7390a2cbe4
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/bcb0fe1f-4f39-2c70-9e7f-a9d783c159fc.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "bag", "bag", "clothing", "shelf", "clothing", "clothing", "clock", "clothes", "clothes", "bag", "cabinet", "bicycle", "wall", "desk", "shelf", "keyboard", "shelf", "lamp", "chair", "sofa", "cushion", "cushion", "table", "object", "object", "ceiling", "door", "object", "object", "wall"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/bcb0fe23-4f39-2c70-9d69-698c5ff4435c.json b/scan_data/3RScan/instance_id_to_name/bcb0fe23-4f39-2c70-9d69-698c5ff4435c.json
new file mode 100644
index 0000000000000000000000000000000000000000..856fc104e65a400650ee11e946d8a45259a4273c
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/bcb0fe23-4f39-2c70-9d69-698c5ff4435c.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "bag", "bag", "clothing", "shelf", "clothing", "clothing", "object", "object", "object", "bag", "cabinet", "bicycle", "wall", "object", "object", "object", "object", "object", "object", "sofa", "cushion", "cushion", "object", "object", "object", "object", "door"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/bcb0fe27-4f39-2c70-9dae-5c8625b3553d.json b/scan_data/3RScan/instance_id_to_name/bcb0fe27-4f39-2c70-9dae-5c8625b3553d.json
new file mode 100644
index 0000000000000000000000000000000000000000..d06c644e1b78ee1dfda19558e8487b6cf5714c82
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/bcb0fe27-4f39-2c70-9dae-5c8625b3553d.json
@@ -0,0 +1 @@
+["object", "floor", "sink", "wall", "wall", "wall", "wall", "wall", "shelf", "toilet", "bathroom cabinet", "curtain", "towel", "towel", "ceiling", "object", "object", "object", "light", "object", "shower", "object", "object", "trash can", "toilet brush", "object", "plant", "object", "object", "shelf"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/bf9a3ddf-45a5-2e80-8007-8e9e7f323e52.json b/scan_data/3RScan/instance_id_to_name/bf9a3ddf-45a5-2e80-8007-8e9e7f323e52.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfb56db73de23e029c84c3579f8852a8a77471f8
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/bf9a3ddf-45a5-2e80-8007-8e9e7f323e52.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "object", "object", "wall", "object", "kitchen cabinet", "kitchen counter", "object", "object", "object", "door", "bag", "wall", "object", "shelf", "object", "object", "object", "microwave", "microwave", "kettle", "object", "oven", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "box", "sink", "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", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "drawer"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/c7895f6d-339c-2d13-8078-90c61bd6f685.json b/scan_data/3RScan/instance_id_to_name/c7895f6d-339c-2d13-8078-90c61bd6f685.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed2d5f70a5fbe72a57d3ab068e7373b51eac7d73
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/c7895f6d-339c-2d13-8078-90c61bd6f685.json
@@ -0,0 +1 @@
+["object", "floor", "armchair", "bed", "pillow", "pillow", "pillow", "nightstand", "nightstand", "wall", "object", "object", "object", "object", "wall", "wardrobe", "cabinet", "object", "object", "object", "object", "object", "object", "curtain", "wall", "end table", "object", "object", "object", "shelf", "pillow", "pillow", "pillow", "object", "object", "object", "object", "object", "object", "object"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/c7895f6f-339c-2d13-830a-81f71c3bfb78.json b/scan_data/3RScan/instance_id_to_name/c7895f6f-339c-2d13-830a-81f71c3bfb78.json
new file mode 100644
index 0000000000000000000000000000000000000000..1236f73dc4c46947dd95f77fbf07c51b5039cdd2
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/c7895f6f-339c-2d13-830a-81f71c3bfb78.json
@@ -0,0 +1 @@
+["object", "floor", "armchair", "bed", "pillow", "pillow", "pillow", "nightstand", "nightstand", "wall", "object", "object", "object", "object", "wall", "wardrobe", "cabinet", "object", "bookshelf", "object", "object", "sign", "ceiling", "curtain", "wall", "end table", "box", "object", "object", "shelf", "pillow", "pillow", "pillow", "object", "object", "object", "object", "object", "object", "object"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/c7895f74-339c-2d13-8030-f7f2f8504589.json b/scan_data/3RScan/instance_id_to_name/c7895f74-339c-2d13-8030-f7f2f8504589.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0329d70aae39cdadd7fbfb8b706a58bb8a44af5
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/c7895f74-339c-2d13-8030-f7f2f8504589.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "shelf", "lamp", "mirror", "cabinet", "plate", "cabinet", "wall", "lamp", "lamp", "bed", "pillow", "pillow", "pillow", "pillow", "canopy", "nightstand", "nightstand", "sign", "object", "object", "sign", "shelf", "cabinet", "wall", "curtain", "wall", "rack stand", "object", "cabinet", "crib", "wall", "table", "mirror", "stool", "ceiling", "floor", "object", "object", "light"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/c7895f76-339c-2d13-8291-06be5ae81d2e.json b/scan_data/3RScan/instance_id_to_name/c7895f76-339c-2d13-8291-06be5ae81d2e.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6b4a1c278774d416f09b1ae2bbd236464e50b9d
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/c7895f76-339c-2d13-8291-06be5ae81d2e.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "shelf", "lamp", "mirror", "cabinet", "plate", "object", "wall", "lamp", "lamp", "bed", "pillow", "pillow", "pillow", "pillow", "canopy", "nightstand", "nightstand", "sign", "object", "object", "sign", "shelf", "cabinet", "wall", "curtain", "wall", "rack stand", "object", "cabinet", "crib", "wall", "table", "mirror", "stool", "ceiling", "cabinet", "box", "box", "light", "object", "light"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/c7895f78-339c-2d13-82bb-cc990cbbc90f.json b/scan_data/3RScan/instance_id_to_name/c7895f78-339c-2d13-82bb-cc990cbbc90f.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7078ec8557a10061c14e6c8a9d340eaa9f965ca
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/c7895f78-339c-2d13-82bb-cc990cbbc90f.json
@@ -0,0 +1 @@
+["object", "floor", "shower wall", "toilet", "toilet paper dispenser", "shower wall", "shelf", "shelf", "shelf", "potted plant", "shelf", "potted plant", "laundry basket", "laundry basket", "rack stand", "object", "shower wall", "shower wall", "bathroom cabinet", "sink", "bathroom cabinet", "mirror", "bathroom cabinet", "bathroom cabinet", "object", "towel", "towel", "shower curtain", "object", "doorframe", "floor", "wall", "wall", "object", "ceiling"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/d7d40d6c-7a5d-2b36-9674-c435fa58a2d1.json b/scan_data/3RScan/instance_id_to_name/d7d40d6c-7a5d-2b36-9674-c435fa58a2d1.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a2d26d2e5a0d875781e7e9fdbdfad37b216d56b
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/d7d40d6c-7a5d-2b36-9674-c435fa58a2d1.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "picture", "door", "door", "wall", "wall", "door", "door", "stair", "ceiling", "wall", "bookshelf", "picture", "boxes", "object", "object", "object", "object", "stand", "object", "heater", "toilet", "sewing machine", "doorframe", "object", "object", "object", "object", "object", "object", "lamp", "plant", "object", "object", "object", "object", "doorframe", "doorframe", "doorframe"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/d7d40d6e-7a5d-2b36-9548-8c19e9b50063.json b/scan_data/3RScan/instance_id_to_name/d7d40d6e-7a5d-2b36-9548-8c19e9b50063.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a2d26d2e5a0d875781e7e9fdbdfad37b216d56b
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/d7d40d6e-7a5d-2b36-9548-8c19e9b50063.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "picture", "door", "door", "wall", "wall", "door", "door", "stair", "ceiling", "wall", "bookshelf", "picture", "boxes", "object", "object", "object", "object", "stand", "object", "heater", "toilet", "sewing machine", "doorframe", "object", "object", "object", "object", "object", "object", "lamp", "plant", "object", "object", "object", "object", "doorframe", "doorframe", "doorframe"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/d7d40d70-7a5d-2b36-960f-ddf3159cb360.json b/scan_data/3RScan/instance_id_to_name/d7d40d70-7a5d-2b36-960f-ddf3159cb360.json
new file mode 100644
index 0000000000000000000000000000000000000000..468969b8b12d2cc366ed5a5928b5369b9a10f142
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/d7d40d70-7a5d-2b36-960f-ddf3159cb360.json
@@ -0,0 +1 @@
+["object", "floor", "ceiling", "water heater", "object", "wall", "wall", "box", "box", "object", "object", "box", "wall", "wall", "wall", "clothing", "board", "clothing", "shelf", "shelf", "box", "bucket", "bucket", "bucket", "bag", "bag", "bag", "bag", "object", "box", "object", "box", "object", "object", "object", "object", "object", "shelf", "shelf", "tube", "window", "bucket", "box", "object", "shelf", "object", "object", "bucket", "object", "box", "box", "box", "box", "object", "bag", "object", "shoes", "object", "tube", "object", "object", "shoes", "heater", "bag", "bag", "cabinet", "pipe", "box", "box", "box", "box", "stool", "object", "board", "object", "vacuum cleaner", "bag"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/d7d40d73-7a5d-2b36-9709-0be87127a141.json b/scan_data/3RScan/instance_id_to_name/d7d40d73-7a5d-2b36-9709-0be87127a141.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f4d2f0f2d4533f7ac1a44847124cc57c00c7d9d
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/d7d40d73-7a5d-2b36-9709-0be87127a141.json
@@ -0,0 +1 @@
+["object", "floor", "ceiling", "water heater", "object", "wall", "wall", "box", "box", "object", "object", "box", "wall", "wall", "wall", "clothing", "board", "clothing", "shelf", "shelf", "box", "bucket", "bucket", "bucket", "bag", "bag", "bag", "bag", "object", "box", "object", "box", "object", "object", "object", "object", "object", "shelf", "shelf", "tube", "window", "bucket", "box", "object", "shelf", "object", "object", "bucket", "object", "box", "box", "box", "box", "object", "bag", "object", "shoes", "object", "tube", "object", "box", "shoes", "heater", "bag", "bag", "cabinet", "pipe", "object", "box", "object", "box", "stool", "object", "board", "object", "vacuum cleaner", "bag"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/d7d40d75-7a5d-2b36-9746-3e807d3e7558.json b/scan_data/3RScan/instance_id_to_name/d7d40d75-7a5d-2b36-9746-3e807d3e7558.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c4d5102562eb84c442c63bccd26cf9b09acd359
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/d7d40d75-7a5d-2b36-9746-3e807d3e7558.json
@@ -0,0 +1 @@
+["object", "floor", "ceiling", "water heater", "object", "wall", "wall", "box", "box", "object", "object", "box", "wall", "wall", "wall", "clothing", "board", "clothing", "shelf", "shelf", "box", "bucket", "bucket", "bucket", "bag", "bag", "bag", "bag", "object", "box", "object", "box", "object", "object", "object", "object", "object", "shelf", "shelf", "tube", "window", "bucket", "box", "object", "shelf", "object", "object", "bucket", "object", "box", "box", "box", "box", "object", "bag", "object", "shoes", "object", "tube", "object", "box", "shoes", "heater", "bag", "bag", "cabinet", "pipe", "object", "box", "box", "object", "stool", "object", "board", "box", "vacuum cleaner", "bag"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/d7d40d77-7a5d-2b36-9576-25354ef37dd9.json b/scan_data/3RScan/instance_id_to_name/d7d40d77-7a5d-2b36-9576-25354ef37dd9.json
new file mode 100644
index 0000000000000000000000000000000000000000..99913bf8e410d09b07901c8ee55803074f3a9bfe
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/d7d40d77-7a5d-2b36-9576-25354ef37dd9.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "heater", "window", "wall", "door", "wardrobe", "refrigerator", "window", "window", "wall", "shelf", "object", "kitchen cabinet", "table", "box", "box", "box", "shelf", "ceiling", "bottle", "box", "object", "counter", "box", "object", "box", "object", "box", "light", "wall", "object", "object", "water bottle", "wall", "kitchen cabinet", "object", "drawer", "box", "object", "chair", "basket", "box", "object", "object", "box", "basket", "object", "object", "object", "basket", "object", "object", "box", "basket", "object", "toilet paper rolls"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/dbeb4d06-faf9-2324-9bca-4df3f194818e.json b/scan_data/3RScan/instance_id_to_name/dbeb4d06-faf9-2324-9bca-4df3f194818e.json
new file mode 100644
index 0000000000000000000000000000000000000000..7eb99c03ce1c5d4f69e98b9e109f0ca32a56d794
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/dbeb4d06-faf9-2324-9bca-4df3f194818e.json
@@ -0,0 +1 @@
+["object", "floor", "sofa", "curtain", "wall", "wall", "towel", "towel", "wall", "toilet", "cabinet", "object", "object", "table", "object", "object", "object", "object", "object", "object", "pillow", "decoration", "decoration", "object", "object", "object", "object", "object", "object", "object", "shelf", "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", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "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", "object", "object", "object", "object", "object", "chair", "pillow"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/dbeb4d09-faf9-2324-9b85-dabd70dba4d0.json b/scan_data/3RScan/instance_id_to_name/dbeb4d09-faf9-2324-9b85-dabd70dba4d0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab66359ff34dfd839c1d95aaf7e6cfae6bc3dba4
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/dbeb4d09-faf9-2324-9b85-dabd70dba4d0.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "cabinet", "wall", "curtain", "wall", "table", "chair", "chair", "kitchen cabinet", "kitchen cabinet", "counter", "wall", "kitchen cabinet", "kitchen cabinet", "wall", "cutting board", "shelf", "object", "stove", "kitchen mixer", "sink", "object", "oven", "fan", "object", "object", "lamp", "object", "object", "object", "object", "object", "ceiling"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/dbeb4d0b-faf9-2324-99bf-259c104b313b.json b/scan_data/3RScan/instance_id_to_name/dbeb4d0b-faf9-2324-99bf-259c104b313b.json
new file mode 100644
index 0000000000000000000000000000000000000000..60962c03b162056047a8d52cda941da1e79ac6ac
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/dbeb4d0b-faf9-2324-99bf-259c104b313b.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "object", "object", "wall", "cabinet", "clothing", "bathroom cabinet", "toilet", "sink", "shower curtain", "toilet", "object", "object", "cabinet", "object", "object", "object", "object", "object", "mirror", "object", "object", "object", "box", "box", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "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", "box", "object", "laundry basket", "clothes dryers", "photo", "object", "bag", "object", "object", "object", "object", "object", "object", "clothes hanger"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/f2c76fe7-2239-29d0-84f5-144c30fd7451.json b/scan_data/3RScan/instance_id_to_name/f2c76fe7-2239-29d0-84f5-144c30fd7451.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b96d6f982e4cb0d724a3e8f84958ced379c1e34
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/f2c76fe7-2239-29d0-84f5-144c30fd7451.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "door", "wall", "radiator", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "toilet", "object", "object", "object", "ottoman", "ottoman", "cabinet", "object", "object", "picture", "wall", "object", "object", "object", "couch", "object", "pillow", "pillow", "pillow", "blanket", "pillow", "pillow", "pillow", "pillow", "ceiling"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/f38169c7-378c-2a65-8543-3c7481e856fe.json b/scan_data/3RScan/instance_id_to_name/f38169c7-378c-2a65-8543-3c7481e856fe.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4945a595e727bc6d576d66d42f60c0193b3bf44
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/f38169c7-378c-2a65-8543-3c7481e856fe.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "tv", "wall", "curtain", "curtain", "window", "wall", "wall", "shelf", "wall", "wall", "wall", "door", "ceiling", "ceiling", "bed", "armchair", "object", "clothing", "object", "object", "suitcase", "shoes", "blanket", "pillow", "pillow", "pillow", "pillow", "pillow", "blanket", "bag", "object", "object", "poster", "light", "light", "shoes", "object", "object", "object", "object", "object", "windowsill", "end table", "object", "pillow"]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47431186.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47431186.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8e3fb1f177d07e55bedfea3dbf4f3a563c228b2
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47431186.json
@@ -0,0 +1 @@
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47431190.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47431190.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a41992ed7d7f5ffbabc11b6afb2d43a47aad634
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47431190.json
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47431194.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47431194.json
new file mode 100644
index 0000000000000000000000000000000000000000..3eddba7c35225e776cf16911bd7ca3f9fb1f1c40
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47431194.json
@@ -0,0 +1 @@
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47431198.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47431198.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba2db1ad425602c0a9648697cc670922d9787ab8
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47431198.json
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47431200.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47431200.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9e5de0568bf0854a39ced2c1cfb90cd5c6983b8
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47431200.json
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\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47431201.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47431201.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f2862a2000809acf195fb83b7e7e172fd8658cb
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47431201.json
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47669851.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669851.json
new file mode 100644
index 0000000000000000000000000000000000000000..1185b93cad34ccd9dfb991a0439493ea2c9a6d7c
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669851.json
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47669854.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669854.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ccf8feab4b7cb1d31d2ce93a6d67a39b18fb1c0
--- /dev/null
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47669856.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669856.json
new file mode 100644
index 0000000000000000000000000000000000000000..9716f0e2580ab716f7f2da40eec29f91cbc4fbad
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669856.json
@@ -0,0 +1 @@
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47669874.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669874.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0972c7775eb7374212e3d6db99774c67fdce89f
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669874.json
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\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47669876.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669876.json
new file mode 100644
index 0000000000000000000000000000000000000000..0da9ca5bcd8f5a87fce9e88e38440dc2a9604a8b
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669876.json
@@ -0,0 +1 @@
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47669878.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669878.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5291b82ffe1b40089cc6c23aa7c0d32bc7bd602
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669878.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/47669880.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669880.json
new file mode 100644
index 0000000000000000000000000000000000000000..1be8d6d65aa33d0449d03197e8a1207e24af88e5
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47669881.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669881.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cf55bc310e6d52e4b8d46688a870c4195ed9d34
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669881.json
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47669896.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669896.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ecad2e0f48a7627d3dd38367c675dd227bbae85
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669896.json
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47669901.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669901.json
new file mode 100644
index 0000000000000000000000000000000000000000..13a055def8c10b8481c566903748c2d515e390f8
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669901.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/47669903.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669903.json
new file mode 100644
index 0000000000000000000000000000000000000000..b28445abae107a368b10b604d80513f405c872de
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669903.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/47669907.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669907.json
new file mode 100644
index 0000000000000000000000000000000000000000..b93cfa8fd2a5569cd3339ef601de26e22bc05cb4
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669907.json
@@ -0,0 +1 @@
+[{"weights": [0.3135, 0.17475, 0.51175], "means": [[204.24082946777344, 201.28549194335938, 185.940185546875], [87.1216049194336, 74.89413452148438, 56.60371780395508], [150.70884704589844, 140.52565002441406, 123.50952911376953]]}, {"weights": [0.7475, 0.075, 0.1775], "means": [[26.85518455505371, 27.120067596435547, 26.849163055419922], [158.31666564941406, 163.95333862304688, 165.23666381835938], [91.78028106689453, 92.61126708984375, 91.44366455078125]]}, {"weights": [0.22175, 0.46075, 0.3175], "means": [[149.4036102294922, 149.01577758789062, 128.6922149658203], [30.387954711914062, 23.593597412109375, 13.53608226776123], [78.6716537475586, 67.58346557617188, 53.333072662353516]]}, {"weights": [0.6663225806451613, 0.10787096774193548, 0.22580645161290322], "means": [[43.9531364440918, 43.644073486328125, 39.42215347290039], [178.4665069580078, 191.43780517578125, 186.26315307617188], [108.06971740722656, 111.37942504882812, 103.63542938232422]]}, {"weights": [0.3931178310740355, 0.14911366006256518, 0.45776850886339937], "means": [[46.9893913269043, 44.702919006347656, 39.03713607788086], [141.18182373046875, 151.0629425048828, 154.61538696289062], [94.50341796875, 93.6856460571289, 87.40774536132812]]}, {"weights": [0.3355, 0.41475, 0.24975], "means": [[39.612518310546875, 29.919523239135742, 17.40312957763672], [122.8233871459961, 95.68656158447266, 68.32308959960938], [178.090087890625, 150.3633575439453, 118.84884643554688]]}, {"weights": [0.3341772151898734, 0.3227848101265823, 0.3430379746835443], "means": [[102.5227279663086, 74.43181610107422, 51.19696807861328], [184.4588165283203, 159.31764221191406, 126.79216003417969], [56.21402359008789, 29.232471466064453, 11.011070251464844]]}, {"weights": [0.15611814345991562, 0.22362869198312235, 0.620253164556962], "means": [[145.2432403564453, 111.29729461669922, 81.51351165771484], [95.69811248779297, 70.16981506347656, 49.358489990234375], [56.93877410888672, 33.66666793823242, 17.646259307861328]]}, {"weights": [0.2509578544061303, 0.632183908045977, 0.11685823754789272], "means": [[70.1832046508789, 55.85496139526367, 36.79389190673828], [23.324241638183594, 20.7757568359375, 12.269697189331055], [130.65573120117188, 105.63934326171875, 77.11475372314453]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47669909.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669909.json
new file mode 100644
index 0000000000000000000000000000000000000000..18f87f4b24e95d1d7085f51dc8e1472b0e168f9d
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669909.json
@@ -0,0 +1 @@
+[{"weights": [0.33375, 0.28725, 0.379], "means": [[56.27191162109375, 56.26142501831055, 45.612735748291016], [178.44908142089844, 179.17405700683594, 164.42123413085938], [120.46173858642578, 113.81464385986328, 95.87994384765625]]}, {"weights": [0.08410548823948681, 0.6293656450463293, 0.28652886671418387], "means": [[161.8135528564453, 146.86441040039062, 122.83050537109375], [124.94676971435547, 111.05435943603516, 88.43827819824219], [105.32836151123047, 88.31591796875, 62.99751281738281]]}, {"weights": [0.36258158085569253, 0.4242204496011603, 0.2131979695431472], "means": [[132.01199340820312, 117.1520004272461, 95.9739990234375], [223.7128143310547, 194.6649627685547, 164.6632537841797], [176.41836547851562, 156.6598663330078, 135.0986328125]]}, {"weights": [0.45723449750534567, 0.22238061297220243, 0.32038488952245187], "means": [[211.02572631835938, 189.7739715576172, 159.83865356445312], [109.7147445678711, 84.79486846923828, 50.89904022216797], [178.553955078125, 150.2513885498047, 115.47942352294922]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47669911.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669911.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a05d75460949340397306bada00be525beb64ce
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669911.json
@@ -0,0 +1 @@
+[{"weights": [0.332, 0.4205, 0.2475], "means": [[54.15210723876953, 51.39231872558594, 37.553462982177734], [114.2300796508789, 107.7348403930664, 90.8769302368164], [174.71009826660156, 163.38182067871094, 141.2060546875]]}, {"weights": [0.2741839762611276, 0.37270029673590505, 0.35311572700296734], "means": [[143.39393615722656, 138.9004364013672, 126.90692901611328], [100.99840545654297, 85.33757781982422, 65.27547454833984], [138.7848663330078, 116.86050415039062, 88.12268829345703]]}, {"weights": [0.5589576547231271, 0.26905537459283385, 0.1719869706840391], "means": [[221.0524444580078, 186.34616088867188, 154.5524444580078], [158.81597900390625, 139.85955810546875, 119.08716583251953], [121.82575988769531, 99.625, 75.26515197753906]]}, {"weights": [0.30128489144882586, 0.45281346920691184, 0.2459016393442623], "means": [[92.6617660522461, 67.1308822631836, 33.79264831542969], [201.6457977294922, 166.51858520507812, 122.91584777832031], [152.0, 122.49188995361328, 85.35134887695312]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47669913.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669913.json
new file mode 100644
index 0000000000000000000000000000000000000000..24ab582e0fa34c5ba0b08d955f0d3a14ed26ca5f
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669913.json
@@ -0,0 +1 @@
+[{"weights": [0.27075, 0.25575, 0.4735], "means": [[176.4681396484375, 171.504150390625, 156.2788543701172], [58.274681091308594, 53.54154586791992, 39.505374908447266], [115.58236694335938, 110.0564956665039, 94.55332946777344]]}, {"weights": [0.2712373668396613, 0.45042338158972955, 0.2783392515706091], "means": [[107.64752960205078, 81.15709686279297, 45.984893798828125], [201.6901092529297, 176.2910919189453, 145.8229217529297], [145.88223266601562, 118.97154235839844, 84.53287506103516]]}, {"weights": [0.378021978021978, 0.2510989010989011, 0.3708791208791209], "means": [[152.70639038085938, 141.05377197265625, 123.07267761230469], [110.8183822631836, 92.2406997680664, 67.52516174316406], [132.17333984375, 118.5199966430664, 99.42518615722656]]}, {"weights": [0.5171503957783641, 0.2233948988566403, 0.2594547053649956], "means": [[224.38095092773438, 193.09524536132812, 166.5578155517578], [126.8622055053711, 107.45669555664062, 87.79920959472656], [164.16949462890625, 144.60678100585938, 123.95932006835938]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47669917.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669917.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f2dfd18617cd2e595a444c8d65e7ddb854e7db1
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669917.json
@@ -0,0 +1 @@
+[{"weights": [0.2605, 0.27425, 0.46525], "means": [[195.5115203857422, 185.75624084472656, 166.958740234375], [66.4740219116211, 47.210575103759766, 23.977210998535156], [139.16281127929688, 117.12305450439453, 89.82536315917969]]}, {"weights": [0.10023310023310024, 0.6013986013986014, 0.29836829836829837], "means": [[201.05813598632812, 158.2441864013672, 103.86046600341797], [9.341085433959961, 11.284883499145508, 6.288759708404541], [101.78125, 87.1953125, 66.48046875]]}, {"weights": [0.35025, 0.50825, 0.1415], "means": [[49.280513763427734, 30.941471099853516, 13.830121040344238], [82.62371063232422, 64.30792236328125, 40.45843505859375], [148.1590118408203, 113.8992919921875, 55.687278747558594]]}, {"weights": [0.4155945419103314, 0.2378167641325536, 0.346588693957115], "means": [[91.46154022216797, 76.55815887451172, 60.22701644897461], [41.3163948059082, 36.96229553222656, 28.36557388305664], [152.21484375, 121.7131576538086, 85.83914184570312]]}, {"weights": [0.4099895941727367, 0.2606659729448491, 0.32934443288241416], "means": [[42.50127029418945, 24.357868194580078, 18.211929321289062], [198.42913818359375, 155.12774658203125, 95.0239486694336], [120.03791809082031, 100.06161499023438, 73.71879577636719]]}, {"weights": [0.24871134020618557, 0.541881443298969, 0.20940721649484537], "means": [[87.95854949951172, 47.598445892333984, 11.147668838500977], [47.643280029296875, 23.95719337463379, 2.084423303604126], [121.29230499267578, 69.790771484375, 24.366153717041016]]}, {"weights": [0.26622470341939986, 0.5819958129797628, 0.1517794836008374], "means": [[63.074703216552734, 61.271297454833984, 46.119266510009766], [25.006595611572266, 21.469425201416016, 11.0305757522583], [108.30574798583984, 110.7701187133789, 97.91034698486328]]}, {"weights": [0.7267303102625299, 0.23389021479713604, 0.03937947494033413], "means": [[3.183907985687256, 7.183907985687256, 0.5550082325935364], [14.77550983428955, 17.862245559692383, 7.56632661819458], [35.57575607299805, 36.878787994384766, 29.060606002807617]]}, {"weights": [0.50075, 0.22275, 0.2765], "means": [[199.4443359375, 212.44833374023438, 214.35995483398438], [68.2379379272461, 40.64534378051758, 33.161617279052734], [145.16908264160156, 131.72784423828125, 116.64466857910156]]}, {"weights": [0.8941368078175895, 0.06514657980456026, 0.04071661237785016], "means": [[4.956284046173096, 6.262295246124268, 3.5865209102630615], [109.875, 108.4000015258789, 96.9749984741211], [56.31999969482422, 55.720001220703125, 47.0]]}, {"weights": [0.3317972350230415, 0.3695852534562212, 0.29861751152073734], "means": [[158.31666564941406, 107.57499694824219, 62.11666488647461], [153.0024871826172, 141.99002075195312, 124.68080139160156], [84.0524673461914, 45.688270568847656, 19.132715225219727]]}, {"weights": [0.3743131868131868, 0.22802197802197802, 0.39766483516483514], "means": [[61.0642204284668, 43.825687408447266, 29.96697235107422], [144.240966796875, 146.93072509765625, 145.28915405273438], [97.49395751953125, 92.31433868408203, 85.60794830322266]]}, {"weights": [0.5291666666666667, 0.2375, 0.23333333333333334], "means": [[19.527559280395508, 21.11023712158203, 16.42519760131836], [129.4736785888672, 124.28070068359375, 111.40351104736328], [58.51785659790039, 61.23214340209961, 58.33928680419922]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47669925.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669925.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a089d956850a0f01256feb9d5f7c7103a35b9d1
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669925.json
@@ -0,0 +1 @@
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47669927.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669927.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a9d4729f7e6bbd8635c0644980ba392742d8ec3
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669927.json
@@ -0,0 +1 @@
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47669934.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669934.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1655656a0c18d1c97738ff4f66ed4c2abc04a71
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669934.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/47669936.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669936.json
new file mode 100644
index 0000000000000000000000000000000000000000..569fdb3e446a84f8bd97a7635aab47a78467ca8b
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669936.json
@@ -0,0 +1 @@
+[{"weights": [0.46475, 0.2625, 0.27275], "means": [[148.711669921875, 129.0586395263672, 108.94620513916016], [198.15333557128906, 191.35809326171875, 177.06285095214844], [72.0879898071289, 52.3043098449707, 35.604949951171875]]}, {"weights": [0.3798932384341637, 0.12099644128113879, 0.4991103202846975], "means": [[105.02810668945312, 100.81498718261719, 89.48946380615234], [51.83088302612305, 50.64706039428711, 42.18382263183594], [146.15151977539062, 141.95721435546875, 129.32977294921875]]}, {"weights": [0.28775, 0.2135, 0.49875], "means": [[32.94613265991211, 32.246742248535156, 25.643787384033203], [168.2154541015625, 169.63583374023438, 164.2423858642578], [99.21955108642578, 95.84611511230469, 85.13433837890625]]}, {"weights": [0.77175, 0.15325, 0.075], "means": [[221.72206115722656, 221.38160705566406, 211.77259826660156], [32.446983337402344, 36.9771614074707, 37.463294982910156], [131.27000427246094, 139.4933319091797, 139.17333984375]]}, {"weights": [0.3385, 0.50875, 0.15275], "means": [[165.0679473876953, 162.53323364257812, 147.79173278808594], [206.63931274414062, 206.9695281982422, 196.9297332763672], [50.54010009765625, 47.87397766113281, 42.651390075683594]]}, {"weights": [0.468, 0.17525, 0.35675], "means": [[47.341880798339844, 18.16025733947754, 5.573718070983887], [119.19115447998047, 91.88587951660156, 70.20256805419922], [88.96776580810547, 54.944637298583984, 32.29502487182617]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47669937.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669937.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa886ca96f249132aed695bde6f5ae595b9e271f
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669937.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/47669939.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669939.json
new file mode 100644
index 0000000000000000000000000000000000000000..acd31e897dfbbbedbb40f14d65615b01edd82a2c
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669939.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/47669943.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669943.json
new file mode 100644
index 0000000000000000000000000000000000000000..76469c9d958e2fec46a4bb17a3b2898687e2ebce
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669943.json
@@ -0,0 +1 @@
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47669948.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669948.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2545e8bcc0627c22400b06909f7045fa826c72f
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669948.json
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47669959.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669959.json
new file mode 100644
index 0000000000000000000000000000000000000000..a33f412143f76e037714f4b858ac098d521eb861
--- /dev/null
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\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47669960.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669960.json
new file mode 100644
index 0000000000000000000000000000000000000000..f50b70ad9355be6f4a6287304c31ee9d4a79605b
--- /dev/null
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\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47669968.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669968.json
new file mode 100644
index 0000000000000000000000000000000000000000..a39cee4810de8048aa7b7ea5818ebb96421066b5
--- /dev/null
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47669978.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669978.json
new file mode 100644
index 0000000000000000000000000000000000000000..2af88669065d5deccc57b773b37bcef58672c615
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669978.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/47669980.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669980.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b0d4a9d7af3dd8396dbe9a7f8d05df93843879d
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669980.json
@@ -0,0 +1 @@
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47669984.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669984.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba7f9ae40acd723d57685b6b093f41ce67f67160
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669984.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/47669998.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669998.json
new file mode 100644
index 0000000000000000000000000000000000000000..50f6c0d8f296431cb2db7d8713131a63a356e875
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47669998.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/47670001.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670001.json
new file mode 100644
index 0000000000000000000000000000000000000000..62f877cceb63ac8f902e6a2d4cc96ffe207048e0
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670001.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/47670002.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670002.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cba9deae36f8040dda49e988b89066e213d089b
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670002.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/47670003.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670003.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4c44c9ded1e02ede0e686b2146a0773a67549c8
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670003.json
@@ -0,0 +1 @@
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47670008.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670008.json
new file mode 100644
index 0000000000000000000000000000000000000000..264589a898cdd9c048ed19b159fc7cff3bca32b6
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670008.json
@@ -0,0 +1 @@
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47670011.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670011.json
new file mode 100644
index 0000000000000000000000000000000000000000..e26785f8256b726788c0a720bc7191be36fd25c4
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670011.json
@@ -0,0 +1 @@
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47670016.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670016.json
new file mode 100644
index 0000000000000000000000000000000000000000..89becd6d4a0c9631b48d6529f9fe254097391ecf
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670016.json
@@ -0,0 +1 @@
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47670023.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670023.json
new file mode 100644
index 0000000000000000000000000000000000000000..db7240356262f6a3a93c43c36d4fd88fb78d09ef
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670023.json
@@ -0,0 +1 @@
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47670028.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670028.json
new file mode 100644
index 0000000000000000000000000000000000000000..73b2b10a27515a628a6b11c8b72427b7e144596c
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670028.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/47670031.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670031.json
new file mode 100644
index 0000000000000000000000000000000000000000..7dd319e38fcdc72a10293ca575c830c8a73dbe5a
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670031.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/47670038.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670038.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f33009e1f8a4a8b20d299eccfd1e72f5d8199d3
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670038.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/47670039.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670039.json
new file mode 100644
index 0000000000000000000000000000000000000000..efbca86a332feda172e3eaa3d0cf2a926d86e0a5
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670039.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/47670040.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670040.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0673da59669cf292e80f8fa73003fd62c32756a
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670040.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/47670044.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670044.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9b37d4fd6be95c9caa0ef739378a6dd059c3d70
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670044.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/47670048.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670048.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bb8bd094d787b264888e73efb9ee834cfec2073
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670048.json
@@ -0,0 +1 @@
+[{"weights": [0.41325, 0.28525, 0.3015], "means": [[149.2335205078125, 133.287353515625, 106.48578643798828], [71.41717529296875, 56.648555755615234, 35.205081939697266], [202.44444274902344, 200.3681640625, 188.87396240234375]]}, {"weights": [0.5225, 0.1855, 0.292], "means": [[33.547847747802734, 27.241626739501953, 18.489473342895508], [174.4784393310547, 163.8140106201172, 151.86119079589844], [109.95548248291016, 95.6977767944336, 74.07791137695312]]}, {"weights": [0.483, 0.36475, 0.15225], "means": [[33.299171447753906, 27.884057998657227, 18.19720458984375], [89.18574523925781, 82.46333312988281, 72.33995819091797], [193.02955627441406, 186.8193817138672, 168.78817749023438]]}, {"weights": [0.2618483412322275, 0.40837282780410744, 0.32977883096366506], "means": [[139.47360229492188, 123.3891372680664, 94.85822296142578], [48.852996826171875, 39.61701965332031, 21.88201141357422], [190.46707153320312, 201.8922119140625, 208.35568237304688]]}, {"weights": [0.38325, 0.27175, 0.345], "means": [[81.1878662109375, 71.4781494140625, 54.63079071044922], [189.67800903320312, 179.14720153808594, 162.89512634277344], [132.7992706298828, 122.33840942382812, 106.15435028076172]]}, {"weights": [0.37254901960784315, 0.13624937154348918, 0.49120160884866765], "means": [[194.6194305419922, 185.45208740234375, 167.88124084472656], [93.53874206542969, 60.261993408203125, 41.64944839477539], [140.22825622558594, 118.8372573852539, 92.03684997558594]]}, {"weights": [0.331, 0.2655, 0.4035], "means": [[96.25302124023438, 89.04833984375, 78.1412353515625], [155.2683563232422, 156.3860626220703, 154.3596954345703], [35.30235290527344, 30.498140335083008, 21.493804931640625]]}, {"weights": [0.2075, 0.31425, 0.47825], "means": [[138.5313262939453, 130.80482482910156, 120.5], [56.84327697753906, 54.64041519165039, 51.94112777709961], [204.30162048339844, 209.24203491210938, 205.5326690673828]]}, {"weights": [0.3609271523178808, 0.2913907284768212, 0.347682119205298], "means": [[172.4954071044922, 178.1773681640625, 204.67584228515625], [101.28787994384766, 97.48863983154297, 124.54545593261719], [34.092063903808594, 21.669841766357422, 30.069841384887695]]}, {"weights": [0.3079625292740047, 0.48243559718969553, 0.20960187353629978], "means": [[28.211027145385742, 18.86882209777832, 8.653992652893066], [82.37621307373047, 60.11104202270508, 34.98847198486328], [109.72346496582031, 94.08100891113281, 75.94413757324219]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47670050.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670050.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e4d274f0650b9cfe5ce715386896227659a2402
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670050.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/47670053.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670053.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7af10c1d3f6b26216204425f8d19734084d0dbb
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670053.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/47670057.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670057.json
new file mode 100644
index 0000000000000000000000000000000000000000..77b7c1c7a7772049595393e5acb6706929dfde4d
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670057.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/47670060.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670060.json
new file mode 100644
index 0000000000000000000000000000000000000000..83f59019cf3cd8b57d9072f49a7ed05014386f6f
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670060.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/47670063.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670063.json
new file mode 100644
index 0000000000000000000000000000000000000000..973cc0eebe8e8e30524017a0b57b825929d65282
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670063.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/47670064.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670064.json
new file mode 100644
index 0000000000000000000000000000000000000000..e48745460a168307aaca5dabe7eec3e78e254763
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670064.json
@@ -0,0 +1 @@
+[{"weights": [0.4465, 0.28825, 0.26525], "means": [[141.6685333251953, 123.8566665649414, 97.74971771240234], [80.1405029296875, 61.99653244018555, 36.46053695678711], [188.3459014892578, 181.6248779296875, 165.7860565185547]]}, {"weights": [0.57675, 0.142, 0.28125], "means": [[217.9150390625, 196.4204559326172, 166.7516326904297], [105.82394409179688, 82.04225158691406, 55.818660736083984], [165.83822631835938, 143.1724395751953, 114.98400115966797]]}, {"weights": [0.26325, 0.3655, 0.37125], "means": [[100.13105773925781, 76.81861114501953, 48.13580322265625], [209.23529052734375, 191.04788208007812, 164.98837280273438], [168.1259307861328, 144.98046875, 113.14545440673828]]}, {"weights": [0.37544773689352, 0.36079452946922824, 0.2637577336372517], "means": [[55.65654754638672, 31.450998306274414, 10.116218566894531], [181.8402557373047, 133.23194885253906, 78.3095703125], [101.99382781982422, 73.4148178100586, 41.42839431762695]]}, {"weights": [0.367, 0.214, 0.419], "means": [[54.60967254638672, 24.232288360595703, 3.7091281414031982], [122.8282699584961, 75.483642578125, 34.9182243347168], [91.58114624023438, 47.47792434692383, 10.9546537399292]]}, {"weights": [0.1965, 0.58125, 0.22225], "means": [[67.38677215576172, 47.30406951904297, 24.421119689941406], [215.99827575683594, 202.23870849609375, 178.19956970214844], [164.05848693847656, 148.87850952148438, 127.64004516601562]]}, {"weights": [0.294, 0.41175, 0.29425], "means": [[137.61224365234375, 111.78656768798828, 76.19387817382812], [204.27261352539062, 176.72434997558594, 140.278076171875], [56.38147735595703, 44.42990493774414, 23.032285690307617]]}, {"weights": [0.2874966097097912, 0.3498779495524817, 0.3626254407377271], "means": [[61.45283126831055, 34.564151763916016, 7.710377216339111], [163.04185485839844, 128.406982421875, 88.36511993408203], [102.16529846191406, 63.063575744628906, 23.29244613647461]]}, {"weights": [0.26619433198380565, 0.5657894736842105, 0.1680161943319838], "means": [[44.3612174987793, 51.60836410522461, 49.467681884765625], [13.416815757751465, 16.627906799316406, 11.220035552978516], [76.90963745117188, 85.90361785888672, 84.06024169921875]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47670066.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670066.json
new file mode 100644
index 0000000000000000000000000000000000000000..3178344dc1a34a9139531a863beb5eeeacce1ed3
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670066.json
@@ -0,0 +1 @@
+[{"weights": [0.29275, 0.30025, 0.407], "means": [[184.991455078125, 180.85482788085938, 168.4807891845703], [91.62947845458984, 70.88009643554688, 42.21315383911133], [148.67567443847656, 129.8593292236328, 104.0159683227539]]}, {"weights": [0.2905, 0.6015, 0.108], "means": [[178.6798553466797, 151.6204833984375, 117.32357788085938], [224.6350860595703, 198.97381591796875, 162.33624267578125], [116.91204071044922, 90.45370483398438, 59.25694274902344]]}, {"weights": [0.335, 0.409, 0.256], "means": [[162.302978515625, 137.13059997558594, 102.48059844970703], [205.81234741210938, 182.97860717773438, 150.39547729492188], [105.94921875, 80.05859375, 47.396484375]]}, {"weights": [0.381, 0.476, 0.143], "means": [[59.8215217590332, 35.21456527709961, 12.242782592773438], [196.7667999267578, 142.5908660888672, 75.69223022460938], [107.88636016845703, 77.11363983154297, 41.202796936035156]]}, {"weights": [0.37975, 0.50475, 0.1155], "means": [[57.66359329223633, 24.59249496459961, 2.7676103115081787], [84.41407012939453, 44.89400863647461, 11.889549255371094], [109.14286041259766, 72.3614730834961, 37.99134063720703]]}, {"weights": [0.18857303687025048, 0.615536166619758, 0.19589079650999155], "means": [[65.1656723022461, 43.81940460205078, 19.279104232788086], [212.2578887939453, 194.36351013183594, 166.14219665527344], [145.94253540039062, 127.35057830810547, 102.1451187133789]]}, {"weights": [0.2925, 0.4045, 0.303], "means": [[46.10598373413086, 37.4940185546875, 17.00341796875], [199.4944305419922, 171.36712646484375, 129.42398071289062], [134.55528259277344, 109.47607421875, 71.71699523925781]]}, {"weights": [0.44742268041237115, 0.28188512518409425, 0.2706921944035346], "means": [[72.95523071289062, 41.3666877746582, 8.597103118896484], [170.28004455566406, 133.27377319335938, 89.7742919921875], [131.72251892089844, 90.52774810791016, 46.221981048583984]]}, {"weights": [0.6979742173112339, 0.21731123388581952, 0.0847145488029466], "means": [[15.420844078063965, 17.675460815429688, 10.259894371032715], [47.74152374267578, 51.79237365722656, 42.72881317138672], [85.88043212890625, 99.58695983886719, 93.40217590332031]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47670073.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670073.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a2cdf103af8417345be74a7cf4be8fba573858d
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670073.json
@@ -0,0 +1 @@
+[{"weights": [0.37775, 0.28175, 0.3405], "means": [[39.79549789428711, 33.11581802368164, 23.476505279541016], [107.3735580444336, 88.3070068359375, 71.4152603149414], [181.93978881835938, 168.93612670898438, 146.53451538085938]]}, {"weights": [0.25175, 0.66325, 0.085], "means": [[62.51737976074219, 48.52035903930664, 46.49950408935547], [17.483980178833008, 15.591782569885254, 11.26573657989502], [113.03529357910156, 103.5558853149414, 105.0882339477539]]}, {"weights": [0.3403031887088343, 0.10690015682174595, 0.5527966544694197], "means": [[69.64823150634766, 65.15514373779297, 64.75729370117188], [120.95110321044922, 128.4523162841797, 135.02200317382812], [22.6345157623291, 20.49787139892578, 14.683215141296387]]}, {"weights": [0.41025641025641024, 0.3409306742640076, 0.24881291547958215], "means": [[138.9004669189453, 68.29629516601562, 55.44675827026367], [195.33425903320312, 99.73258972167969, 93.89136505126953], [59.8129768371582, 32.790077209472656, 23.328245162963867]]}, {"weights": [0.5065, 0.23425, 0.25925], "means": [[61.64955520629883, 31.022705078125, 29.875123977661133], [181.5709686279297, 160.1824951171875, 161.13340759277344], [127.9228515625, 84.81774139404297, 81.65091705322266]]}, {"weights": [0.338, 0.19, 0.472], "means": [[65.77662658691406, 33.571746826171875, 25.598373413085938], [207.48947143554688, 207.97500610351562, 205.58290100097656], [176.95709228515625, 117.78760528564453, 76.80985260009766]]}, {"weights": [0.21866163996229973, 0.046182846371347785, 0.7351555136663525], "means": [[59.495689392089844, 37.818965911865234, 31.784482955932617], [109.26530456542969, 99.93877410888672, 91.73469543457031], [22.64230728149414, 13.505127906799316, 7.669230937957764]]}, {"weights": [0.0765, 0.56275, 0.36075], "means": [[133.23529052734375, 96.90522766113281, 81.83333587646484], [38.31097412109375, 26.7721004486084, 20.699689865112305], [72.15245819091797, 50.98406219482422, 40.82952117919922]]}, {"weights": [0.8382352941176471, 0.0659392789373814, 0.09582542694497154], "means": [[6.93491792678833, 12.66779899597168, 7.239388942718506], [142.43165588378906, 159.92086791992188, 151.69064331054688], [63.87128829956055, 74.26732635498047, 69.1980209350586]]}, {"weights": [0.2265, 0.343, 0.4305], "means": [[169.95916748046875, 166.09161376953125, 154.00662231445312], [40.345481872558594, 39.932945251464844, 31.75145721435547], [95.4210205078125, 92.54529571533203, 86.14575958251953]]}, {"weights": [0.5251076040172167, 0.19655667144906744, 0.2783357245337159], "means": [[121.0928955078125, 74.39344024658203, 23.081966400146484], [196.88320922851562, 130.32846069335938, 53.6788330078125], [74.8453598022461, 39.11855697631836, 6.19072151184082]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47670074.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670074.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e33c066c3706af6a88163a1fd1979f2b889c561
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670074.json
@@ -0,0 +1 @@
+[{"weights": [0.28475, 0.44375, 0.2715], "means": [[198.13345336914062, 179.98507690429688, 147.2300262451172], [42.96281814575195, 36.539154052734375, 27.271549224853516], [138.5745849609375, 110.15193176269531, 77.62246704101562]]}, {"weights": [0.6305555555555555, 0.08083333333333333, 0.2886111111111111], "means": [[21.513216018676758, 18.57312774658203, 14.442730903625488], [128.75257873535156, 136.54295349121094, 144.87973022460938], [67.46102142333984, 61.868141174316406, 61.68142318725586]]}, {"weights": [0.3959731543624161, 0.19015659955257272, 0.41387024608501116], "means": [[125.84745788574219, 68.15254211425781, 39.25423812866211], [205.4588165283203, 123.19999694824219, 95.29412078857422], [180.8270263671875, 85.50270080566406, 78.92432403564453]]}, {"weights": [0.284, 0.22575, 0.49025], "means": [[131.13204956054688, 86.99119567871094, 86.66284942626953], [186.65892028808594, 162.1173858642578, 164.97784423828125], [53.08108139038086, 26.746047973632812, 26.783782958984375]]}, {"weights": [0.4605, 0.39675, 0.14275], "means": [[47.370792388916016, 27.495113372802734, 19.503257751464844], [166.27346801757812, 105.56900024414062, 72.10397338867188], [208.15235900878906, 185.5323944091797, 169.31698608398438]]}, {"weights": [0.28175, 0.094, 0.62425], "means": [[68.95208740234375, 54.941436767578125, 52.74800491333008], [130.86170959472656, 126.7127685546875, 130.53457641601562], [21.08329963684082, 17.73808479309082, 13.674809455871582]]}, {"weights": [0.5704365079365079, 0.08630952380952381, 0.34325396825396826], "means": [[53.85797119140625, 38.71942138671875, 32.889854431152344], [102.20689392089844, 80.24520874023438, 68.68582153320312], [18.91522216796875, 17.625240325927734, 15.788053512573242]]}, {"weights": [0.4803991446899501, 0.18888096935138987, 0.33071988595866003], "means": [[22.27448081970215, 28.670623779296875, 23.071216583251953], [124.61886596679688, 133.826416015625, 127.43773651123047], [58.94612121582031, 64.29525756835938, 58.0818977355957]]}, {"weights": [0.4105, 0.19625, 0.39325], "means": [[43.2722282409668, 42.98781967163086, 33.010353088378906], [161.842041015625, 157.0789794921875, 144.28407287597656], [95.68531799316406, 92.42720794677734, 83.162109375]]}, {"weights": [0.17418677859391396, 0.2633788037775446, 0.5624344176285414], "means": [[183.83132934570312, 121.8795166015625, 52.81325149536133], [53.88047790527344, 27.362550735473633, 6.1792826652526855], [105.24440002441406, 65.11566925048828, 25.397388458251953]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47670075.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670075.json
new file mode 100644
index 0000000000000000000000000000000000000000..544bb65363145b84e6df0bca52f401009242de14
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670075.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/47670100.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670100.json
new file mode 100644
index 0000000000000000000000000000000000000000..31773674c7c1de9c23c0167783f81235fb16b3ea
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670100.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/47670105.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670105.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f689bd8edac6437ad43e01e652aacaf0e86fda7
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670105.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/47670109.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670109.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ff18880e41f019d8519e16bc0eb4bf0495c0eaf
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670109.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/47670116.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670116.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f68c4593cf332c1fb8916285d63ee6e594b9356
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670116.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/47670122.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670122.json
new file mode 100644
index 0000000000000000000000000000000000000000..524c2f9f7edee771c4aef218b08869edd8a16801
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670122.json
@@ -0,0 +1 @@
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47670124.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670124.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4ac0119fbde639aaafa594892617d253806a973
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670124.json
@@ -0,0 +1 @@
+[{"weights": [0.34425, 0.27125, 0.3845], "means": [[178.56137084960938, 175.9774932861328, 164.64051818847656], [49.33640670776367, 47.948387145996094, 39.72350311279297], [136.3738555908203, 122.00325012207031, 98.438232421875]]}, {"weights": [0.11686390532544379, 0.41494082840236685, 0.4681952662721893], "means": [[63.11075973510742, 44.24683380126953, 24.373416900634766], [175.19786071777344, 156.4928741455078, 130.80926513671875], [137.23776245117188, 96.05292510986328, 49.589256286621094]]}, {"weights": [0.36727272727272725, 0.11272727272727273, 0.52], "means": [[88.69306945800781, 59.950496673583984, 27.584157943725586], [171.25807189941406, 143.09677124023438, 104.32257843017578], [126.76923370361328, 98.93706512451172, 66.41259002685547]]}, {"weights": [0.6451612903225806, 0.3548387096774194], "means": [[100.30000305175781, 76.5, 40.75], [69.36363983154297, 44.09090805053711, 21.272727966308594]]}, {"weights": [0.18867924528301888, 0.8113207547169812], "means": [[77.26667022705078, 67.43333435058594, 39.599998474121094], [13.201550483703613, 20.0155029296875, 8.085270881652832]]}, {"weights": [0.1273209549071618, 0.058355437665782495, 0.8143236074270557], "means": [[40.53125, 50.08333206176758, 46.92708206176758], [103.06818389892578, 132.52272033691406, 154.47727966308594], [12.0358304977417, 18.055374145507812, 10.85342025756836]]}, {"weights": [0.2885, 0.31, 0.4015], "means": [[102.39167785644531, 79.4722671508789, 53.70537185668945], [181.41612243652344, 170.09677124023438, 145.89193725585938], [44.975093841552734, 35.51618957519531, 19.518680572509766]]}, {"weights": [0.3355, 0.31125, 0.35325], "means": [[65.93889617919922, 50.4150505065918, 29.660953521728516], [184.29959106445312, 163.53334045410156, 139.35662841796875], [129.80255126953125, 105.48407745361328, 76.21018981933594]]}, {"weights": [0.3681260010678057, 0.46636412172984515, 0.16550987720234916], "means": [[85.85859680175781, 64.39376068115234, 36.27846145629883], [138.22610473632812, 112.77503967285156, 78.67086791992188], [175.06613159179688, 171.29193115234375, 161.4241943359375]]}, {"weights": [0.29812054439403757, 0.19766688269604665, 0.5042125729099157], "means": [[31.754348754882812, 37.252174377441406, 33.584781646728516], [106.93114471435547, 131.7573699951172, 153.603271484375], [70.7480697631836, 78.30719757080078, 79.04756164550781]]}, {"weights": [0.378, 0.3495, 0.2725], "means": [[122.96759033203125, 114.2070083618164, 91.85053253173828], [174.08941650390625, 162.78683471679688, 136.1816864013672], [64.08807373046875, 54.707340240478516, 34.97431182861328]]}, {"weights": [0.37834132967786155, 0.20150788211103496, 0.4201507882111035], "means": [[57.77355194091797, 38.4329719543457, 17.952898025512695], [171.4353790283203, 128.81292724609375, 78.2210922241211], [120.56607055664062, 84.98694610595703, 45.355628967285156]]}, {"weights": [0.26444538169548715, 0.10965837199493884, 0.625896246309574], "means": [[74.47049713134766, 70.84050750732422, 52.40031814575195], [130.7076873779297, 136.94615173339844, 136.93077087402344], [29.47372055053711, 24.675201416015625, 11.945417404174805]]}, {"weights": [0.33568225496476617, 0.24343369634849454, 0.4208840486867393], "means": [[14.097328186035156, 13.63167953491211, 4.715648651123047], [68.5763168334961, 51.50263214111328, 30.3157901763916], [35.20547866821289, 31.185691833496094, 19.05175018310547]]}, {"weights": [0.4496445497630332, 0.17890995260663506, 0.37144549763033174], "means": [[38.5217399597168, 18.687747955322266, 11.8695650100708], [133.59933471679688, 109.29138946533203, 76.1887435913086], [88.92504119873047, 61.79585266113281, 36.22647476196289]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47670133.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670133.json
new file mode 100644
index 0000000000000000000000000000000000000000..c695dfc7e31b1201ec294ecc207f33f922d1950c
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670133.json
@@ -0,0 +1 @@
+[{"weights": [0.45675, 0.2795, 0.26375], "means": [[151.3535919189453, 144.67323303222656, 123.12972259521484], [208.61627197265625, 204.6976776123047, 185.22808837890625], [72.4388656616211, 60.56303405761719, 37.923221588134766]]}, {"weights": [0.38875, 0.15075, 0.4605], "means": [[153.96141052246094, 150.9112548828125, 138.8649444580078], [65.75787353515625, 57.84577178955078, 46.94029998779297], [210.27523803710938, 207.17100524902344, 195.7312774658203]]}, {"weights": [0.37168713639301876, 0.4040077569489334, 0.22430510665804784], "means": [[189.3634796142578, 180.09043884277344, 164.9252166748047], [139.3679962158203, 130.58399963378906, 117.25279998779297], [86.61383056640625, 79.33141326904297, 66.81268310546875]]}, {"weights": [0.29965850882185546, 0.35344336937962434, 0.3468981217985202], "means": [[80.03418731689453, 59.97720718383789, 35.9487190246582], [129.62399291992188, 118.58373260498047, 95.08615112304688], [169.9630889892578, 159.6119842529297, 132.19442749023438]]}, {"weights": [0.34225, 0.45925, 0.1985], "means": [[124.05039978027344, 111.13805389404297, 85.65157318115234], [172.47523498535156, 164.19325256347656, 138.732177734375], [67.26826477050781, 50.11334991455078, 29.439546585083008]]}, {"weights": [0.2773972602739726, 0.2268835616438356, 0.4957191780821918], "means": [[210.54937744140625, 209.34877014160156, 200.20986938476562], [154.9849090576172, 153.19622802734375, 142.35848999023438], [185.26597595214844, 183.63729858398438, 172.0]]}, {"weights": [0.46825, 0.075, 0.45675], "means": [[185.81793212890625, 182.06781005859375, 167.1623077392578], [50.746665954589844, 41.436668395996094, 27.46666717529297], [131.558837890625, 127.6551742553711, 114.08209991455078]]}, {"weights": [0.3355, 0.32425, 0.34025], "means": [[76.96348571777344, 77.599853515625, 66.41355895996094], [194.00770568847656, 190.27833557128906, 175.6838836669922], [134.44085693359375, 132.74945068359375, 120.91917419433594]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47670134.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670134.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f7663955d2507cc7a51a18a89f247663c09405a
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670134.json
@@ -0,0 +1 @@
+[{"weights": [0.431, 0.2795, 0.2895], "means": [[149.37123107910156, 143.60731506347656, 125.88340759277344], [208.43649291992188, 206.2584991455078, 186.97943115234375], [75.22020721435547, 63.316925048828125, 42.840240478515625]]}, {"weights": [0.2488822652757079, 0.23397913561847988, 0.5171385991058122], "means": [[211.1736602783203, 207.52694702148438, 199.52395629882812], [150.61782836914062, 147.30255126953125, 135.97451782226562], [180.91354370117188, 177.44956970214844, 166.6368865966797]]}, {"weights": [0.632, 0.22425, 0.14375], "means": [[194.9529266357422, 193.55735778808594, 184.95016479492188], [122.26979064941406, 123.50947570800781, 116.75920104980469], [55.35130310058594, 53.48869705200195, 46.77738952636719]]}, {"weights": [0.26863869604587987, 0.3006338665861757, 0.43072743736794444], "means": [[78.5, 65.42809295654297, 44.56629180908203], [116.69678497314453, 105.29417419433594, 82.81124877929688], [154.89698791503906, 141.84442138671875, 116.39453125]]}, {"weights": [0.5906515580736544, 0.23040604343720492, 0.1789423984891407], "means": [[140.72262573242188, 133.7705841064453, 113.7769775390625], [57.86680221557617, 40.81147384643555, 18.26024627685547], [102.931396484375, 88.50923156738281, 65.9656982421875]]}, {"weights": [0.35036855036855036, 0.2398034398034398, 0.4098280098280098], "means": [[214.23983764648438, 215.269287109375, 208.7237091064453], [112.31967163085938, 107.0307388305664, 92.97541046142578], [167.3489227294922, 164.4820098876953, 151.79376220703125]]}, {"weights": [0.46625, 0.2605, 0.27325], "means": [[203.92063903808594, 199.29168701171875, 180.39088439941406], [79.11036682128906, 79.78118896484375, 66.2418441772461], [134.13082885742188, 132.1719970703125, 113.4217758178711]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47670136.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670136.json
new file mode 100644
index 0000000000000000000000000000000000000000..05c3c1be9a78f3f31a00112e70b1035157d03c57
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670136.json
@@ -0,0 +1 @@
+[{"weights": [0.345, 0.22675, 0.42825], "means": [[202.7195587158203, 198.5268096923828, 179.53550720214844], [68.06615447998047, 56.695701599121094, 41.464168548583984], [142.22592163085938, 133.16929626464844, 109.44366455078125]]}, {"weights": [0.6575, 0.19975, 0.14275], "means": [[191.82052612304688, 191.39657592773438, 182.71026611328125], [109.27033996582031, 103.44180297851562, 96.28410339355469], [50.7723274230957, 43.67250442504883, 32.58843994140625]]}, {"weights": [0.3912671232876712, 0.348458904109589, 0.2602739726027397], "means": [[134.75929260253906, 125.35011291503906, 113.04595184326172], [95.67076110839844, 87.4840316772461, 74.99017333984375], [163.94737243652344, 154.86842346191406, 144.25657653808594]]}, {"weights": [0.23047304730473048, 0.39053905390539057, 0.378987898789879], "means": [[64.79116821289062, 46.95703887939453, 24.828163146972656], [103.80915832519531, 94.77886962890625, 76.2049331665039], [143.42742919921875, 132.18504333496094, 111.44847869873047]]}, {"weights": [0.16869037294015612, 0.47181266261925414, 0.35949696444058976], "means": [[128.31105041503906, 114.3907470703125, 89.20051574707031], [80.98253631591797, 56.69025802612305, 30.226102828979492], [162.3124237060547, 150.97105407714844, 128.65863037109375]]}, {"weights": [0.3006706408345753, 0.3260059612518629, 0.37332339791356184], "means": [[105.00495910644531, 99.85130310058594, 86.705078125], [209.75999450683594, 208.26513671875, 201.08456420898438], [152.6217498779297, 147.89920043945312, 134.5419158935547]]}, {"weights": [0.50525, 0.228, 0.26675], "means": [[191.6610565185547, 188.18258666992188, 174.49481201171875], [75.97039794921875, 78.22587585449219, 66.22477722167969], [138.74038696289062, 136.47984313964844, 122.91002655029297]]}, {"weights": [0.1913109756097561, 0.5350609756097561, 0.2736280487804878], "means": [[138.69720458984375, 138.0916290283203, 134.98008728027344], [186.1581268310547, 183.56410217285156, 172.3319091796875], [214.27854919433594, 211.04734802246094, 201.98329162597656]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47670149.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670149.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f7de9a7b4018c8f8b5126c8d63aafbd8b0e13b4
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670149.json
@@ -0,0 +1 @@
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47670150.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670150.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb590836d8f4e161a0b2507675d85856a415c557
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670150.json
@@ -0,0 +1 @@
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47670158.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670158.json
new file mode 100644
index 0000000000000000000000000000000000000000..996642a1cd2a6529b27e0321b43fce54130935a0
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670158.json
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47670168.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670168.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e2f68dbd0f809540cf9a688dd8d7a43d0936571
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670168.json
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47670171.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670171.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4f84b778a7d2adcf7377f65f1b9a710c60670d1
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670171.json
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47670174.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670174.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc8a9f036b4f9d94bedb948f567d1ad45823db0b
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670174.json
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47670179.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670179.json
new file mode 100644
index 0000000000000000000000000000000000000000..f823a3347a5e2b875f806e20246806263c9f317f
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670179.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/47670182.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670182.json
new file mode 100644
index 0000000000000000000000000000000000000000..a836423d1e2baf18151ef8bddb07a8760fe4416a
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670182.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/47670183.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670183.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5810a64c3f62cd3e50b9aacf9b10ef770f65d8e
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670183.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/47670184.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670184.json
new file mode 100644
index 0000000000000000000000000000000000000000..6afe04a8dccf7c5401f254b51c50888de0d3a8f6
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670184.json
@@ -0,0 +1 @@
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47670186.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670186.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c94eeb4a1203fb93702348e6022026ecf6f718e
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670186.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/47670191.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670191.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6c616f56b5851d8de51a4cb7df47da366967c8d
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670191.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/47670195.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670195.json
new file mode 100644
index 0000000000000000000000000000000000000000..af594ea1f6a16da173d09ed913d920268563acbf
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670195.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/47670197.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670197.json
new file mode 100644
index 0000000000000000000000000000000000000000..6934df4646f7b88121c83a10b6e21467cd296b28
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670197.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/47670201.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670201.json
new file mode 100644
index 0000000000000000000000000000000000000000..35285da13339178c6295daa570adcad377ddd732
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670201.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/47670208.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670208.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf2927d6431701e8045f1419b29c6c28459ac4ee
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670208.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/47670218.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670218.json
new file mode 100644
index 0000000000000000000000000000000000000000..e319e539caba130df5ae2662c17c7669ba4b6412
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670218.json
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47670224.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670224.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2d86f48eb8fe36a0e4a06bdca1b02affc61a4c7
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670224.json
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\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47670232.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670232.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4bcb28fe3840f0d516cc5aaacca6ab406deb03f
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670232.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/47670233.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670233.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc0367214a100175ba88ff370b7e5360241972cf
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670233.json
@@ -0,0 +1 @@
+[{"weights": [0.27425, 0.2725, 0.45325], "means": [[40.0391960144043, 47.246124267578125, 53.922515869140625], [188.07614135742188, 187.6981658935547, 177.39633178710938], [130.81964111328125, 130.14065551757812, 119.12300109863281]]}, {"weights": [0.288, 0.436, 0.276], "means": [[138.09288024902344, 147.7239532470703, 156.49826049804688], [173.6049346923828, 187.65826416015625, 203.72190856933594], [81.090576171875, 89.68387603759766, 104.0625]]}, {"weights": [0.543661971830986, 0.1596244131455399, 0.29671361502347415], "means": [[141.86183166503906, 160.09326171875, 176.0345458984375], [91.56470489501953, 106.25294494628906, 119.95882415771484], [180.3924102783203, 203.98101806640625, 224.75633239746094]]}, {"weights": [0.32675, 0.45875, 0.2145], "means": [[110.02066040039062, 116.5508804321289, 116.03978729248047], [163.18528747558594, 175.7989044189453, 179.6239776611328], [39.787879943847656, 41.762237548828125, 40.90792465209961]]}, {"weights": [0.37945368171021376, 0.252375296912114, 0.3681710213776722], "means": [[21.64162826538086, 21.064163208007812, 24.83568000793457], [73.55999755859375, 58.720001220703125, 49.96706008911133], [138.3741912841797, 98.83226013183594, 64.54032135009766]]}, {"weights": [0.46885245901639344, 0.173224043715847, 0.35792349726775957], "means": [[169.43240356445312, 174.50816345214844, 173.26690673828125], [41.96845245361328, 43.45425796508789, 45.539432525634766], [106.86564636230469, 109.53588104248047, 109.4854965209961]]}, {"weights": [0.2405, 0.46475, 0.29475], "means": [[196.0228729248047, 194.8877410888672, 181.19854736328125], [111.46261596679688, 117.14039611816406, 116.66917419433594], [154.9575958251953, 154.54876708984375, 143.65478515625]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47670234.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670234.json
new file mode 100644
index 0000000000000000000000000000000000000000..38344e33a0542e7ed97cf9050ca23cf7be2f0308
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670234.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/47670242.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670242.json
new file mode 100644
index 0000000000000000000000000000000000000000..cea11fb70393b380dfc64498b3ff79eea37fae1a
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670242.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/47670244.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670244.json
new file mode 100644
index 0000000000000000000000000000000000000000..b20ef15ac4fef6d79eddaf89ea9ece6c4336e200
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670244.json
@@ -0,0 +1 @@
+[{"weights": [0.205, 0.49225, 0.30275], "means": [[89.80731964111328, 74.11829376220703, 51.03414535522461], [151.57846069335938, 139.48045349121094, 119.31742095947266], [201.88108825683594, 195.2477264404297, 179.14698791503906]]}, {"weights": [0.4315, 0.399, 0.1695], "means": [[93.50753021240234, 68.22769165039062, 45.7555046081543], [38.16791915893555, 28.217418670654297, 17.93922233581543], [154.07522583007812, 133.29055786132812, 112.97344970703125]]}, {"weights": [0.1465, 0.37025, 0.48325], "means": [[182.84129333496094, 187.23208618164062, 179.87542724609375], [77.71505737304688, 66.1890640258789, 48.595542907714844], [133.5116424560547, 121.25141906738281, 100.14899444580078]]}, {"weights": [0.13694507148231752, 0.43867569601203915, 0.42437923250564336], "means": [[221.74176025390625, 230.25274658203125, 230.96153259277344], [141.66380310058594, 144.9553985595703, 141.732421875], [90.31914520263672, 86.5478744506836, 77.62411499023438]]}, {"weights": [0.59925, 0.18875, 0.212], "means": [[170.4259490966797, 155.02210998535156, 127.40425872802734], [199.7880859375, 204.55496215820312, 194.63442993164062], [133.11203002929688, 116.08843994140625, 88.24056243896484]]}, {"weights": [0.3473491773308958, 0.3436928702010969, 0.30895795246800734], "means": [[53.242103576660156, 54.31052780151367, 48.37894821166992], [166.175537109375, 166.1170196533203, 155.574462890625], [93.18934631347656, 95.3372802734375, 90.9645004272461]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47670250.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670250.json
new file mode 100644
index 0000000000000000000000000000000000000000..edeafcc528fbdb85500365cf8cf9e4c57186f89d
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670250.json
@@ -0,0 +1 @@
+[{"weights": [0.375, 0.1905, 0.4345], "means": [[202.27867126464844, 193.0586700439453, 175.25], [81.54855346679688, 65.61548614501953, 44.65222930908203], [147.39297485351562, 136.47352600097656, 117.59494018554688]]}, {"weights": [0.247, 0.24375, 0.50925], "means": [[183.45849609375, 183.645751953125, 171.01011657714844], [89.11282348632812, 77.27179718017578, 58.08000183105469], [134.59400939941406, 120.98036193847656, 97.52528381347656]]}, {"weights": [0.5343915343915344, 0.2760141093474427, 0.18959435626102292], "means": [[90.41914367675781, 87.71781921386719, 78.39768981933594], [130.93609619140625, 134.7891387939453, 131.93930053710938], [178.67442321777344, 188.31163024902344, 189.97674560546875]]}, {"weights": [0.4758036029671494, 0.41045566937477923, 0.11374072765807135], "means": [[90.43578338623047, 71.8017807006836, 51.790645599365234], [40.83390808105469, 32.57745361328125, 22.4483642578125], [155.9813690185547, 141.633544921875, 125.3322982788086]]}, {"weights": [0.7120181405895691, 0.17687074829931973, 0.1111111111111111], "means": [[172.71656799316406, 174.0477752685547, 170.96815490722656], [128.525634765625, 126.24359130859375, 117.05128479003906], [86.55101776123047, 82.0204086303711, 69.12245178222656]]}, {"weights": [0.278, 0.09375, 0.62825], "means": [[194.86691284179688, 193.47482299804688, 183.8219451904297], [87.0, 78.19466400146484, 62.784000396728516], [153.68801879882812, 140.08236694335938, 117.74571990966797]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47670269.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670269.json
new file mode 100644
index 0000000000000000000000000000000000000000..4988f6bca384a931a918a614edf671b10e63d049
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670269.json
@@ -0,0 +1 @@
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47670270.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670270.json
new file mode 100644
index 0000000000000000000000000000000000000000..e98354afe15fe36683b8958625e1e56a2c8f6a30
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670270.json
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47670271.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670271.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7a39355b3bc130974ebd7406471eeac75d346f9
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670271.json
@@ -0,0 +1 @@
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47670288.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670288.json
new file mode 100644
index 0000000000000000000000000000000000000000..86010847e3870063262a0b00a0bcb1c7468647ef
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670288.json
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47670291.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670291.json
new file mode 100644
index 0000000000000000000000000000000000000000..d957bb1eb827766ee168617a3152a81034ae9dbc
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670291.json
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47670293.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670293.json
new file mode 100644
index 0000000000000000000000000000000000000000..cffb3b997ee2d70d659ce680aeccc0c8308535b1
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670293.json
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47670295.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670295.json
new file mode 100644
index 0000000000000000000000000000000000000000..85fbff47b26c475e1cd5fbaab89f8c50a0b7c1a4
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670295.json
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\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47670299.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670299.json
new file mode 100644
index 0000000000000000000000000000000000000000..22f20e62266669ae249af86db75905de1b370837
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670299.json
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\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47670305.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670305.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed6cc065ba569e64d137c5307018ce05a1865146
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670305.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/47670311.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670311.json
new file mode 100644
index 0000000000000000000000000000000000000000..44a6d92dbb17289c0350d1a1eb193fce89e1af06
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670311.json
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47670315.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670315.json
new file mode 100644
index 0000000000000000000000000000000000000000..41185f7c9d5a3200545d1326094829efb7feb883
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670315.json
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\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47670318.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670318.json
new file mode 100644
index 0000000000000000000000000000000000000000..aceeadbed21c21b6ce5221173d5ad87c6006f87d
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670318.json
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47670323.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670323.json
new file mode 100644
index 0000000000000000000000000000000000000000..dad1415e61e35536d0b93bb450acfb9b500b370f
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670323.json
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\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47670324.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670324.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5d6500bf068e9a3147682302b3739d3ac88f18d
--- /dev/null
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47670328.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47670328.json
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