diff --git a/scan_data/3RScan/instance_id_to_gmm_color/02b33df9-be2b-2d54-9062-1253be3ce186.json b/scan_data/3RScan/instance_id_to_gmm_color/02b33df9-be2b-2d54-9062-1253be3ce186.json
new file mode 100644
index 0000000000000000000000000000000000000000..39bec3fe77444822b413fa439151c806a0e8da7d
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/02b33df9-be2b-2d54-9062-1253be3ce186.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/02b33dfb-be2b-2d54-92d2-cd012b2b3c40.json b/scan_data/3RScan/instance_id_to_gmm_color/02b33dfb-be2b-2d54-92d2-cd012b2b3c40.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8cf79b27fe4b3f90490093e046dc8706abc7ef5
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/02b33dfb-be2b-2d54-92d2-cd012b2b3c40.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/02b33dfd-be2b-2d54-91d2-55454852009e.json b/scan_data/3RScan/instance_id_to_gmm_color/02b33dfd-be2b-2d54-91d2-55454852009e.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a601c946d00abb6bfe50ac5d49925ca83704d97
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/02b33dfd-be2b-2d54-91d2-55454852009e.json
@@ -0,0 +1 @@
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/02b33e01-be2b-2d54-93fb-4145a709cec5.json b/scan_data/3RScan/instance_id_to_gmm_color/02b33e01-be2b-2d54-93fb-4145a709cec5.json
new file mode 100644
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/02b33e03-be2b-2d54-9129-5d28efdd68fa.json b/scan_data/3RScan/instance_id_to_gmm_color/02b33e03-be2b-2d54-9129-5d28efdd68fa.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cb1bc0ee025fe2250229a083053ffe3f86a0c4f
--- /dev/null
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/05c6ede7-2e69-23b1-8b27-c1cb868f1938.json b/scan_data/3RScan/instance_id_to_gmm_color/05c6ede7-2e69-23b1-8b27-c1cb868f1938.json
new file mode 100644
index 0000000000000000000000000000000000000000..89bd5666d4beb3ff2a9036316b89dd4032ecabf1
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/05c6ede7-2e69-23b1-8b27-c1cb868f1938.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/09582219-e2c2-2de1-9534-519142703037.json b/scan_data/3RScan/instance_id_to_gmm_color/09582219-e2c2-2de1-9534-519142703037.json
new file mode 100644
index 0000000000000000000000000000000000000000..6553415cd9ab81adf3d61e27a436a090fd823738
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/09582219-e2c2-2de1-9534-519142703037.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/0958221b-e2c2-2de1-96b1-6233099811a0.json b/scan_data/3RScan/instance_id_to_gmm_color/0958221b-e2c2-2de1-96b1-6233099811a0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0af82bf834d89c69622e4c456d4f3d6eb0d95d85
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/0958221b-e2c2-2de1-96b1-6233099811a0.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/09582223-e2c2-2de1-94b6-750684b4f80a.json b/scan_data/3RScan/instance_id_to_gmm_color/09582223-e2c2-2de1-94b6-750684b4f80a.json
new file mode 100644
index 0000000000000000000000000000000000000000..80eeaae1fb02520d2b288ec6c8313dc57f3dbe4a
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/09582223-e2c2-2de1-94b6-750684b4f80a.json
@@ -0,0 +1 @@
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/09582225-e2c2-2de1-9564-f6681ef5e511.json b/scan_data/3RScan/instance_id_to_gmm_color/09582225-e2c2-2de1-9564-f6681ef5e511.json
new file mode 100644
index 0000000000000000000000000000000000000000..43ae83dc8958830a84e773723762920647d47331
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/09582225-e2c2-2de1-9564-f6681ef5e511.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/09582228-e2c2-2de1-953d-f6f1ee4b3699.json b/scan_data/3RScan/instance_id_to_gmm_color/09582228-e2c2-2de1-953d-f6f1ee4b3699.json
new file mode 100644
index 0000000000000000000000000000000000000000..6dc066c4e5acd23a9cc86b3f11ac0ea91d0fdb6a
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/09582228-e2c2-2de1-953d-f6f1ee4b3699.json
@@ -0,0 +1 @@
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/0cac7619-8d6f-2d13-8f36-ac562ec9a4de.json b/scan_data/3RScan/instance_id_to_gmm_color/0cac7619-8d6f-2d13-8f36-ac562ec9a4de.json
new file mode 100644
index 0000000000000000000000000000000000000000..7700ccd13cad718f78f5384fd3f524d857a54691
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/0cac7619-8d6f-2d13-8f36-ac562ec9a4de.json
@@ -0,0 +1 @@
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/0cac761b-8d6f-2d13-8f16-23a7d73c54fe.json b/scan_data/3RScan/instance_id_to_gmm_color/0cac761b-8d6f-2d13-8f16-23a7d73c54fe.json
new file mode 100644
index 0000000000000000000000000000000000000000..25f51990cdf303b6b79e669904d5214511c4a9ce
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/0cac761b-8d6f-2d13-8f16-23a7d73c54fe.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/0cac762b-8d6f-2d13-8de2-832a3c07864b.json b/scan_data/3RScan/instance_id_to_gmm_color/0cac762b-8d6f-2d13-8de2-832a3c07864b.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d710a6c450a1b2243aa88a285ab19179b3de2ab
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+++ b/scan_data/3RScan/instance_id_to_gmm_color/0cac762b-8d6f-2d13-8de2-832a3c07864b.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/0cac762d-8d6f-2d13-8c70-b523afdf6989.json b/scan_data/3RScan/instance_id_to_gmm_color/0cac762d-8d6f-2d13-8c70-b523afdf6989.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdc0a0b2e15ada872d117b8cbea2ee057271cd5f
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/0cac762f-8d6f-2d13-8e48-ed83163799fb.json b/scan_data/3RScan/instance_id_to_gmm_color/0cac762f-8d6f-2d13-8e48-ed83163799fb.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ef43b85cfcc626d457bf5143511792f5fe27d3f
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/0cac762f-8d6f-2d13-8e48-ed83163799fb.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/0cac7633-8d6f-2d13-8e91-8b46e2b70f34.json b/scan_data/3RScan/instance_id_to_gmm_color/0cac7633-8d6f-2d13-8e91-8b46e2b70f34.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7c2ad0dcdf247e573da4675c7f1c6ed5d3d9b08
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/0cac7633-8d6f-2d13-8e91-8b46e2b70f34.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/0cac7635-8d6f-2d13-8ea5-25f4dc197d1d.json b/scan_data/3RScan/instance_id_to_gmm_color/0cac7635-8d6f-2d13-8ea5-25f4dc197d1d.json
new file mode 100644
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--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/0cac7635-8d6f-2d13-8ea5-25f4dc197d1d.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/0cac7637-8d6f-2d13-8e6f-f79dce250314.json b/scan_data/3RScan/instance_id_to_gmm_color/0cac7637-8d6f-2d13-8e6f-f79dce250314.json
new file mode 100644
index 0000000000000000000000000000000000000000..009b7f9ce9392fa28c66b2c8d118aa8ead40308a
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/0cac7637-8d6f-2d13-8e6f-f79dce250314.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/0cac763b-8d6f-2d13-8c67-de3d97b48d39.json b/scan_data/3RScan/instance_id_to_gmm_color/0cac763b-8d6f-2d13-8c67-de3d97b48d39.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa54af53256ad7648f7390e4dd82abfe549fbcea
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/0cac763b-8d6f-2d13-8c67-de3d97b48d39.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/0cac7640-8d6f-2d13-8d50-e374f145f2b6.json b/scan_data/3RScan/instance_id_to_gmm_color/0cac7640-8d6f-2d13-8d50-e374f145f2b6.json
new file mode 100644
index 0000000000000000000000000000000000000000..f33c2f3f93feca57b2132b33350d5f9bc3d2da47
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+++ b/scan_data/3RScan/instance_id_to_gmm_color/0cac7640-8d6f-2d13-8d50-e374f145f2b6.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/137a8156-1db5-2cc0-80ff-73ceef09cc7c.json b/scan_data/3RScan/instance_id_to_gmm_color/137a8156-1db5-2cc0-80ff-73ceef09cc7c.json
new file mode 100644
index 0000000000000000000000000000000000000000..787347de5d358f07840173e31b117a92e940fa4d
--- /dev/null
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/137a8158-1db5-2cc0-8003-31c12610471e.json b/scan_data/3RScan/instance_id_to_gmm_color/137a8158-1db5-2cc0-8003-31c12610471e.json
new file mode 100644
index 0000000000000000000000000000000000000000..f79bceda82054ceee1aca0d869d017806f0dd782
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+++ b/scan_data/3RScan/instance_id_to_gmm_color/137a8158-1db5-2cc0-8003-31c12610471e.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/13af338e-7397-2e54-84fc-fa003f91ac0c.json b/scan_data/3RScan/instance_id_to_gmm_color/13af338e-7397-2e54-84fc-fa003f91ac0c.json
new file mode 100644
index 0000000000000000000000000000000000000000..df726b3191bccf7c302ec154e67daa1878b671ec
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/13af338e-7397-2e54-84fc-fa003f91ac0c.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/170725d2-9f1b-2d87-803b-c3210c0d30ff.json b/scan_data/3RScan/instance_id_to_gmm_color/170725d2-9f1b-2d87-803b-c3210c0d30ff.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a76aa08df7386bc8d6e321c70a9ce593927b678
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/170725d2-9f1b-2d87-803b-c3210c0d30ff.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/170725d4-9f1b-2d87-812a-b126916caa9f.json b/scan_data/3RScan/instance_id_to_gmm_color/170725d4-9f1b-2d87-812a-b126916caa9f.json
new file mode 100644
index 0000000000000000000000000000000000000000..66cf3a2226bb138c9007f3b5466dab329ef4ca6c
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/170725d4-9f1b-2d87-812a-b126916caa9f.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/1713f852-5300-2104-8658-73b77b66af61.json b/scan_data/3RScan/instance_id_to_gmm_color/1713f852-5300-2104-8658-73b77b66af61.json
new file mode 100644
index 0000000000000000000000000000000000000000..2922bd68b82408aa8485ddb9dc50dfbbeed201a8
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/1713f852-5300-2104-8658-73b77b66af61.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/1713f857-5300-2104-85c7-5e6e0b50713c.json b/scan_data/3RScan/instance_id_to_gmm_color/1713f857-5300-2104-85c7-5e6e0b50713c.json
new file mode 100644
index 0000000000000000000000000000000000000000..86c20e2d85ace55f41a008767ddf99a91b5d96b2
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/1713f857-5300-2104-85c7-5e6e0b50713c.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/1713f859-5300-2104-841c-c60e88ded469.json b/scan_data/3RScan/instance_id_to_gmm_color/1713f859-5300-2104-841c-c60e88ded469.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfb6c2256119073af087b61a2b8cfd6af5b500c1
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/1713f859-5300-2104-841c-c60e88ded469.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/1776ad76-4db7-2333-8ab2-6de6191f3d11.json b/scan_data/3RScan/instance_id_to_gmm_color/1776ad76-4db7-2333-8ab2-6de6191f3d11.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fdb350b6545e6a80b1441b520184b0d7947eebd
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/1776ad76-4db7-2333-8ab2-6de6191f3d11.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/1776ad78-4db7-2333-887f-d6b6a617255a.json b/scan_data/3RScan/instance_id_to_gmm_color/1776ad78-4db7-2333-887f-d6b6a617255a.json
new file mode 100644
index 0000000000000000000000000000000000000000..5146e1f87b986a2117f40b3db66db93eae0c10d1
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/1776ad78-4db7-2333-887f-d6b6a617255a.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/1776ad7a-4db7-2333-8afa-5fb5440b2edc.json b/scan_data/3RScan/instance_id_to_gmm_color/1776ad7a-4db7-2333-8afa-5fb5440b2edc.json
new file mode 100644
index 0000000000000000000000000000000000000000..9965755893f07af9e11fafee514ab0918101316b
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/1776ad7a-4db7-2333-8afa-5fb5440b2edc.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/1776ad7c-4db7-2333-88b3-edb7a9803f6f.json b/scan_data/3RScan/instance_id_to_gmm_color/1776ad7c-4db7-2333-88b3-edb7a9803f6f.json
new file mode 100644
index 0000000000000000000000000000000000000000..673554036d09f5a04c76fcc271d69d06454ed6e5
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/1776ad7c-4db7-2333-88b3-edb7a9803f6f.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/2e36953d-e133-204c-9045-d52ab9f09dcb.json b/scan_data/3RScan/instance_id_to_gmm_color/2e36953d-e133-204c-9045-d52ab9f09dcb.json
new file mode 100644
index 0000000000000000000000000000000000000000..580cffc599fdc982ba3b4495465fec9cbd6ede99
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/2e36953d-e133-204c-9045-d52ab9f09dcb.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/2e369549-e133-204c-91af-a19767a23bf2.json b/scan_data/3RScan/instance_id_to_gmm_color/2e369549-e133-204c-91af-a19767a23bf2.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5542c5bb961ecb22183dc93767076d938708ea9
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/2e369549-e133-204c-91af-a19767a23bf2.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/35788e22-696e-2374-8898-bc5d06109906.json b/scan_data/3RScan/instance_id_to_gmm_color/35788e22-696e-2374-8898-bc5d06109906.json
new file mode 100644
index 0000000000000000000000000000000000000000..f42d460c625eed3bf33e339b73bbef51c661d345
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/35788e22-696e-2374-8898-bc5d06109906.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/38770c95-86d7-27b8-8717-3485b411ddc7.json b/scan_data/3RScan/instance_id_to_gmm_color/38770c95-86d7-27b8-8717-3485b411ddc7.json
new file mode 100644
index 0000000000000000000000000000000000000000..b297c917d06e229db0c02a927930532082ae71ff
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/38770c95-86d7-27b8-8717-3485b411ddc7.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/38770c99-86d7-27b8-85c7-2a09ba38e105.json b/scan_data/3RScan/instance_id_to_gmm_color/38770c99-86d7-27b8-85c7-2a09ba38e105.json
new file mode 100644
index 0000000000000000000000000000000000000000..75d22c2c5f55916ec67537ad21efcce7bed18056
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/38770c99-86d7-27b8-85c7-2a09ba38e105.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/38770c9d-86d7-27b8-869e-4f713b04f290.json b/scan_data/3RScan/instance_id_to_gmm_color/38770c9d-86d7-27b8-869e-4f713b04f290.json
new file mode 100644
index 0000000000000000000000000000000000000000..97148f4d980a2a8018f3d1208032ec4eebf2d980
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/38770c9d-86d7-27b8-869e-4f713b04f290.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/3b7b33af-1b11-283e-9abd-170c6329c0e6.json b/scan_data/3RScan/instance_id_to_gmm_color/3b7b33af-1b11-283e-9abd-170c6329c0e6.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a78948ba375557aa2f080ec52144c2405f51cd7
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/3b7b33af-1b11-283e-9abd-170c6329c0e6.json
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\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_gmm_color/3b7b33b1-1b11-283e-9ac0-8843e072d7d5.json b/scan_data/3RScan/instance_id_to_gmm_color/3b7b33b1-1b11-283e-9ac0-8843e072d7d5.json
new file mode 100644
index 0000000000000000000000000000000000000000..e76519d916d0a21e7c9d90e1702ef2efdbe7bcf3
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/3b7b33b1-1b11-283e-9ac0-8843e072d7d5.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/41385827-a238-2435-8320-d8d3eb507f5e.json b/scan_data/3RScan/instance_id_to_gmm_color/41385827-a238-2435-8320-d8d3eb507f5e.json
new file mode 100644
index 0000000000000000000000000000000000000000..263a5182404e8c88a3fef34689dd24f8813a6219
--- /dev/null
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/4138582f-a238-2435-8332-6902542c2823.json b/scan_data/3RScan/instance_id_to_gmm_color/4138582f-a238-2435-8332-6902542c2823.json
new file mode 100644
index 0000000000000000000000000000000000000000..76cb51b86fefee64b6007d9de0877e408391d396
--- /dev/null
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/4138583f-a238-2435-8304-d0ccada0d1c6.json b/scan_data/3RScan/instance_id_to_gmm_color/4138583f-a238-2435-8304-d0ccada0d1c6.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ad2e458581afdee65c4e8a5e8657a5594175738
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/5555108f-36f1-29c0-8b75-21a0bb8b1833.json b/scan_data/3RScan/instance_id_to_gmm_color/5555108f-36f1-29c0-8b75-21a0bb8b1833.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ba8d100a8bd5975612043d5d7ed885aeaa9d7d4
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/5555108f-36f1-29c0-8b75-21a0bb8b1833.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/55551091-36f1-29c0-8bae-687acbf664a0.json b/scan_data/3RScan/instance_id_to_gmm_color/55551091-36f1-29c0-8bae-687acbf664a0.json
new file mode 100644
index 0000000000000000000000000000000000000000..087a8816537259ff653c17cf157d4496f24c942b
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/55551091-36f1-29c0-8bae-687acbf664a0.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/6a360527-fa53-2915-9649-f5c6c7eeeb01.json b/scan_data/3RScan/instance_id_to_gmm_color/6a360527-fa53-2915-9649-f5c6c7eeeb01.json
new file mode 100644
index 0000000000000000000000000000000000000000..71a29e8dd8084b3a3e6c6f747b8a10864a63add8
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/6a360527-fa53-2915-9649-f5c6c7eeeb01.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/6a36052b-fa53-2915-94fe-f6c908e61c52.json b/scan_data/3RScan/instance_id_to_gmm_color/6a36052b-fa53-2915-94fe-f6c908e61c52.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0ea94b452cdc6f0125763d59328470bdc32522f
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+++ b/scan_data/3RScan/instance_id_to_gmm_color/6a36052b-fa53-2915-94fe-f6c908e61c52.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/6a36052d-fa53-2915-9764-30d81b2cc2b5.json b/scan_data/3RScan/instance_id_to_gmm_color/6a36052d-fa53-2915-9764-30d81b2cc2b5.json
new file mode 100644
index 0000000000000000000000000000000000000000..1386753acc709ea371b5e2e7a6d90b6ce8aca044
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/6a36052d-fa53-2915-9764-30d81b2cc2b5.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/6a36052f-fa53-2915-9400-831b60c63077.json b/scan_data/3RScan/instance_id_to_gmm_color/6a36052f-fa53-2915-9400-831b60c63077.json
new file mode 100644
index 0000000000000000000000000000000000000000..90f49a3816ce13154428da6ae13f7113fa154cac
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/6a36052f-fa53-2915-9400-831b60c63077.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/6a36053b-fa53-2915-9716-6b5361c7791a.json b/scan_data/3RScan/instance_id_to_gmm_color/6a36053b-fa53-2915-9716-6b5361c7791a.json
new file mode 100644
index 0000000000000000000000000000000000000000..45f83a4df9c910fc812f9c0e695688b18ecd71ad
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+++ b/scan_data/3RScan/instance_id_to_gmm_color/6a36053b-fa53-2915-9716-6b5361c7791a.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/6a36053f-fa53-2915-9579-3938283bc154.json b/scan_data/3RScan/instance_id_to_gmm_color/6a36053f-fa53-2915-9579-3938283bc154.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea7c3ab4a0c5c58d9966cc7ebce364d4704455e9
--- /dev/null
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/6a360541-fa53-2915-9432-e4b7e065aa73.json b/scan_data/3RScan/instance_id_to_gmm_color/6a360541-fa53-2915-9432-e4b7e065aa73.json
new file mode 100644
index 0000000000000000000000000000000000000000..d127975bb17b8b14d5c3050be5e0f423e1ba528c
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/6bde6047-9162-246f-8f57-9da22a267db0.json b/scan_data/3RScan/instance_id_to_gmm_color/6bde6047-9162-246f-8f57-9da22a267db0.json
new file mode 100644
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/6bde6049-9162-246f-8c0e-25e1e80c0a45.json b/scan_data/3RScan/instance_id_to_gmm_color/6bde6049-9162-246f-8c0e-25e1e80c0a45.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0f411262905e30261ffcf12a446a95f6618b591
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/6bde6049-9162-246f-8c0e-25e1e80c0a45.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/787ed58c-9d98-2c97-83b9-b48a609ace15.json b/scan_data/3RScan/instance_id_to_gmm_color/787ed58c-9d98-2c97-83b9-b48a609ace15.json
new file mode 100644
index 0000000000000000000000000000000000000000..b482035c94b612e2ed4f81604795e70aafeaea73
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/787ed58c-9d98-2c97-83b9-b48a609ace15.json
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\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_gmm_color/787ed590-9d98-2c97-80db-89baaa605049.json b/scan_data/3RScan/instance_id_to_gmm_color/787ed590-9d98-2c97-80db-89baaa605049.json
new file mode 100644
index 0000000000000000000000000000000000000000..efde9fe2411c3d57328557cbefcce24c116327d7
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/787ed590-9d98-2c97-80db-89baaa605049.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/b8837e1f-57ec-29c6-88ad-4c19a5afbf36.json b/scan_data/3RScan/instance_id_to_gmm_color/b8837e1f-57ec-29c6-88ad-4c19a5afbf36.json
new file mode 100644
index 0000000000000000000000000000000000000000..adce9d6c53eb82b03d4f3a8e5ef6f7c6360ef778
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/b8837e1f-57ec-29c6-88ad-4c19a5afbf36.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/bf9a3ddd-45a5-2e80-80bc-647365c7ca08.json b/scan_data/3RScan/instance_id_to_gmm_color/bf9a3ddd-45a5-2e80-80bc-647365c7ca08.json
new file mode 100644
index 0000000000000000000000000000000000000000..a89d542598d6b76d71ca865200404cbcca750484
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/bf9a3ddd-45a5-2e80-80bc-647365c7ca08.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/bf9a3ddf-45a5-2e80-8007-8e9e7f323e52.json b/scan_data/3RScan/instance_id_to_gmm_color/bf9a3ddf-45a5-2e80-8007-8e9e7f323e52.json
new file mode 100644
index 0000000000000000000000000000000000000000..562c850b88d839db1c071770a9db1278d929325e
--- /dev/null
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/c92fb59e-f771-2064-8431-6a20d3396067.json b/scan_data/3RScan/instance_id_to_gmm_color/c92fb59e-f771-2064-8431-6a20d3396067.json
new file mode 100644
index 0000000000000000000000000000000000000000..15e2962bcfc400110d133dab772b5bfd53e886c1
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/c92fb59e-f771-2064-8431-6a20d3396067.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/c92fb5a0-f771-2064-8631-ec197369e100.json b/scan_data/3RScan/instance_id_to_gmm_color/c92fb5a0-f771-2064-8631-ec197369e100.json
new file mode 100644
index 0000000000000000000000000000000000000000..0203160bfbe7989c1bc1e79277907524abb462e5
--- /dev/null
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/ddc737a3-765b-241a-9c99-f98a3c126686.json b/scan_data/3RScan/instance_id_to_gmm_color/ddc737a3-765b-241a-9c99-f98a3c126686.json
new file mode 100644
index 0000000000000000000000000000000000000000..13509f78aaf9fcadb57101228f94ca6ced0eb0da
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/ddc737a3-765b-241a-9c99-f98a3c126686.json
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diff --git a/scan_data/3RScan/instance_id_to_gmm_color/ddc737a5-765b-241a-9cd2-c6e7a89aa43d.json b/scan_data/3RScan/instance_id_to_gmm_color/ddc737a5-765b-241a-9cd2-c6e7a89aa43d.json
new file mode 100644
index 0000000000000000000000000000000000000000..9856cbfa31409b1b87e771172ed898efa0ff8a1e
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_gmm_color/ddc737a5-765b-241a-9cd2-c6e7a89aa43d.json
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\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/0cac75de-8d6f-2d13-8e1a-b574569c3885.json b/scan_data/3RScan/instance_id_to_name/0cac75de-8d6f-2d13-8e1a-b574569c3885.json
new file mode 100644
index 0000000000000000000000000000000000000000..59971c54a268c861c000021e494231e84f3ed5fe
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/0cac75de-8d6f-2d13-8e1a-b574569c3885.json
@@ -0,0 +1 @@
+["object", "floor", "couch", "wall", "curtain", "wall", "fireplace", "table", "object", "curtain", "display case", "display case", "wall", "toilet", "wall", "object", "shelf", "shelf", "object", "shelf", "shelf", "decoration", "shelf", "chair", "chair", "object", "plate", "object", "box", "picture", "board", "wall", "lamp", "object", "ceiling", "object", "object", "object", "object", "light", "object", "object", "object", "candle", "object", "cabinet", "object", "shelf", "object", "pillow", "pillow", "pillow", "pillow", "object", "lamp"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/0cac75e4-8d6f-2d13-8f7c-fb5b5747d1ba.json b/scan_data/3RScan/instance_id_to_name/0cac75e4-8d6f-2d13-8f7c-fb5b5747d1ba.json
new file mode 100644
index 0000000000000000000000000000000000000000..440edaee83946e1655de17b7c6a0c17ba2289751
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/0cac75e4-8d6f-2d13-8f7c-fb5b5747d1ba.json
@@ -0,0 +1 @@
+["object", "floor", "bench", "table", "chair", "chair", "wall", "wall", "kitchen cabinet", "kitchen counter", "kitchen cabinet", "wall", "shelf", "wall", "curtain", "lamp", "kitchen cabinet", "object", "shelf", "wall", "wall", "shelf", "object", "object", "ceiling", "object", "object", "object", "object", "cloth", "object", "shelf", "shelf", "potted plant", "object", "ceiling", "basket", "frying pan", "range hood", "stove", "ceiling", "pillow"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/0cac75e8-8d6f-2d13-8fc4-acdbf00437c8.json b/scan_data/3RScan/instance_id_to_name/0cac75e8-8d6f-2d13-8fc4-acdbf00437c8.json
new file mode 100644
index 0000000000000000000000000000000000000000..45f3df4e34b4979ad3271c1701a987f009e34048
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/0cac75e8-8d6f-2d13-8fc4-acdbf00437c8.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "wall", "object", "curtain", "kitchen cabinet", "oven", "kitchen counter", "toilet", "kitchen cabinet", "kitchen cabinet", "sink", "refrigerator", "object", "shelf", "shelf", "ceiling", "lamp", "object", "paper towel dispenser", "chair", "chair", "stove", "object", "object", "storage container", "container", "container", "container", "fan", "container", "container", "container", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "round table"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/0cac75ea-8d6f-2d13-8e50-c5faf0159e32.json b/scan_data/3RScan/instance_id_to_name/0cac75ea-8d6f-2d13-8e50-c5faf0159e32.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a4b1eae7e0e724e500f9bc5906c692777b27ab7
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/0cac75ea-8d6f-2d13-8e50-c5faf0159e32.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "wall", "object", "curtain", "kitchen cabinet", "oven", "kitchen counter", "toilet", "kitchen cabinet", "kitchen cabinet", "sink", "refrigerator", "object", "shelf", "shelf", "ceiling", "object", "object", "paper towel dispenser", "object", "chair", "object", "object", "object", "storage container", "container", "container", "container", "object", "container", "container", "container", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "round table"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/0cac75ee-8d6f-2d13-8f1f-5f13d3b59ce3.json b/scan_data/3RScan/instance_id_to_name/0cac75ee-8d6f-2d13-8f1f-5f13d3b59ce3.json
new file mode 100644
index 0000000000000000000000000000000000000000..56eda30be38ea1d61a610b66bb87a30fc220b526
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/0cac75ee-8d6f-2d13-8f1f-5f13d3b59ce3.json
@@ -0,0 +1 @@
+["object", "floor", "sofa", "curtain", "wall", "wall", "towel", "towel", "wall", "toilet", "cabinet", "wall", "wall", "table", "chair", "chair", "kitchen cabinet", "kitchen cabinet", "kitchen counter", "pillow", "pillow", "decoration", "decoration", "sink", "kitchen mixer", "kitchen mixer", "stove", "oven", "kitchen cabinet", "kitchen cabinet", "object", "range hood", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "ceiling"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/0cac75f0-8d6f-2d13-8d86-371deca33bb4.json b/scan_data/3RScan/instance_id_to_name/0cac75f0-8d6f-2d13-8d86-371deca33bb4.json
new file mode 100644
index 0000000000000000000000000000000000000000..15f588eefa4c37a010e198c12d315f06c2819ef1
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/0cac75f0-8d6f-2d13-8d86-371deca33bb4.json
@@ -0,0 +1 @@
+["object", "floor", "sofa", "curtain", "wall", "wall", "towel", "towel", "wall", "toilet", "cabinet", "wall", "wall", "table", "chair", "chair", "kitchen cabinet", "kitchen cabinet", "kitchen counter", "pillow", "pillow", "decoration", "decoration", "sink", "kitchen mixer", "kitchen mixer", "stove", "oven", "kitchen cabinet", "kitchen cabinet", "shelf", "towel"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/0cac75f2-8d6f-2d13-8f0f-f00e880b4e7b.json b/scan_data/3RScan/instance_id_to_name/0cac75f2-8d6f-2d13-8f0f-f00e880b4e7b.json
new file mode 100644
index 0000000000000000000000000000000000000000..bac141bf10676b8fb5a0ee402201cbdafbf9d4a4
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/0cac75f2-8d6f-2d13-8f0f-f00e880b4e7b.json
@@ -0,0 +1 @@
+["object", "floor", "chair", "chair", "chair", "chair", "table", "kitchen cabinet", "kitchen counter", "wall", "kitchen cabinet", "object", "kitchen cabinet", "wall", "curtain", "wall", "shelf", "wall", "towel", "object", "kitchen cabinet", "ceiling", "object", "shelf", "wall", "ladder", "object", "potted plant", "sink", "shelf", "bottle", "object", "potted plant", "object", "object", "towel", "towel", "wall", "object", "stove", "oven", "object", "box", "object", "cutting board", "object", "shelf"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/0cac75f4-8d6f-2d13-8c10-ce688f7ac0af.json b/scan_data/3RScan/instance_id_to_name/0cac75f4-8d6f-2d13-8c10-ce688f7ac0af.json
new file mode 100644
index 0000000000000000000000000000000000000000..2798ea27d413cf0dc3179dbfbbeedbad79e99d85
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/0cac75f4-8d6f-2d13-8c10-ce688f7ac0af.json
@@ -0,0 +1 @@
+["object", "floor", "chair", "chair", "chair", "chair", "table", "kitchen cabinet", "kitchen counter", "wall", "kitchen cabinet", "object", "kitchen cabinet", "wall", "curtain", "wall", "shelf", "wall", "towel", "object", "kitchen cabinet", "ceiling", "object", "shelf", "wall", "ladder", "object", "potted plant", "sink", "shelf", "bottle", "object", "potted plant", "object", "object", "towel", "towel", "wall", "object", "stove", "oven", "object", "box", "object", "cutting board", "microwave"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/0cac760d-8d6f-2d13-8ea2-109ce4da9ac9.json b/scan_data/3RScan/instance_id_to_name/0cac760d-8d6f-2d13-8ea2-109ce4da9ac9.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce748d8cb23264821867375f7aadcd7bdc54f400
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/0cac760d-8d6f-2d13-8ea2-109ce4da9ac9.json
@@ -0,0 +1 @@
+["object", "floor", "chair", "bed", "nightstand", "nightstand", "wall", "curtain", "wall", "table", "stool", "mirror", "table", "wardrobe", "mirror", "toilet", "wall", "lamp", "lamp", "object", "object", "object", "object", "object", "box", "candle", "keyboard piano", "shelf", "object", "object", "object", "object", "wall", "picture", "pillow", "pillow", "pillow", "pillow", "blanket", "blanket", "pillow", "shelf", "object", "ceiling"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/10b17965-3938-2467-8997-5dabffaa41a9.json b/scan_data/3RScan/instance_id_to_name/10b17965-3938-2467-8997-5dabffaa41a9.json
new file mode 100644
index 0000000000000000000000000000000000000000..3069895d6c192534d9c180405e86ec3d1298c2ea
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/10b17965-3938-2467-8997-5dabffaa41a9.json
@@ -0,0 +1 @@
+["object", "floor", "wardrobe", "wall", "wall", "object", "shelf", "desk", "printer", "display case", "basket", "chair", "wall", "clothing", "curtain", "bed", "blanket", "blanket", "wall", "nightstand", "ceiling", "object", "object", "doorframe", "object", "door", "object", "object", "object", "object", "lamp", "wardrobe", "teddy bear", "potted plant", "doorframe", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "wardrobe"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/10b17967-3938-2467-88c5-a299519f9ad7.json b/scan_data/3RScan/instance_id_to_name/10b17967-3938-2467-88c5-a299519f9ad7.json
new file mode 100644
index 0000000000000000000000000000000000000000..114f822e82a2b84b6becbb7eee6eaaf266b13083
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/10b17967-3938-2467-88c5-a299519f9ad7.json
@@ -0,0 +1 @@
+["object", "shelf", "wall", "shelf", "wall", "ceiling", "wardrobe", "toilet", "object", "object", "box", "wall", "wall", "shelf", "floor", "box", "box", "wall", "object", "object", "object", "object", "wardrobe", "box", "box"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/10b17969-3938-2467-8b12-9a43fea68e63.json b/scan_data/3RScan/instance_id_to_name/10b17969-3938-2467-8b12-9a43fea68e63.json
new file mode 100644
index 0000000000000000000000000000000000000000..458f1b60da8edab5dd192343856acea5e413fdc0
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/10b17969-3938-2467-8b12-9a43fea68e63.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "wall", "wall", "wall", "wall", "bathroom cabinet", "ceiling", "wall", "wall", "wall", "door", "sink", "bathroom cabinet", "shelf", "trash can", "bathroom cabinet", "shelf", "window", "curtain", "toilet", "bathroom cabinet", "trash can", "frame", "toilet paper rolls", "bathtub", "object", "statue", "object", "object", "object", "towel", "bathroom cabinet", "towel", "object", "tube", "clothes dryers", "scale", "basket", "basket", "wall", "clothing"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/10b1796b-3938-2467-88bc-c224c21bc91c.json b/scan_data/3RScan/instance_id_to_name/10b1796b-3938-2467-88bc-c224c21bc91c.json
new file mode 100644
index 0000000000000000000000000000000000000000..a739163229fd8ef6c801aae96d63f624b4a68372
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/10b1796b-3938-2467-88bc-c224c21bc91c.json
@@ -0,0 +1 @@
+["object", "ceiling", "wall", "curtain", "object", "tv stand", "wardrobe", "wall", "wall", "wall", "toilet", "floor", "nightstand", "nightstand", "table lamp", "table lamp", "bed", "cabinet", "door", "clothing", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "bag", "object", "object", "box", "stuffed animal", "clothing", "statue", "clothing", "doorframe", "object", "object", "object", "object", "object", "object", "box", "object", "object", "frame", "window", "object", "blanket", "blanket", "pillow", "object", "object", "object", "windowsill", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/10b17971-3938-2467-8a86-2b42613aa7ec.json b/scan_data/3RScan/instance_id_to_name/10b17971-3938-2467-8a86-2b42613aa7ec.json
new file mode 100644
index 0000000000000000000000000000000000000000..765e614301ca07db0fedc24292c3e039e57d692c
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/10b17971-3938-2467-8a86-2b42613aa7ec.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "wall", "whiteboard", "wardrobe", "wall", "wall", "picture", "shelf", "door", "wardrobe", "wall", "door", "ceiling", "wall", "window", "potted plant", "bed", "cabinet", "object", "shelf", "table", "chair", "chair", "sofa", "cabinet", "end table", "backpack", "wall", "door", "wall", "door", "ceiling", "chair", "table", "pillow", "pillow", "pillow", "lamp", "clothing", "wall", "lamp", "lamp", "object", "bag", "doorframe", "object", "cabinet", "object", "object", "object", "stairs", "table", "basket", "basket", "suitcase", "object", "pillow", "pillow", "blanket", "clothing", "clothing", "object"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/10b17973-3938-2467-8906-5ba39b48458d.json b/scan_data/3RScan/instance_id_to_name/10b17973-3938-2467-8906-5ba39b48458d.json
new file mode 100644
index 0000000000000000000000000000000000000000..25780b8481c8db543e22af0ffeff5f3fc80f44d2
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/10b17973-3938-2467-8906-5ba39b48458d.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "wall", "whiteboard", "wardrobe", "wall", "wall", "picture", "shelf", "door", "wardrobe", "wall", "door", "ceiling", "wall", "window", "potted plant", "bed", "cabinet", "object", "shelf", "table", "chair", "chair", "sofa", "cabinet", "end table", "backpack", "wall", "door", "wall", "object", "ceiling", "chair", "table", "pillow", "pillow", "pillow", "lamp", "clothing", "object", "object", "lamp", "object", "bag", "doorframe", "object", "cabinet", "object", "object", "object", "stairs", "table", "basket", "basket", "suitcase", "object", "pillow", "pillow", "blanket", "clothing", "clothing", "object"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/13124cbe-cec3-27a6-8745-6e02a03494d2.json b/scan_data/3RScan/instance_id_to_name/13124cbe-cec3-27a6-8745-6e02a03494d2.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f2602e5ab4060025dbd129f7c01faac7ac68ae3
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/13124cbe-cec3-27a6-8745-6e02a03494d2.json
@@ -0,0 +1 @@
+["object", "floor", "carpet", "wardrobe", "wall", "wall", "wardrobe", "wardrobe", "backpack", "clothing", "bag", "object", "object", "object", "ceiling", "object", "object", "wall", "object", "helmet"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/4d3d82b0-8cf4-2e04-80a8-c955ea964c2f.json b/scan_data/3RScan/instance_id_to_name/4d3d82b0-8cf4-2e04-80a8-c955ea964c2f.json
new file mode 100644
index 0000000000000000000000000000000000000000..719d6bdb5a8ef11f3b81063f0ab9d5a07c79a50b
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/4d3d82b0-8cf4-2e04-80a8-c955ea964c2f.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "toilet", "sink", "wall", "door", "wall", "towel", "wall", "ceiling", "wall", "bathtub", "shower curtain", "bathroom cabinet", "object", "treadmill", "ceiling", "lamp", "lamp", "lamp", "trash can", "soap bottle", "doorframe"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/4d3d82b6-8cf4-2e04-830a-4303fa0e79c7.json b/scan_data/3RScan/instance_id_to_name/4d3d82b6-8cf4-2e04-830a-4303fa0e79c7.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e41c1c8e68d059aea4843ba8dec234e017badfa
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/4d3d82b6-8cf4-2e04-830a-4303fa0e79c7.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "door", "wall", "wall", "wall", "door", "wall", "door", "wall", "wall", "kitchen cabinet", "wall", "counter", "kitchen cabinet", "chair", "chair", "chair", "chair", "table", "refrigerator", "wall", "wall", "object", "object", "object", "stair", "kitchen cabinet", "book", "table", "object", "object", "box", "box", "microwave", "microwave", "stove", "sink", "object", "paper towel roll", "ceiling", "ceiling", "ceiling", "clothing", "wall", "oven"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/4d3d82b8-8cf4-2e04-803d-3091a545e57a.json b/scan_data/3RScan/instance_id_to_name/4d3d82b8-8cf4-2e04-803d-3091a545e57a.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c2698603ed0a555d97b22115b0bd2539eacf721
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/4d3d82b8-8cf4-2e04-803d-3091a545e57a.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "door", "wall", "wall", "wall", "door", "wall", "door", "wall", "wall", "kitchen cabinet", "wall", "counter", "kitchen cabinet", "chair", "chair", "chair", "chair", "table", "refrigerator", "wall", "object", "object", "object", "object", "stair", "kitchen cabinet", "book", "table", "object", "object", "box", "box", "microwave", "microwave", "stove", "sink", "object", "paper towel roll", "ceiling", "ceiling", "object", "clothing", "wall", "object", "object", "oven"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/4d3d82ba-8cf4-2e04-8218-432a802344be.json b/scan_data/3RScan/instance_id_to_name/4d3d82ba-8cf4-2e04-8218-432a802344be.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8f998eff3d334ee30546e4ff7beb319d3b6de7f
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/4d3d82ba-8cf4-2e04-8218-432a802344be.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "window", "wall", "sofa", "coffee table", "wall", "stairs", "fireplace", "object", "object", "object", "object", "chair", "lamp", "backpack", "object", "chair", "object", "object", "object", "object", "object", "lamp", "bag", "table", "object", "object", "object", "object", "object", "object", "candle", "pillow", "pillow", "pillow", "pillow", "pillow"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/4d3d82bc-8cf4-2e04-8007-e2f7fe679737.json b/scan_data/3RScan/instance_id_to_name/4d3d82bc-8cf4-2e04-8007-e2f7fe679737.json
new file mode 100644
index 0000000000000000000000000000000000000000..96e1628e266162390053fba88cc122cee63437ae
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/4d3d82bc-8cf4-2e04-8007-e2f7fe679737.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "window", "wall", "sofa", "coffee table", "wall", "stairs", "fireplace", "object", "object", "object", "object", "chair", "lamp", "backpack", "object", "chair", "object", "object", "object", "object", "wall", "lamp", "bag", "table", "object", "object", "object", "object", "object", "object", "candle", "pillow", "pillow", "pillow", "pillow", "pillow"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/5341b7af-8a66-2cdd-8431-8c73b0c10878.json b/scan_data/3RScan/instance_id_to_name/5341b7af-8a66-2cdd-8431-8c73b0c10878.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ae0dcc9dd8a7518177d9ccfed9269f752d214b0
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/5341b7af-8a66-2cdd-8431-8c73b0c10878.json
@@ -0,0 +1 @@
+["object", "floor", "armchair", "sofa", "armchair", "armchair", "chair", "chair", "table", "display case", "wall", "object", "wall", "curtain", "wall", "wall", "object", "object", "curtain", "curtain", "object", "wall", "fireplace", "object", "wall", "ceiling", "object", "object", "object", "object", "candle", "candle", "candle", "potted plant", "potted plant", "potted plant", "potted plant", "potted plant", "pillow", "pillow", "pillow", "coffee table", "object", "object", "book", "object", "object", "object", "object", "object", "object", "object", "object", "pillow"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/5341b7b3-8a66-2cdd-856d-9d70e194568b.json b/scan_data/3RScan/instance_id_to_name/5341b7b3-8a66-2cdd-856d-9d70e194568b.json
new file mode 100644
index 0000000000000000000000000000000000000000..c76edd5152883152677f59c33ccc6fe0f005fdf2
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/5341b7b3-8a66-2cdd-856d-9d70e194568b.json
@@ -0,0 +1 @@
+["object", "floor", "cabinet", "cabinet", "wall", "bench", "object", "fireplace", "sofa", "lamp", "table", "pillow", "object", "pillow", "pillow", "object", "pillow", "object", "wood", "object", "bench", "object", "object", "wall", "object", "object", "object", "wall", "object", "object", "object", "wall", "object", "object", "wood", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "table", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "ceiling", "object", "object", "light", "object", "object", "pillow", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "pillow", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "pillow"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/5341b7b5-8a66-2cdd-841d-805bfa2c44b5.json b/scan_data/3RScan/instance_id_to_name/5341b7b5-8a66-2cdd-841d-805bfa2c44b5.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4f3b2e41a307e83fe57c0ca5c9805bd56d3faee
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/5341b7b5-8a66-2cdd-841d-805bfa2c44b5.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "window", "curtain", "curtain", "table", "object", "wall", "sofa", "column", "ladder", "wall", "object", "stool", "wall", "toilet", "chair", "bench", "stool", "wall", "object", "lamp", "table", "shelf", "object", "wardrobe", "object", "ceiling", "object", "object", "object", "shelf", "shelf", "object", "lamp", "lamp", "lamp", "object", "pillow", "pillow", "pillow", "object", "object", "object", "shelf", "object", "curtain", "object", "pillow", "object", "potted plant", "bag", "object", "object", "object", "object", "object", "table", "potted plant", "object", "potted plant", "pillow", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "stool", "object", "armchair"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/6a36053f-fa53-2915-9579-3938283bc154.json b/scan_data/3RScan/instance_id_to_name/6a36053f-fa53-2915-9579-3938283bc154.json
new file mode 100644
index 0000000000000000000000000000000000000000..e28c810c3600ce268f6bd2ccb24042fd83923a7d
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/6a36053f-fa53-2915-9579-3938283bc154.json
@@ -0,0 +1 @@
+["object", "floor", "stool", "table", "toilet", "bed", "wall", "object", "picture", "picture", "wardrobe", "wall", "curtain", "object", "mirror", "object", "wall", "books", "object", "box", "books", "object", "ceiling", "shelf", "pillow", "pillow", "object", "cabinet", "whiteboard", "paper towel dispenser", "object", "object", "object", "object", "object", "blanket", "object", "lamp", "window", "potted plant", "object", "object", "light", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "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", "door"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/6a360541-fa53-2915-9432-e4b7e065aa73.json b/scan_data/3RScan/instance_id_to_name/6a360541-fa53-2915-9432-e4b7e065aa73.json
new file mode 100644
index 0000000000000000000000000000000000000000..4afe2fb829896c38d03d8746db5dc86d5b59f65a
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/6a360541-fa53-2915-9432-e4b7e065aa73.json
@@ -0,0 +1 @@
+["object", "floor", "wardrobe", "wall", "shelf", "wardrobe", "object", "object", "ceiling", "object", "light", "shelf", "clothing", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "shoes", "object", "object", "object", "object", "object", "object", "shoes", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "mirror", "wall", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "wall", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "shoes", "object", "purse", "wardrobe"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/6a360543-fa53-2915-95a7-697af24d1d25.json b/scan_data/3RScan/instance_id_to_name/6a360543-fa53-2915-95a7-697af24d1d25.json
new file mode 100644
index 0000000000000000000000000000000000000000..99a412d7166063c0348470496da654e91cce7082
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/6a360543-fa53-2915-95a7-697af24d1d25.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "curtain", "curtain", "window", "bed", "nightstand", "toilet", "windowsill", "desk", "chair", "object", "pillow", "pillow", "object", "pillow", "object", "pillow", "ceiling", "object", "wall", "object", "decoration", "potted plant", "picture", "picture", "picture", "picture", "picture", "picture", "object", "object", "object", "wall", "object", "object", "window", "blanket", "object", "pillow", "pillow", "object", "object"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/6a360545-fa53-2915-9484-a3de8990a423.json b/scan_data/3RScan/instance_id_to_name/6a360545-fa53-2915-9484-a3de8990a423.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4f95868658e815fd1751fd19a6fd4fd0a30a344
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/6a360545-fa53-2915-9484-a3de8990a423.json
@@ -0,0 +1 @@
+["object", "floor", "carpet", "wardrobe", "wall", "wall", "wardrobe", "wardrobe", "backpack", "clothing", "object", "object", "object", "object", "ceiling", "object", "object", "wall", "object", "helmet", "object", "wall"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/6a360547-fa53-2915-9606-a90f1c737290.json b/scan_data/3RScan/instance_id_to_name/6a360547-fa53-2915-9606-a90f1c737290.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7c077cf1534323821068014db2c96d817f20c4f
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/6a360547-fa53-2915-9606-a90f1c737290.json
@@ -0,0 +1 @@
+["object", "floor", "carpet", "wardrobe", "wall", "wall", "object", "wardrobe", "backpack", "clothing", "object", "object", "object", "object", "ceiling", "object", "object", "wall", "object", "helmet", "object"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/6a360549-fa53-2915-97ad-3853a1cb460c.json b/scan_data/3RScan/instance_id_to_name/6a360549-fa53-2915-97ad-3853a1cb460c.json
new file mode 100644
index 0000000000000000000000000000000000000000..09621e1559e56cc415b866eb975c0aa923532e3c
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/6a360549-fa53-2915-97ad-3853a1cb460c.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "window", "wall", "wall", "ceiling", "wall", "wall", "ceiling", "rack stand", "toilet", "sink", "object", "shelf", "bench", "object", "object", "object", "object", "trash can", "object", "object", "papers", "ceiling", "object", "object", "mirror", "object", "object", "object", "object", "object", "object", "towel", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "toiletry", "toiletry", "object", "object", "potted plant", "potted plant", "lamp", "object", "object", "object", "laundry basket", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "toilet"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/6a36054b-fa53-2915-946e-4ec15f811f6e.json b/scan_data/3RScan/instance_id_to_name/6a36054b-fa53-2915-946e-4ec15f811f6e.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7ae762498e09b0b5594de96ab62899983445b4d
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/6a36054b-fa53-2915-946e-4ec15f811f6e.json
@@ -0,0 +1 @@
+["object", "floor", "object", "wall", "wall", "object", "bed", "object", "object", "object", "shelf", "shelf", "lamp", "object", "lamp", "object", "lamp", "object", "object", "pillow", "pillow", "blanket"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/6a36054d-fa53-2915-94a6-7e44f4f7a6cf.json b/scan_data/3RScan/instance_id_to_name/6a36054d-fa53-2915-94a6-7e44f4f7a6cf.json
new file mode 100644
index 0000000000000000000000000000000000000000..837b6e6171456f157e71d0d99a1062a1b4039a8d
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/6a36054d-fa53-2915-94a6-7e44f4f7a6cf.json
@@ -0,0 +1 @@
+["object", "floor", "object", "wall", "wall", "object", "bed", "object", "object", "object", "shelf", "shelf", "lamp", "object", "lamp", "object", "lamp", "object", "object", "pillow", "object", "blanket", "object", "ceiling", "object", "object", "object", "object", "object", "object", "object", "pillow"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/6a360551-fa53-2915-9739-7b7c1857bed3.json b/scan_data/3RScan/instance_id_to_name/6a360551-fa53-2915-9739-7b7c1857bed3.json
new file mode 100644
index 0000000000000000000000000000000000000000..0307dfed7eeaadd69b2882eadc75c79fb35e018f
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/6a360551-fa53-2915-9739-7b7c1857bed3.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "curtain", "window", "wall", "wall", "ceiling", "trash can", "loft bed", "lamp", "trash can", "object", "object", "object", "clothes hanger", "backpack", "cabinet", "object", "object", "box", "object", "sofa chair", "object", "ball", "chair", "doll", "cushion", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "box"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/6a360555-fa53-2915-9721-bff473f98125.json b/scan_data/3RScan/instance_id_to_name/6a360555-fa53-2915-9721-bff473f98125.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b519f88bfb85b6a9e2e8051bd3ef922cb012a24
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/6a360555-fa53-2915-9721-bff473f98125.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "bed", "wardrobe", "chair", "object", "board", "desk", "backpack", "shelf", "stair", "ceiling", "object", "object", "object", "object", "shelf", "lamp", "basket", "plant", "lamp", "object", "object", "lamp"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/6bde60d2-9162-246f-8dbf-dbd911924def.json b/scan_data/3RScan/instance_id_to_name/6bde60d2-9162-246f-8dbf-dbd911924def.json
new file mode 100644
index 0000000000000000000000000000000000000000..adeb921e50aea67fad0a955f0b36ed08ff326296
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/6bde60d2-9162-246f-8dbf-dbd911924def.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "door", "wall", "wall", "wall", "wall", "sink", "toilet", "ceiling", "exit sign", "trash can", "hand rail", "hand rail", "fan", "wall", "hand dryer"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/6bde60d8-9162-246f-8f11-834bec23f91e.json b/scan_data/3RScan/instance_id_to_name/6bde60d8-9162-246f-8f11-834bec23f91e.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0e7ea7d6ce2b73a65a5fb57ce9759ce94dd3439
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/6bde60d8-9162-246f-8f11-834bec23f91e.json
@@ -0,0 +1 @@
+["object", "floor", "stairs", "object", "wall", "picture", "sofa", "wall", "wall", "ceiling", "wall", "door", "door", "armchair", "armchair", "railing", "object", "object", "table"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/6bde60da-9162-246f-8ec0-a5f4760ef7b8.json b/scan_data/3RScan/instance_id_to_name/6bde60da-9162-246f-8ec0-a5f4760ef7b8.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0e7ea7d6ce2b73a65a5fb57ce9759ce94dd3439
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/6bde60da-9162-246f-8ec0-a5f4760ef7b8.json
@@ -0,0 +1 @@
+["object", "floor", "stairs", "object", "wall", "picture", "sofa", "wall", "wall", "ceiling", "wall", "door", "door", "armchair", "armchair", "railing", "object", "object", "table"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/6bde60dc-9162-246f-8c8c-9403300d2636.json b/scan_data/3RScan/instance_id_to_name/6bde60dc-9162-246f-8c8c-9403300d2636.json
new file mode 100644
index 0000000000000000000000000000000000000000..888851835a4f16ac0eeac933430b0d3c96b47b1f
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/6bde60dc-9162-246f-8c8c-9403300d2636.json
@@ -0,0 +1 @@
+["object", "floor", "stairs", "object", "wall", "picture", "sofa", "wall", "wall", "ceiling", "wall", "door", "door", "armchair", "armchair", "railing", "object", "object", "table", "object", "object", "wall"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/752cc578-920c-26f5-8d8d-8a4239658074.json b/scan_data/3RScan/instance_id_to_name/752cc578-920c-26f5-8d8d-8a4239658074.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e094266c5acf719155de1d74b96ae44f5f2f10a
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/752cc578-920c-26f5-8d8d-8a4239658074.json
@@ -0,0 +1 @@
+["object", "sofa", "object", "sofa", "sofa", "sofa", "sofa", "coffee table", "object", "coffee table", "desk", "desk", "pillar", "pillar", "foosball table", "desk", "refrigerator", "file cabinet", "desk", "floor", "kitchen counter", "kitchen cabinet", "object", "wardrobe", "wall", "wall", "wall", "wall", "tv", "tv stand", "cabinet", "cabinet", "heater", "ceiling", "frame", "frame", "frame", "wall", "frame", "object", "object", "object", "chair", "chair", "chair", "trash can", "object", "wall", "bottle", "wall", "wall", "sink", "stove", "oven", "bag", "object", "object", "object", "object", "wall", "object", "object", "object", "frame", "object", "trash can", "dart board", "box", "lamp", "wall", "chair", "object", "object", "speaker", "speaker", "object", "object", "table"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/752cc57a-920c-26f5-8ce3-828413bc3cd4.json b/scan_data/3RScan/instance_id_to_name/752cc57a-920c-26f5-8ce3-828413bc3cd4.json
new file mode 100644
index 0000000000000000000000000000000000000000..795ddde87e9cad3dcb25a74e8b54941489c1d4b1
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/752cc57a-920c-26f5-8ce3-828413bc3cd4.json
@@ -0,0 +1 @@
+["object", "sofa", "sofa", "sofa", "sofa", "sofa", "sofa", "coffee table", "coffee table", "coffee table", "desk", "desk", "pillar", "pillar", "foosball table", "desk", "refrigerator", "file cabinet", "desk", "floor", "kitchen counter", "kitchen cabinet", "wall", "wardrobe", "wall", "wall", "wall", "wall", "tv", "tv stand", "cabinet", "cabinet", "heater", "ceiling", "frame", "frame", "frame", "wall", "frame", "cabinet", "object", "object", "chair", "chair", "chair", "trash can", "object", "wall", "bottle", "wall", "wall", "sink", "stove", "oven", "object", "object", "object", "object", "wall", "wall", "frame", "object", "object", "frame", "object", "trash can", "dart board", "box", "lamp", "wall", "chair", "object", "object", "speaker", "speaker", "object", "object", "table"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/752cc57d-920c-26f5-8db9-9831c97088fe.json b/scan_data/3RScan/instance_id_to_name/752cc57d-920c-26f5-8db9-9831c97088fe.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b4ef4039e2f8c98407ef50fa6bb0d76e157adb4
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/752cc57d-920c-26f5-8db9-9831c97088fe.json
@@ -0,0 +1 @@
+["object", "sofa", "sofa", "sofa", "sofa", "sofa", "sofa", "coffee table", "coffee table", "coffee table", "desk", "desk", "pillar", "pillar", "foosball table", "desk", "refrigerator", "file cabinet", "desk", "floor", "kitchen counter", "kitchen cabinet", "wall", "wardrobe", "wall", "wall", "wall", "wall", "tv", "tv stand", "cabinet", "cabinet", "heater", "ceiling", "frame", "frame", "frame", "wall", "frame", "cabinet", "object", "object", "chair", "chair", "chair", "trash can", "object", "wall", "bottle", "wall", "wall", "sink", "stove", "oven", "bag", "object", "object", "wall", "wall", "wall", "frame", "object", "object", "frame", "object", "trash can", "object", "object", "lamp", "wall", "chair", "object", "wall", "speaker", "speaker", "object", "object", "table"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/752cc57f-920c-26f5-8e8d-1f9d567cffd7.json b/scan_data/3RScan/instance_id_to_name/752cc57f-920c-26f5-8e8d-1f9d567cffd7.json
new file mode 100644
index 0000000000000000000000000000000000000000..034e95c28adffb2620e2111ed233586cf9df0dbb
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/752cc57f-920c-26f5-8e8d-1f9d567cffd7.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "radiator", "scale", "tube", "wall", "door", "window", "window", "wall", "washing machine", "machine", "machine", "wall", "wall", "washing machine", "washing machine", "washing machine", "washing machine", "washing machine", "wall", "ceiling", "object", "object", "object", "wall", "clothing", "pipe", "pillar", "wood beam", "washing machine", "bag", "pillar", "trash can", "bag", "pillar", "clothing", "ceiling", "machine", "pipe", "object", "bucket", "bag", "object", "object", "object", "object", "object", "soap dispenser"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/7747a4ee-9431-24e8-87be-433088b665c2.json b/scan_data/3RScan/instance_id_to_name/7747a4ee-9431-24e8-87be-433088b665c2.json
new file mode 100644
index 0000000000000000000000000000000000000000..48183731a53d0ce20a2491eb14f1c4e78d906aea
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/7747a4ee-9431-24e8-87be-433088b665c2.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "door", "wall", "wall", "wall", "wall", "picture", "wall", "wall", "ceiling", "bookshelf", "curtain", "bed", "armchair", "toilet", "table", "stand", "chair", "window", "fan", "heater", "nightstand", "luggage", "picture", "monitor", "object", "laptop", "box", "printer", "object", "trash can", "power outlet", "object", "lamp", "object", "object", "pillow", "pillow", "guitar", "dumbbell", "candle", "object", "object", "chair", "object"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/7747a500-9431-24e8-8705-84f904e3bc57.json b/scan_data/3RScan/instance_id_to_name/7747a500-9431-24e8-8705-84f904e3bc57.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa80df87446c0df0e167cb37ee40d0d63bdbf48f
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/7747a500-9431-24e8-8705-84f904e3bc57.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "door", "wall", "wall", "wall", "wall", "picture", "wall", "wall", "ceiling", "bookshelf", "curtain", "bed", "armchair", "toilet", "table", "stand", "chair", "window", "fan", "heater", "nightstand", "luggage", "object", "monitor", "object", "laptop", "box", "printer", "object", "trash can", "power outlet", "object", "lamp", "object", "object", "pillow", "pillow", "guitar", "dumbbell", "candle", "object", "object"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/7747a502-9431-24e8-8456-5c6bc3e2eea3.json b/scan_data/3RScan/instance_id_to_name/7747a502-9431-24e8-8456-5c6bc3e2eea3.json
new file mode 100644
index 0000000000000000000000000000000000000000..309d78f14a1c5cbcbd753cdc323e7c15d5586175
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/7747a502-9431-24e8-8456-5c6bc3e2eea3.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "door", "wall", "wall", "wall", "wall", "picture", "wall", "wall", "ceiling", "bookshelf", "curtain", "bed", "armchair", "toilet", "table", "stand", "chair", "window", "fan", "heater", "nightstand", "luggage", "picture", "monitor", "object", "laptop", "box", "printer", "object", "trash can", "power outlet", "object", "lamp", "object", "object", "pillow", "pillow", "guitar", "dumbbell", "candle", "object", "object"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/7747a504-9431-24e8-8587-7e4443481e6c.json b/scan_data/3RScan/instance_id_to_name/7747a504-9431-24e8-8587-7e4443481e6c.json
new file mode 100644
index 0000000000000000000000000000000000000000..309d78f14a1c5cbcbd753cdc323e7c15d5586175
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/7747a504-9431-24e8-8587-7e4443481e6c.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "door", "wall", "wall", "wall", "wall", "picture", "wall", "wall", "ceiling", "bookshelf", "curtain", "bed", "armchair", "toilet", "table", "stand", "chair", "window", "fan", "heater", "nightstand", "luggage", "picture", "monitor", "object", "laptop", "box", "printer", "object", "trash can", "power outlet", "object", "lamp", "object", "object", "pillow", "pillow", "guitar", "dumbbell", "candle", "object", "object"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/7747a506-9431-24e8-87d9-37a5654d41f4.json b/scan_data/3RScan/instance_id_to_name/7747a506-9431-24e8-87d9-37a5654d41f4.json
new file mode 100644
index 0000000000000000000000000000000000000000..309d78f14a1c5cbcbd753cdc323e7c15d5586175
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/7747a506-9431-24e8-87d9-37a5654d41f4.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "door", "wall", "wall", "wall", "wall", "picture", "wall", "wall", "ceiling", "bookshelf", "curtain", "bed", "armchair", "toilet", "table", "stand", "chair", "window", "fan", "heater", "nightstand", "luggage", "picture", "monitor", "object", "laptop", "box", "printer", "object", "trash can", "power outlet", "object", "lamp", "object", "object", "pillow", "pillow", "guitar", "dumbbell", "candle", "object", "object"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/7747a508-9431-24e8-863c-c53906506d8b.json b/scan_data/3RScan/instance_id_to_name/7747a508-9431-24e8-863c-c53906506d8b.json
new file mode 100644
index 0000000000000000000000000000000000000000..113db4295abf93fc5bfe1acd0db5e30fd76aebfd
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/7747a508-9431-24e8-863c-c53906506d8b.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "picture", "wall", "door", "object", "wall", "picture", "wall", "picture", "picture", "window", "wall", "picture", "wall", "wall", "display case", "tv", "wall", "wall", "picture", "curtain", "fan", "window", "armchair", "ceiling", "coffee table", "table", "chair", "chair", "sofa", "object", "stand", "object", "chair", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "lamp", "chandelier", "object", "object", "chair", "chair", "object", "object", "plant", "object", "plate", "candle", "vase", "pillow", "pillow", "pillow", "pillow", "object", "object", "object", "pillow"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/7747a50a-9431-24e8-85c6-3488c128ac26.json b/scan_data/3RScan/instance_id_to_name/7747a50a-9431-24e8-85c6-3488c128ac26.json
new file mode 100644
index 0000000000000000000000000000000000000000..a46925b804ac4dfd885e79b9639fe9362799be5f
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/7747a50a-9431-24e8-85c6-3488c128ac26.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "picture", "wall", "door", "picture", "wall", "picture", "wall", "picture", "picture", "window", "wall", "picture", "wall", "wall", "display case", "tv", "wall", "wall", "picture", "curtain", "fan", "window", "armchair", "ceiling", "coffee table", "table", "chair", "chair", "sofa", "chair", "stand", "object", "chair", "object", "object", "object", "object", "object", "object", "object", "picture", "picture", "object", "lamp", "chandelier", "object", "object", "chair", "chair", "object", "object", "plant", "object", "plate", "candle", "vase", "pillow", "pillow", "pillow", "pillow"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/7747a50c-9431-24e8-877d-e60c3a341cc2.json b/scan_data/3RScan/instance_id_to_name/7747a50c-9431-24e8-877d-e60c3a341cc2.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb29b041f6589c37af205370993f57c2b31bee3c
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/7747a50c-9431-24e8-877d-e60c3a341cc2.json
@@ -0,0 +1 @@
+["object", "floor", "table", "chair", "chair", "chair", "chair", "wall", "door", "wall", "wall", "wall", "display case", "curtain", "wall", "kitchen cabinet", "wall", "kitchen counter", "kitchen cabinet", "sink", "sink", "ceiling", "lamp", "lamp", "wall", "object", "bar", "window", "ceiling", "ceiling", "chair", "chair", "cabinet", "shelf", "shelf", "heater", "tv stand", "tv", "picture", "picture", "object", "picture", "picture", "object", "object", "object", "object", "object", "basket", "scale", "cap", "bottles", "bag", "object", "microwave", "box", "jar", "bag", "stove", "microwave", "food container", "clock", "plant", "box", "books", "sink", "bag", "cloth", "vase", "vase", "vase", "wall"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/7ab2a9cf-ebc6-2056-88d4-865e66cc1940.json b/scan_data/3RScan/instance_id_to_name/7ab2a9cf-ebc6-2056-88d4-865e66cc1940.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6a7edd0e8b704df76837b8d051a49eb95474895
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/7ab2a9cf-ebc6-2056-88d4-865e66cc1940.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "blinds", "window", "windowsill", "heater", "heater", "divider", "desk", "chair", "ceiling", "light", "light", "light", "light", "object", "desk", "desk", "desk", "chair", "chair", "object", "chair", "divider", "pillar", "pillar", "pillar"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/7ab2a9d1-ebc6-2056-8880-07b5c7404d58.json b/scan_data/3RScan/instance_id_to_name/7ab2a9d1-ebc6-2056-8880-07b5c7404d58.json
new file mode 100644
index 0000000000000000000000000000000000000000..56f01145b33fd5ec0f93d6ac472517c94a114395
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/7ab2a9d1-ebc6-2056-8880-07b5c7404d58.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "blinds", "window", "windowsill", "heater", "heater", "divider", "desk", "chair", "ceiling", "light", "light", "light", "light", "object", "desk", "desk", "desk", "chair", "chair", "object", "chair", "divider", "pillar", "pillar", "pillar", "wall"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/7ab2a9d3-ebc6-2056-8afd-e80dc7e1558f.json b/scan_data/3RScan/instance_id_to_name/7ab2a9d3-ebc6-2056-8afd-e80dc7e1558f.json
new file mode 100644
index 0000000000000000000000000000000000000000..56f01145b33fd5ec0f93d6ac472517c94a114395
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/7ab2a9d3-ebc6-2056-8afd-e80dc7e1558f.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "blinds", "window", "windowsill", "heater", "heater", "divider", "desk", "chair", "ceiling", "light", "light", "light", "light", "object", "desk", "desk", "desk", "chair", "chair", "object", "chair", "divider", "pillar", "pillar", "pillar", "wall"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/7f30f368-42f9-27ed-852b-e6cfc067acea.json b/scan_data/3RScan/instance_id_to_name/7f30f368-42f9-27ed-852b-e6cfc067acea.json
new file mode 100644
index 0000000000000000000000000000000000000000..605917f2fb930512f6e7cd1da5d9e196d5fe20cf
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/7f30f368-42f9-27ed-852b-e6cfc067acea.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "frame", "frame", "frame", "wall", "object", "door", "shelf", "wall", "ceiling", "light", "door", "wall", "wall", "wall", "wall", "shelf", "object", "shelf", "shelf", "object", "sofa chair", "ottoman", "coffee table", "couch", "pillows", "object", "potted plant", "potted plant", "potted plant", "potted plant", "radiator", "door", "potted plant", "curtain", "object", "object", "wood", "windowsill", "potted plant", "potted plant", "potted plant", "potted plant", "potted plant", "potted plant", "potted plant", "object", "window", "doorframe", "object", "object", "curtain", "radiator", "wall", "windowsill", "object", "object", "object", "object", "window", "object", "dining table", "couch", "object", "chair", "chair", "object", "object", "object", "tv", "wall", "object", "object", "tv stand", "object", "tv stand", "wall", "wall", "cabinet", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "curtain", "frame"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/7f30f36c-42f9-27ed-87c6-23ceb65f1f9b.json b/scan_data/3RScan/instance_id_to_name/7f30f36c-42f9-27ed-87c6-23ceb65f1f9b.json
new file mode 100644
index 0000000000000000000000000000000000000000..191c6e8f7525289bfd4bc47124e1e0b7600b3739
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/7f30f36c-42f9-27ed-87c6-23ceb65f1f9b.json
@@ -0,0 +1 @@
+["object", "floor", "door", "doorframe", "shoes", "wall", "object", "object", "wall", "ceiling", "object", "wall", "object", "toolbox", "wall", "doorframe", "door", "rack stand", "wall", "wall", "table", "chair", "box", "object", "bucket", "bucket", "bucket", "bucket", "bucket", "bucket", "bucket", "bucket", "bucket", "bucket", "bucket", "bottle", "object", "object", "bucket", "bucket", "object", "wood", "wood", "wood", "wood", "object", "wood", "wood", "wood", "bucket", "bucket", "box", "wood", "wood", "wood", "bucket", "object", "cart", "table", "object", "object", "object", "object", "object", "file cabinet", "cabinet", "object", "bottle", "object", "chair", "box", "vacuum cleaner", "object", "cabinet", "object", "box", "box", "bucket", "stool", "object", "box", "object", "object", "table", "object", "windowsill", "object", "coat rack", "cabinet", "paper towel roll", "object", "pipe", "pipe", "coat rack", "coat rack", "towel", "towel", "umbrella", "cabinet", "object", "box", "object", "bottle", "wood", "object", "object", "object", "object", "bucket", "object", "cabinet", "bucket", "window", "frame", "object", "object", "object", "cabinet", "object", "object", "object", "machine", "object", "object", "object", "wood", "window", "frame", "windowsill", "basket", "basket", "basket", "light", "table", "object", "table", "tire", "object", "wood", "object", "object", "object", "box", "object", "wood", "wood", "wood", "wood", "wood", "wood", "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", "broom", "object", "cable", "object"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/80b8588d-4a8d-222f-84c5-8c51b9af1c2f.json b/scan_data/3RScan/instance_id_to_name/80b8588d-4a8d-222f-84c5-8c51b9af1c2f.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7e77ebbd7cf0740a5ea055f973c658662096d48
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/80b8588d-4a8d-222f-84c5-8c51b9af1c2f.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "object", "tv", "ceiling", "fan", "bed", "nightstand", "chair", "table", "wall", "wall", "picture", "picture", "picture", "door", "object", "wardrobe", "curtain", "bench", "bag", "object", "heater", "wall", "trash can", "stand", "object", "nightstand", "pillow", "pillow", "object", "door", "windowsill", "object", "window", "blanket", "telephone", "bag"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/80b8588f-4a8d-222f-8712-eaa02a5450a9.json b/scan_data/3RScan/instance_id_to_name/80b8588f-4a8d-222f-8712-eaa02a5450a9.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d4845fa0e358c786bcdc5d1338ead8afd56587d
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/80b8588f-4a8d-222f-8712-eaa02a5450a9.json
@@ -0,0 +1 @@
+["object", "floor", "toilet", "sink", "wall", "ceiling", "wall", "wall", "fan", "window", "shower", "shower wall", "object", "object", "object", "object", "doorframe", "towel", "door", "mirror", "object", "toilet paper rolls", "toilet paper rolls"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/80b85891-4a8d-222f-85d0-2b8bf16d79a8.json b/scan_data/3RScan/instance_id_to_name/80b85891-4a8d-222f-85d0-2b8bf16d79a8.json
new file mode 100644
index 0000000000000000000000000000000000000000..e867945ac3ad4a064fe93b1b75e1aa1304f29a36
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/80b85891-4a8d-222f-85d0-2b8bf16d79a8.json
@@ -0,0 +1 @@
+["object", "floor", "toilet", "sink", "wall", "ceiling", "wall", "wall", "fan", "window", "shower", "shower wall", "object", "object", "object", "object", "doorframe", "object", "door", "mirror"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/80b85893-4a8d-222f-8519-a9d06c205653.json b/scan_data/3RScan/instance_id_to_name/80b85893-4a8d-222f-8519-a9d06c205653.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7e77ebbd7cf0740a5ea055f973c658662096d48
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/80b85893-4a8d-222f-8519-a9d06c205653.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "object", "tv", "ceiling", "fan", "bed", "nightstand", "chair", "table", "wall", "wall", "picture", "picture", "picture", "door", "object", "wardrobe", "curtain", "bench", "bag", "object", "heater", "wall", "trash can", "stand", "object", "nightstand", "pillow", "pillow", "object", "door", "windowsill", "object", "window", "blanket", "telephone", "bag"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/82def5da-25ba-20f9-8810-71be905b83db.json b/scan_data/3RScan/instance_id_to_name/82def5da-25ba-20f9-8810-71be905b83db.json
new file mode 100644
index 0000000000000000000000000000000000000000..86a1a9191560cf368c37296013b9e13b86c9a0a9
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/82def5da-25ba-20f9-8810-71be905b83db.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "door", "doorframe", "wall", "frame", "window", "wall", "ceiling", "pipe", "box", "object", "washing machine", "object", "clothes dryers", "clothes dryers", "bucket", "pipe", "light switch", "pipe", "sign", "object", "object", "wall"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/82def5dc-25ba-20f9-8ba3-3bb706799abd.json b/scan_data/3RScan/instance_id_to_name/82def5dc-25ba-20f9-8ba3-3bb706799abd.json
new file mode 100644
index 0000000000000000000000000000000000000000..86cf4ae5c38009c5eb94a280372b84e1bbb5faf5
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/82def5dc-25ba-20f9-8ba3-3bb706799abd.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "wall", "door", "doorframe", "wall", "frame", "window", "wall", "ceiling", "pipe", "crate", "object", "washing machine", "object", "clothes dryers", "clothes dryers", "bucket", "pipe", "object", "pipe", "sign"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/87e6cf6b-9d1a-289f-866c-b90904d9487d.json b/scan_data/3RScan/instance_id_to_name/87e6cf6b-9d1a-289f-866c-b90904d9487d.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fbde7e0225d6aee2c0f8803c6c211c6a91bef4a
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/87e6cf6b-9d1a-289f-866c-b90904d9487d.json
@@ -0,0 +1 @@
+["object", "floor", "sofa", "armchair", "table", "wall", "shelf", "wall", "shelf", "wall", "window", "curtain", "curtain", "curtain", "curtain", "table", "chair", "chair", "shelf", "shelf", "wall", "cabinet", "shelf", "chair", "chair", "object", "windowsill", "object", "plant", "lamp", "pillow", "pillow", "pillow", "pillow", "pillow", "pillow", "pillow", "shelf", "chair", "chair", "object", "object", "object", "object", "object", "lamp", "object", "shelf", "object", "object", "curtain", "ceiling", "object", "object", "wall"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/87e6cf6d-9d1a-289f-879a-543d3fa7ba74.json b/scan_data/3RScan/instance_id_to_name/87e6cf6d-9d1a-289f-879a-543d3fa7ba74.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3a6542e2a1f48e48e14c5844636b6ec260e1141
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/87e6cf6d-9d1a-289f-879a-543d3fa7ba74.json
@@ -0,0 +1 @@
+["object", "floor", "wall", "object", "wall", "object", "table", "chair", "chair", "chair", "chair", "object", "object", "potted plant", "wall", "object", "object", "decoration", "potted plant", "object", "object", "wall", "object", "ceiling", "object", "lamp", "object", "chair", "potted plant", "potted plant", "potted plant"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/87e6cf6f-9d1a-289f-8693-db8b73a4c4f4.json b/scan_data/3RScan/instance_id_to_name/87e6cf6f-9d1a-289f-8693-db8b73a4c4f4.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d1254bb2a9ca08bd4482d092e34be8d8b98792c
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/87e6cf6f-9d1a-289f-8693-db8b73a4c4f4.json
@@ -0,0 +1 @@
+["object", "wall", "floor", "object", "object", "object", "object", "object", "sofa", "object", "object", "object", "object", "object", "object", "cabinet", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "desk", "shelf", "blinds", "stool", "stool", "wall", "ceiling", "object", "object", "object", "object", "table", "stool", "stool", "stool", "chair", "chair", "chair", "wall", "cabinet", "object", "object", "curtain", "organizer shelf", "object", "lamp", "lamp"]
\ No newline at end of file
diff --git a/scan_data/3RScan/instance_id_to_name/87e6cf71-9d1a-289f-8510-bddeda7aaad8.json b/scan_data/3RScan/instance_id_to_name/87e6cf71-9d1a-289f-8510-bddeda7aaad8.json
new file mode 100644
index 0000000000000000000000000000000000000000..8178713e6e7fd1b4bd1b6cacb1867f2674816d1a
--- /dev/null
+++ b/scan_data/3RScan/instance_id_to_name/87e6cf71-9d1a-289f-8510-bddeda7aaad8.json
@@ -0,0 +1 @@
+["object", "wall", "floor", "coffee table", "coffee table", "sofa", "cabinet", "wall", "sofa", "tv", "wall", "wall", "wall", "object", "wall", "cabinet", "pillow", "pillow", "pillow", "pillow", "pillow", "pillow", "pillow", "pillow", "pillow", "pillow", "pillow", "pillow", "pillow", "pillow", "box", "box", "lamp", "object", "blanket", "blinds", "blinds", "object", "object", "ceiling", "bed", "pillow", "object", "object", "object", "light"]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/41124899.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/41124899.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0b9eca4b23497a1dc05ea34c0eba0984cb0ed11
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/41124899.json
@@ -0,0 +1 @@
+[{"weights": [0.32225, 0.36775, 0.31], "means": [[130.5865020751953, 108.61598205566406, 78.43212127685547], [51.6798095703125, 46.13528060913086, 31.860639572143555], [182.74192810058594, 176.97015380859375, 158.99273681640625]]}, {"weights": [0.41025, 0.1515, 0.43825], "means": [[135.93966674804688, 110.45277404785156, 77.00304412841797], [82.94224548339844, 67.91419219970703, 42.35478591918945], [179.0285186767578, 144.0325164794922, 101.93896484375]]}, {"weights": [0.1770395290159798, 0.40832632464255675, 0.4146341463414634], "means": [[86.58194732666016, 69.76484680175781, 43.211402893066406], [205.93511962890625, 168.8032989501953, 121.52111053466797], [138.86004638671875, 114.66429901123047, 83.32251739501953]]}, {"weights": [0.13762626262626262, 0.8409090909090909, 0.021464646464646464], "means": [[31.889907836914062, 30.211009979248047, 17.513761520385742], [5.593092918395996, 8.582582473754883, 2.648648738861084], [99.29412078857422, 82.4117660522461, 51.05882263183594]]}, {"weights": [0.1502808988764045, 0.6109550561797753, 0.23876404494382023], "means": [[94.58878326416016, 70.0467300415039, 28.30841064453125], [14.119540214538574, 15.38620662689209, 5.243678092956543], [42.20000076293945, 35.2470588684082, 15.20588207244873]]}, {"weights": [0.41975, 0.33875, 0.2415], "means": [[163.1691436767578, 161.41275024414062, 151.93209838867188], [47.575645446777344, 36.21918869018555, 19.497417449951172], [119.13975524902344, 100.72774505615234, 73.47826385498047]]}, {"weights": [0.17632027257240204, 0.5085178875638842, 0.3151618398637138], "means": [[149.01931762695312, 142.5797119140625, 124.99034118652344], [192.9313201904297, 212.8459014892578, 219.4438934326172], [168.2621612548828, 170.4675750732422, 160.34324645996094]]}, {"weights": [0.5688622754491018, 0.2874251497005988, 0.1437125748502994], "means": [[222.3614044189453, 235.8035125732422, 235.9508819580078], [141.7083282470703, 140.8333282470703, 129.5416717529297], [183.38888549804688, 193.01388549804688, 189.30555725097656]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/41124913.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/41124913.json
new file mode 100644
index 0000000000000000000000000000000000000000..295a63054c14b4ebec2162b8d94087c5416e28e7
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/41124913.json
@@ -0,0 +1 @@
+[{"weights": [0.275, 0.45975, 0.26525], "means": [[189.6145477294922, 170.3427276611328, 150.81727600097656], [136.01522827148438, 111.77542114257812, 89.40728759765625], [89.47408294677734, 60.74740982055664, 37.07634353637695]]}, {"weights": [0.5575, 0.23975, 0.20275], "means": [[162.40896606445312, 147.19326782226562, 129.0439453125], [200.9551544189453, 183.927001953125, 167.3326416015625], [101.55487060546875, 86.37977600097656, 64.53267669677734]]}, {"weights": [0.5182679296346414, 0.2462787550744249, 0.2354533152909337], "means": [[220.1605682373047, 204.94386291503906, 184.39425659179688], [129.12362670898438, 113.02747344970703, 93.18818664550781], [185.27154541015625, 168.48707580566406, 147.1896514892578]]}, {"weights": [0.4886479159606913, 0.33310742121314807, 0.1782446628261606], "means": [[209.59500122070312, 191.9202423095703, 157.32594299316406], [130.932861328125, 113.30824279785156, 91.81078338623047], [87.95056915283203, 74.19391632080078, 52.50760269165039]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/41124918.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/41124918.json
new file mode 100644
index 0000000000000000000000000000000000000000..024eba96d43037aaf436a2bd73e3897558ef2f4b
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/41124918.json
@@ -0,0 +1 @@
+[{"weights": [0.409, 0.3175, 0.2735], "means": [[160.22677612304688, 145.59963989257812, 114.3349609375], [200.1212615966797, 200.70787048339844, 179.42361450195312], [97.9753189086914, 71.33089447021484, 39.10420608520508]]}, {"weights": [0.14177777777777778, 0.30577777777777776, 0.5524444444444444], "means": [[166.23825073242188, 138.41693115234375, 108.40125274658203], [104.49418640136719, 63.02906799316406, 14.001453399658203], [141.67739868164062, 94.13998413085938, 40.11423873901367]]}, {"weights": [0.348, 0.167, 0.485], "means": [[155.73779296875, 131.69036865234375, 102.23275756835938], [89.93563079833984, 61.51946258544922, 44.89970016479492], [209.98196411132812, 204.08351135253906, 191.98402404785156]]}, {"weights": [0.25020048115477145, 0.32157177225340816, 0.4282277465918204], "means": [[81.06410217285156, 42.22435760498047, 8.323718070983887], [200.18203735351562, 122.64339447021484, 49.720699310302734], [128.86517333984375, 77.65355682373047, 26.45880126953125]]}, {"weights": [0.1908675799086758, 0.4136986301369863, 0.3954337899543379], "means": [[68.2392349243164, 35.25837326049805, 4.708134174346924], [105.7682113647461, 63.99558639526367, 15.962471961975098], [150.48960876464844, 86.12933349609375, 24.607389450073242]]}, {"weights": [0.47191977077363895, 0.4143266475644699, 0.11375358166189112], "means": [[216.91378784179688, 210.55494689941406, 140.1718292236328], [201.4889373779297, 193.55255126953125, 118.71161651611328], [178.72039794921875, 167.14610290527344, 98.3173828125]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/41124923.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/41124923.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ada8b7524b114a00322daff1156b05455722b5e
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/41124923.json
@@ -0,0 +1 @@
+[{"weights": [0.43675, 0.29025, 0.273], "means": [[163.71951293945312, 148.8053741455078, 119.35260772705078], [205.74246215820312, 208.98794555664062, 190.91558837890625], [101.77472686767578, 76.30036926269531, 44.42856979370117]]}, {"weights": [0.4927693420101229, 0.28344179320318147, 0.2237888647866956], "means": [[113.21056365966797, 69.48936462402344, 16.68231773376465], [151.3596954345703, 102.05484771728516, 43.26403045654297], [180.46688842773438, 142.43295288085938, 94.19062805175781]]}, {"weights": [0.4052812858783008, 0.3421354764638347, 0.2525832376578645], "means": [[128.55523681640625, 76.69971466064453, 24.412181854248047], [83.81879425048828, 43.70805358886719, 8.64932918548584], [190.1272735595703, 113.44318389892578, 40.84318161010742]]}, {"weights": [0.2525, 0.5915, 0.156], "means": [[151.83168029785156, 125.3643569946289, 104.64257049560547], [211.62298583984375, 206.55621337890625, 196.26712036132812], [89.5400619506836, 60.16666793823242, 50.847755432128906]]}, {"weights": [0.4016250725478816, 0.3302379570516541, 0.2681369704004643], "means": [[78.84393310546875, 48.658958435058594, 14.316473960876465], [117.45693969726562, 76.20913696289062, 30.746925354003906], [161.74891662597656, 102.03462982177734, 47.021644592285156]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/41126872.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/41126872.json
new file mode 100644
index 0000000000000000000000000000000000000000..9faff39b8363a3f84ef2478dcecb704973b10235
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/41126872.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/41126885.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/41126885.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d42e4bd45ccc12ea79312357361774f71fc5861
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/41126885.json
@@ -0,0 +1 @@
+[{"weights": [0.21425, 0.3865, 0.39925], "means": [[76.27421569824219, 72.21820068359375, 58.842472076416016], [202.8816375732422, 201.26002502441406, 187.93402099609375], [150.56982421875, 146.3462677001953, 132.21603393554688]]}, {"weights": [0.48575, 0.25625, 0.258], "means": [[148.74729919433594, 146.5404052734375, 137.20947265625], [100.91999816894531, 94.86146545410156, 84.73853302001953], [198.56298828125, 196.3653106689453, 186.8284912109375]]}, {"weights": [0.09852216748768473, 0.45320197044334976, 0.4482758620689655], "means": [[123.38333129882812, 121.18333435058594, 114.38333129882812], [14.1195650100708, 14.688405990600586, 11.699275016784668], [51.85714340209961, 46.626373291015625, 42.4945068359375]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/41126894.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/41126894.json
new file mode 100644
index 0000000000000000000000000000000000000000..19df76460296061310e13d1febba909ac6bedb18
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/41126894.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/41126895.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/41126895.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0567dc656dfaf68ee8a676e324790c3566e6a2e
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/41126895.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/41126897.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/41126897.json
new file mode 100644
index 0000000000000000000000000000000000000000..af780e07dde865764c1518570837e4f01c3e74e5
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/41126897.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/41126901.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/41126901.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebf02939c88911f9a953ae88d81c080f13d8de55
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/41126901.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/41126903.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/41126903.json
new file mode 100644
index 0000000000000000000000000000000000000000..56fef2cdd84087828184c225d442e36679e2a816
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/41126903.json
@@ -0,0 +1 @@
+[{"weights": [0.178, 0.27925, 0.54275], "means": [[181.7120819091797, 192.15309143066406, 193.47752380371094], [85.70904541015625, 78.35272979736328, 59.544315338134766], [149.0142822265625, 132.650390625, 105.55504608154297]]}, {"weights": [0.23525, 0.35425, 0.4105], "means": [[220.0520782470703, 188.83209228515625, 153.18809509277344], [128.07057189941406, 103.07762908935547, 71.75370788574219], [179.47259521484375, 153.0761260986328, 119.73995208740234]]}, {"weights": [0.34210526315789475, 0.41171477079796265, 0.2461799660441426], "means": [[177.7245635986328, 157.68734741210938, 135.79405212402344], [229.83917236328125, 199.5216522216797, 168.773193359375], [128.3413848876953, 113.26206970214844, 89.65862274169922]]}, {"weights": [0.35758106923751093, 0.16126205083260298, 0.48115687992988604], "means": [[212.26470947265625, 179.50489807128906, 147.49754333496094], [70.28260803222656, 54.326087951660156, 35.260868072509766], [147.8470001220703, 121.82513427734375, 91.2513656616211]]}, {"weights": [0.29375, 0.30975, 0.3965], "means": [[105.92425537109375, 131.69956970214844, 155.4655303955078], [74.12832641601562, 91.8361587524414, 99.00080871582031], [120.81841278076172, 162.717529296875, 211.18727111816406]]}, {"weights": [0.3854166666666667, 0.34270833333333334, 0.271875], "means": [[25.435134887695312, 21.17837905883789, 12.616216659545898], [71.60486602783203, 58.167171478271484, 40.48024368286133], [104.19157409667969, 90.1072769165039, 73.762451171875]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/41126998.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/41126998.json
new file mode 100644
index 0000000000000000000000000000000000000000..97562f5d3aaf03d9a77280ead3f6a6dd4eaa2b6c
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/41126998.json
@@ -0,0 +1 @@
+[{"weights": [0.35625, 0.281, 0.36275], "means": [[132.09193420410156, 119.81122589111328, 99.06385803222656], [70.49465942382812, 63.95195770263672, 48.25355911254883], [192.7146759033203, 177.64093017578125, 153.6257781982422]]}, {"weights": [0.5842408712363869, 0.24567584881486226, 0.1700832799487508], "means": [[196.76699829101562, 175.6825714111328, 147.68312072753906], [154.1851348876953, 137.97914123535156, 114.06649017333984], [91.32391357421875, 83.08850860595703, 64.88323974609375]]}, {"weights": [0.14290669441553938, 0.5716267776621575, 0.28546652792230315], "means": [[116.84465789794922, 105.17233276367188, 87.16990661621094], [237.37924194335938, 231.1868896484375, 220.7578887939453], [187.8590545654297, 173.1142120361328, 155.46051025390625]]}, {"weights": [0.36825, 0.55325, 0.0785], "means": [[227.63612365722656, 212.46368408203125, 188.6306915283203], [160.15318298339844, 146.06959533691406, 124.14550018310547], [58.429935455322266, 52.04777145385742, 41.1751594543457]]}, {"weights": [0.2055, 0.6895, 0.105], "means": [[127.81995391845703, 116.91362762451172, 98.6727523803711], [206.44888305664062, 192.18418884277344, 171.56019592285156], [67.69285583496094, 61.25714111328125, 48.9523811340332]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/41127000.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/41127000.json
new file mode 100644
index 0000000000000000000000000000000000000000..975ae6dcf72667348fc3f861cfb57dff031790e5
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/41127000.json
@@ -0,0 +1 @@
+[{"weights": [0.28775, 0.2405, 0.47175], "means": [[206.2198028564453, 202.10252380371094, 186.1068572998047], [74.35862731933594, 67.49168395996094, 60.598751068115234], [148.59458923339844, 143.45628356933594, 131.56068420410156]]}, {"weights": [0.31425, 0.21025, 0.4755], "means": [[93.4797134399414, 91.14637756347656, 78.77486419677734], [165.1498260498047, 165.17955017089844, 150.678955078125], [121.95320892333984, 119.4794921875, 106.7308120727539]]}, {"weights": [0.3475, 0.437, 0.2155], "means": [[221.1582794189453, 221.9215850830078, 215.1107940673828], [106.68707275390625, 33.42791748046875, 53.91762161254883], [154.73202514648438, 121.35382843017578, 125.18793487548828]]}, {"weights": [0.14216701173222912, 0.5189786059351277, 0.3388543823326432], "means": [[42.07281494140625, 32.55825424194336, 17.718446731567383], [102.88563537597656, 100.47606658935547, 82.65824127197266], [73.85540008544922, 63.24440002441406, 44.311607360839844]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/41159571.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/41159571.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b491a4ce80cbc346fdab5336d99fa808f67e2c1
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/41159571.json
@@ -0,0 +1 @@
+[{"weights": [0.29225, 0.3255, 0.38225], "means": [[205.34132385253906, 199.17279052734375, 181.2677459716797], [86.87711334228516, 61.78187561035156, 41.210445404052734], [151.20013427734375, 135.60366821289062, 115.47940063476562]]}, {"weights": [0.42059672762271416, 0.2322746230349695, 0.34712864934231635], "means": [[36.543861389160156, 39.04729080200195, 39.89092254638672], [136.9502716064453, 144.0248565673828, 147.6685028076172], [81.81146240234375, 88.31885528564453, 91.87985229492188]]}, {"weights": [0.09643080776455855, 0.37570444583594237, 0.5278647463994991], "means": [[208.05194091796875, 206.72727966308594, 198.41558837890625], [39.61333465576172, 22.13166618347168, 15.975000381469727], [113.18505096435547, 77.57414245605469, 58.77224349975586]]}, {"weights": [0.632, 0.14025, 0.22775], "means": [[69.3983383178711, 44.252769470214844, 27.54905128479004], [234.25489807128906, 228.4705810546875, 219.93226623535156], [167.26344299316406, 132.78594970703125, 103.51152801513672]]}, {"weights": [0.4265536723163842, 0.41859270672829996, 0.15485362095531588], "means": [[155.3925323486328, 104.83503723144531, 62.95725631713867], [53.460121154785156, 44.75030517578125, 35.082820892333984], [196.03317260742188, 168.26036071777344, 132.99502563476562]]}, {"weights": [0.4320531757754801, 0.2518463810930576, 0.31610044313146235], "means": [[164.77947998046875, 128.7846221923828, 99.62222290039062], [90.99120330810547, 65.252197265625, 46.75659942626953], [206.80140686035156, 177.48130798339844, 145.9275665283203]]}, {"weights": [0.4785276073619632, 0.32719836400818, 0.19427402862985685], "means": [[58.43162536621094, 71.37606811523438, 84.66666412353516], [24.868749618530273, 32.162498474121094, 39.26874923706055], [116.44210815429688, 121.01052856445312, 131.76841735839844]]}, {"weights": [0.5714285714285714, 0.42857142857142855], "means": [[51.565216064453125, 34.60869598388672, 18.10869598388672], [94.14492797851562, 68.66666412353516, 40.753623962402344]]}, {"weights": [0.5963302752293578, 0.005504587155963303, 0.3981651376146789], "means": [[129.77230834960938, 79.22461700439453, 40.24307632446289], [228.6666717529297, 199.3333282470703, 143.6666717529297], [71.04147338867188, 45.700462341308594, 25.013824462890625]]}, {"weights": [0.348, 0.24675, 0.40525], "means": [[74.9489974975586, 59.59339141845703, 44.75933837890625], [191.51976013183594, 182.9169158935547, 163.68186950683594], [133.53671264648438, 121.52621459960938, 102.89204406738281]]}, {"weights": [0.24075, 0.3795, 0.37975], "means": [[187.74351501464844, 178.29283142089844, 160.7487030029297], [47.27602005004883, 44.48550796508789, 36.463768005371094], [120.40355682373047, 109.84331512451172, 94.6583251953125]]}, {"weights": [0.408203125, 0.33119419642857145, 0.26060267857142855], "means": [[170.0300750732422, 168.79493713378906, 160.68353271484375], [102.15164184570312, 91.4700927734375, 77.94355773925781], [219.20021057128906, 224.81370544433594, 223.39935302734375]]}, {"weights": [0.43079584775086505, 0.3538062283737024, 0.21539792387543252], "means": [[131.45782470703125, 123.19678497314453, 100.8935775756836], [81.99266815185547, 73.98777770996094, 56.193153381347656], [185.95181274414062, 186.69076538085938, 173.3333282470703]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/41159572.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/41159572.json
new file mode 100644
index 0000000000000000000000000000000000000000..906cee4837756d04d819aadb902ffbdccba3d313
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/41159572.json
@@ -0,0 +1 @@
+[{"weights": [0.386, 0.422, 0.192], "means": [[86.33419799804688, 59.96696853637695, 44.5550537109375], [165.90817260742188, 150.09774780273438, 126.68186950683594], [217.6276092529297, 216.56640625, 205.94921875]]}, {"weights": [0.43000717875089733, 0.35857860732232594, 0.21141421392677673], "means": [[32.42487335205078, 32.260433197021484, 31.889816284179688], [97.64364624023438, 99.47447204589844, 100.40540313720703], [162.95925903320312, 162.3955841064453, 159.53990173339844]]}, {"weights": [0.2315, 0.602, 0.1665], "means": [[131.75270080566406, 107.21058654785156, 86.50431823730469], [63.37957000732422, 41.384552001953125, 28.27989959716797], [217.40541076660156, 201.96546936035156, 185.590087890625]]}, {"weights": [0.4861503674392312, 0.12775579423403052, 0.38609383832673827], "means": [[114.3499984741211, 79.31744384765625, 67.94999694824219], [202.6548614501953, 194.18141174316406, 184.4468994140625], [42.08931350708008, 24.398242950439453, 17.0131778717041]]}, {"weights": [0.23575, 0.3895, 0.37475], "means": [[184.33509826660156, 171.40721130371094, 148.59915161132812], [49.9724006652832, 45.879974365234375, 38.16880798339844], [128.06336975097656, 114.77985382080078, 96.43829345703125]]}, {"weights": [0.311, 0.38275, 0.30625], "means": [[196.4582061767578, 191.73472595214844, 175.81993103027344], [136.36839294433594, 127.32527923583984, 111.25342559814453], [74.60652923583984, 59.886531829833984, 46.622039794921875]]}, {"weights": [0.3923694779116466, 0.2465863453815261, 0.3610441767068273], "means": [[243.65711975097656, 245.3909912109375, 244.1125946044922], [134.84854125976562, 122.62052154541016, 109.88599395751953], [187.8509521484375, 187.5150146484375, 179.6963348388672]]}, {"weights": [0.411, 0.23025, 0.35875], "means": [[145.2706756591797, 105.9221420288086, 69.90937042236328], [198.69381713867188, 181.25299072265625, 154.11834716796875], [56.90104675292969, 41.46480941772461, 27.76236915588379]]}, {"weights": [0.26184738955823295, 0.42088353413654617, 0.3172690763052209], "means": [[217.73312377929688, 204.37423706054688, 192.32208251953125], [80.11832427978516, 54.10877990722656, 39.24809265136719], [151.2227783203125, 128.74937438964844, 113.75443267822266]]}, {"weights": [0.6256410256410256, 0.3076923076923077, 0.06666666666666667], "means": [[77.29917907714844, 49.10245895385742, 31.217212677001953], [46.849998474121094, 24.674999237060547, 12.533333778381348], [125.26923370361328, 100.26923370361328, 75.34615325927734]]}, {"weights": [0.1694915254237288, 0.8305084745762712], "means": [[17.399999618530273, 15.199999809265137, 10.100000381469727], [119.2040786743164, 81.16326904296875, 43.67346954345703]]}, {"weights": [0.3215339233038348, 0.14896755162241887, 0.5294985250737463], "means": [[105.02293395996094, 117.68807220458984, 132.98165893554688], [187.53465270996094, 175.17822265625, 177.0594024658203], [26.36490249633789, 31.353759765625, 37.805015563964844]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/41159579.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/41159579.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb09f2b3ddb0e8ef621af3c64931ad8ea937faed
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/41159579.json
@@ -0,0 +1 @@
+[{"weights": [0.4345, 0.26975, 0.29575], "means": [[185.16226196289062, 182.43612670898438, 166.35385131835938], [47.157554626464844, 41.37905502319336, 32.55792236328125], [125.77261352539062, 119.146240234375, 100.52747344970703]]}, {"weights": [0.407, 0.44925, 0.14375], "means": [[191.20086669921875, 191.3783721923828, 191.79913330078125], [142.49192810058594, 146.8402862548828, 141.12744140625], [56.318260192871094, 63.07304382324219, 56.412174224853516]]}, {"weights": [0.367, 0.251, 0.382], "means": [[110.13419342041016, 117.70503997802734, 104.59536743164062], [180.287841796875, 180.08566284179688, 177.65736389160156], [31.08573341369629, 38.88481521606445, 26.625654220581055]]}, {"weights": [0.4070365358592693, 0.11664411366711773, 0.476319350473613], "means": [[84.74069213867188, 63.244014739990234, 46.8138313293457], [141.8097381591797, 134.57077026367188, 127.86310577392578], [37.51761245727539, 21.810226440429688, 12.560795783996582]]}, {"weights": [0.38580246913580246, 0.3819444444444444, 0.2322530864197531], "means": [[125.96199798583984, 102.2020034790039, 77.45999908447266], [177.19595336914062, 168.26666259765625, 152.96363830566406], [56.654483795166016, 40.099666595458984, 22.312292098999023]]}, {"weights": [0.5758398371224974, 0.07329487614523245, 0.35086528673227013], "means": [[30.72598648071289, 22.88627052307129, 13.280494689941406], [141.8379669189453, 135.6666717529297, 124.44444274902344], [72.18085479736328, 61.79787063598633, 47.1876220703125]]}, {"weights": [0.43911439114391143, 0.15023721665788087, 0.4106483921982077], "means": [[45.284515380859375, 27.630252838134766, 17.822328567504883], [156.9228057861328, 128.59649658203125, 101.40702056884766], [90.86392974853516, 66.7188720703125, 48.54685592651367]]}, {"weights": [0.3646551724137931, 0.3, 0.3353448275862069], "means": [[173.0559539794922, 166.48226928710938, 154.21119689941406], [47.406131744384766, 44.737548828125, 42.52011489868164], [125.65552520751953, 103.12853240966797, 83.45158386230469]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/41159584.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/41159584.json
new file mode 100644
index 0000000000000000000000000000000000000000..1706d6c41feb31280baa1878ba9470ee91d84d5f
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/41159584.json
@@ -0,0 +1 @@
+[{"weights": [0.50925, 0.24275, 0.248], "means": [[205.54098510742188, 199.14089965820312, 184.04957580566406], [81.95365905761719, 68.80844116210938, 61.63233947753906], [138.25201416015625, 134.50807189941406, 136.58265686035156]]}, {"weights": [0.54, 0.226, 0.234], "means": [[201.30833435058594, 199.32315063476562, 195.69073486328125], [41.53982162475586, 46.69911575317383, 43.838497161865234], [107.37820434570312, 114.34294891357422, 114.81837463378906]]}, {"weights": [0.3353181987346483, 0.2958689988835132, 0.3688128023818385], "means": [[125.11320495605469, 110.1065444946289, 102.79911041259766], [56.36100769042969, 35.901885986328125, 29.27044105529785], [82.58829498291016, 72.83955383300781, 73.32088470458984]]}, {"weights": [0.3665963219776907, 0.3518239372927344, 0.2815797407295749], "means": [[71.69078826904297, 44.217105865478516, 32.90953826904297], [109.22193908691406, 77.97772216796875, 64.6075439453125], [149.4272003173828, 135.67237854003906, 131.6820068359375]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/41291642.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/41291642.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd4b46b9102c87f696b3ddc19990546e6518fafa
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/41291642.json
@@ -0,0 +1 @@
+[{"weights": [0.2165, 0.2935, 0.49], "means": [[92.60623931884766, 88.95496368408203, 75.56813049316406], [188.25042724609375, 184.39523315429688, 171.81005859375], [146.6959228515625, 141.70867919921875, 126.76632690429688]]}, {"weights": [0.20975, 0.3555, 0.43475], "means": [[61.249107360839844, 57.676998138427734, 44.271751403808594], [204.6835479736328, 199.32981872558594, 185.676513671875], [135.5480194091797, 130.72109985351562, 114.55491638183594]]}, {"weights": [0.17444843509492047, 0.3719856336582863, 0.45356593124679323], "means": [[92.30882263183594, 87.46176147460938, 73.58970642089844], [180.16827392578125, 172.80690002441406, 158.20828247070312], [141.7058868408203, 136.03903198242188, 122.40780639648438]]}, {"weights": [0.3202774377804978, 0.19624643002855977, 0.4834761321909425], "means": [[175.74649047851562, 173.61656188964844, 164.81529235839844], [129.935546875, 126.71517944335938, 115.65904235839844], [211.728271484375, 210.18565368652344, 205.6345977783203]]}, {"weights": [0.458, 0.31925, 0.22275], "means": [[160.2423553466797, 155.64247131347656, 142.43504333496094], [196.74237060546875, 192.10806274414062, 180.90603637695312], [114.87205505371094, 109.29405212402344, 94.06846618652344]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/41291643.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/41291643.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f2556ab1e3b0c3efdb2d821e144db45e9c4a665
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/41291643.json
@@ -0,0 +1 @@
+[{"weights": [0.4355, 0.1405, 0.424], "means": [[128.71527099609375, 125.41446685791016, 111.59644317626953], [73.3451919555664, 71.13345336914062, 60.2651252746582], [179.6297149658203, 174.71875, 161.6055450439453]]}, {"weights": [0.3888140161725067, 0.17419137466307277, 0.4369946091644205], "means": [[186.97227478027344, 177.76950073242188, 163.45407104492188], [94.1895523071289, 89.274658203125, 74.75821685791016], [137.70779418945312, 131.0131072998047, 116.4248275756836]]}, {"weights": [0.18677606177606176, 0.263996138996139, 0.5492277992277992], "means": [[186.81137084960938, 183.3074951171875, 173.56072998046875], [128.8482666015625, 123.57221221923828, 110.19012451171875], [220.71792602539062, 217.63356018066406, 208.85061645507812]]}, {"weights": [0.203, 0.52025, 0.27675], "means": [[105.36576080322266, 99.76231384277344, 85.72906494140625], [196.7227325439453, 193.6131591796875, 182.52426147460938], [147.8771514892578, 141.7786865234375, 126.41915130615234]]}, {"weights": [0.31, 0.26175, 0.42825], "means": [[217.32418823242188, 213.25, 200.60403442382812], [96.09741973876953, 91.6141357421875, 77.68099212646484], [152.14068603515625, 147.09982299804688, 131.11209106445312]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/41392191.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/41392191.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b7ee7f7ab35b1327fe21a3849fdff57713c51b3
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/41392191.json
@@ -0,0 +1 @@
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/42444711.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/42444711.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ae8aee9b7da88914d6d426ee565c947d5dc2c0b
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/42444711.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/42897738.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/42897738.json
new file mode 100644
index 0000000000000000000000000000000000000000..373ff42dc08849ccb3465c7266cb41a854487ee0
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/42897738.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/42897739.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/42897739.json
new file mode 100644
index 0000000000000000000000000000000000000000..354249adffc7c502d4ef8c80b12e78a10376a99f
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/42897739.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/42897743.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/42897743.json
new file mode 100644
index 0000000000000000000000000000000000000000..385d4743eea08f5a583808b18dadf82db44d59ce
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/42897743.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/42897744.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/42897744.json
new file mode 100644
index 0000000000000000000000000000000000000000..377416c617bcf37a1090505e49741420e5644963
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/42897744.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/42898738.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/42898738.json
new file mode 100644
index 0000000000000000000000000000000000000000..83467c3a27f7c34cfd47e76825e95dcdc479c7f8
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/42898738.json
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/42898740.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/42898740.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0c071faa8b31ba7bfc5da1c6a2d0b68fb1f77c2
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/42898740.json
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/42898745.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/42898745.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e54b276c89940ccadb645b3dee2b29b5b3f6bea
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/42898745.json
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/42899137.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/42899137.json
new file mode 100644
index 0000000000000000000000000000000000000000..714c6691f455021bf1ed1b36c3d6c38dc868b4cf
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/42899137.json
@@ -0,0 +1 @@
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/42899139.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/42899139.json
new file mode 100644
index 0000000000000000000000000000000000000000..c946eeba3693d1aee542fe7824669f5a2c2cf7e8
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/42899139.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/42899140.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/42899140.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae1b0d0526aa6e0a28ee96605511ac569f71a84d
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/42899140.json
@@ -0,0 +1 @@
+[{"weights": [0.50825, 0.211, 0.28075], "means": [[137.90211486816406, 117.9498291015625, 86.23462677001953], [70.35189819335938, 53.985782623291016, 27.16824722290039], [187.60997009277344, 166.56634521484375, 137.42564392089844]]}, {"weights": [0.32425, 0.1665, 0.50925], "means": [[216.0601348876953, 194.4479522705078, 172.62220764160156], [93.36186218261719, 81.23873901367188, 61.00300216674805], [160.2179718017578, 141.5768280029297, 121.7506103515625]]}, {"weights": [0.1862370289459312, 0.21955215729109775, 0.594210813762971], "means": [[151.5483856201172, 133.34603881835938, 108.65982055664062], [205.3706512451172, 184.00994873046875, 155.7935333251953], [180.2683868408203, 159.69117736816406, 133.2840118408203]]}, {"weights": [0.31525, 0.409, 0.27575], "means": [[82.85963439941406, 71.9571762084961, 52.880252838134766], [202.59352111816406, 183.68704223632812, 166.39547729492188], [156.50860595703125, 140.21487426757812, 122.10335540771484]]}, {"weights": [0.7548736462093862, 0.13826714801444043, 0.10685920577617329], "means": [[0.7737924456596375, 2.88283109664917, 0.0846484899520874], [33.318538665771484, 22.785900115966797, 3.002610921859741], [15.422297477722168, 13.212838172912598, 1.8175675868988037]]}, {"weights": [0.5125, 0.16775, 0.31975], "means": [[152.77073669433594, 127.48243713378906, 79.41999816894531], [115.40983581542969, 94.60655975341797, 53.43218994140625], [187.48944091796875, 158.00625610351562, 100.77716827392578]]}, {"weights": [0.7276368491321762, 0.14352469959946595, 0.1288384512683578], "means": [[203.0, 169.6376190185547, 104.40091705322266], [241.6976776123047, 217.43255615234375, 134.47906494140625], [161.6580352783203, 130.06735229492188, 68.55440521240234]]}, {"weights": [0.8736263736263736, 0.12637362637362637], "means": [[12.352201461791992, 12.433961868286133, 0.6792452931404114], [61.434783935546875, 49.21739196777344, 18.65217399597168]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/42899360.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/42899360.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d67ec125cd7ff505c6f9e59deffbd044f0d8e46
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/42899360.json
@@ -0,0 +1 @@
+[{"weights": [0.42375, 0.1805, 0.39575], "means": [[162.7681427001953, 162.9964599609375, 150.69322204589844], [63.52770233154297, 45.38642501831055, 31.83379554748535], [137.26974487304688, 113.90460968017578, 78.06948852539062]]}, {"weights": [0.28775, 0.49575, 0.2165], "means": [[130.5212860107422, 83.03736114501953, 70.1025161743164], [211.7730712890625, 182.00050354003906, 146.392333984375], [48.457275390625, 27.948036193847656, 17.80484962463379]]}, {"weights": [0.34982615672639744, 0.47338860657929926, 0.1767852366943033], "means": [[98.72782897949219, 62.95106887817383, 23.639907836914062], [150.35989379882812, 105.07740020751953, 55.11695098876953], [36.24508285522461, 22.514371871948242, 7.611195087432861]]}, {"weights": [0.760575296108291, 0.1700507614213198, 0.06937394247038917], "means": [[4.385984420776367, 5.780867576599121, 6.117908954620361], [27.273632049560547, 31.492536544799805, 30.69154167175293], [96.75609588623047, 86.78048706054688, 79.25609588623047]]}, {"weights": [0.7040572792362768, 0.162291169451074, 0.13365155131264916], "means": [[90.92542266845703, 71.0322036743164, 42.32542419433594], [229.28675842285156, 182.1985321044922, 95.97794342041016], [159.48214721679688, 118.67857360839844, 50.36606979370117]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/42899362.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/42899362.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfec570add1c97f5bdd1b2925f7d7441718ac933
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/42899362.json
@@ -0,0 +1 @@
+[{"weights": [0.23525, 0.301, 0.46375], "means": [[62.976619720458984, 45.3209342956543, 23.67587661743164], [190.1353759765625, 154.90780639648438, 113.68272399902344], [132.65553283691406, 103.41185760498047, 67.15148162841797]]}, {"weights": [0.24325, 0.44925, 0.3075], "means": [[222.70606994628906, 190.0945587158203, 156.65982055664062], [67.62604522705078, 53.70005416870117, 35.69282150268555], [138.0438995361328, 114.80325317382812, 88.07479858398438]]}, {"weights": [0.35530921820303385, 0.01575262543757293, 0.6289381563593932], "means": [[64.15681457519531, 41.212642669677734, 18.813629150390625], [234.6666717529297, 201.6666717529297, 166.05555725097656], [39.06215286254883, 20.8033390045166, 4.487940788269043]]}, {"weights": [0.5865, 0.2395, 0.174], "means": [[216.53196716308594, 187.9795379638672, 154.5046844482422], [162.76095581054688, 131.13778686523438, 102.04175567626953], [61.48994064331055, 39.22844696044922, 19.119253158569336]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/42899364.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/42899364.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab3d17197ce20addb1993dd9db99b79a88ad72c3
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/42899364.json
@@ -0,0 +1 @@
+[{"weights": [0.46175, 0.472, 0.06625], "means": [[165.20736694335938, 132.8278350830078, 92.28857421875], [93.28972625732422, 70.1890869140625, 40.48940658569336], [97.06037902832031, 162.73585510253906, 229.86038208007812]]}, {"weights": [0.3445, 0.25475, 0.40075], "means": [[73.55442810058594, 58.575469970703125, 37.543540954589844], [212.06280517578125, 181.33071899414062, 146.2404327392578], [136.70306396484375, 115.20274353027344, 86.44104766845703]]}, {"weights": [0.9148459383753501, 0.06918767507002802, 0.015966386554621848], "means": [[40.43661880493164, 22.219228744506836, 4.5652174949646], [227.77732849121094, 199.2186279296875, 160.99595642089844], [110.21052551269531, 85.28070068359375, 61.421051025390625]]}, {"weights": [0.6177518626498218, 0.16650469711694202, 0.21574344023323616], "means": [[218.90403747558594, 190.07760620117188, 154.8552703857422], [64.41050720214844, 43.88910675048828, 23.51556396484375], [164.3648681640625, 138.0750732421875, 107.89939880371094]]}, {"weights": [0.44225, 0.3485, 0.20925], "means": [[202.18881225585938, 198.7433624267578, 203.3256072998047], [109.6291275024414, 67.98278045654297, 77.9942626953125], [30.6176815032959, 18.10513687133789, 13.201911926269531]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/42899422.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/42899422.json
new file mode 100644
index 0000000000000000000000000000000000000000..11939228450c7b97c907280d12475e7993378a04
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/42899422.json
@@ -0,0 +1 @@
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/42899428.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/42899428.json
new file mode 100644
index 0000000000000000000000000000000000000000..46b82efbc0c2dab7778d41c095ccd8c908f4fbe8
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/42899428.json
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\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/42899430.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/42899430.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6fbb4f6eced3225395833e1fc85b5225b7526bd
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/42899430.json
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/42899432.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/42899432.json
new file mode 100644
index 0000000000000000000000000000000000000000..34a4faba89dd823c9a9c5791e4a0c890ee601adb
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/42899432.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/42899433.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/42899433.json
new file mode 100644
index 0000000000000000000000000000000000000000..396f7681fc744afb1b38ee29c45d3f15ccd12b02
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/42899433.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/42899435.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/42899435.json
new file mode 100644
index 0000000000000000000000000000000000000000..eee18eb980a8a27dd183d58634002937d9507486
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/42899435.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/42899437.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/42899437.json
new file mode 100644
index 0000000000000000000000000000000000000000..ead3863ea18cfdb5ae51132f8ab28dd951f4e40d
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/42899437.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/42899700.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/42899700.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b1e1fd5e6604a68efb091d95079686f31712c5c
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/42899700.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/42899712.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/42899712.json
new file mode 100644
index 0000000000000000000000000000000000000000..b74e697ade13f9f72b46469c0f75daf9519bbd84
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/42899712.json
@@ -0,0 +1 @@
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/43896362.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/43896362.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ecef2d8e5d0ce593532d0509a1be9ad5bf172f9
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/43896362.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/43896365.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/43896365.json
new file mode 100644
index 0000000000000000000000000000000000000000..692844f543a210a052bcbbd6252ace1d55607c7e
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/43896365.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/43896371.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/43896371.json
new file mode 100644
index 0000000000000000000000000000000000000000..04ab86ef3fe08c6ad4482f7d89cc081a76708d5d
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/43896371.json
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/43896378.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/43896378.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddab9164f721f236b0c765e5443336e79343686c
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/43896378.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/43896379.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/43896379.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed2fd53f3d8b249b3611f88ab25de2bc480bf182
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/43896379.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/43896382.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/43896382.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe6f89412f798225cb07398e54e8897c145a227d
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/43896382.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/43896384.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/43896384.json
new file mode 100644
index 0000000000000000000000000000000000000000..147217dada2e6e9ce02a6ee4b7df6d75d870060c
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/43896384.json
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\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/44358253.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/44358253.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bc359f642be9d95b78d585cca19c353f0dc370c
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/44358253.json
@@ -0,0 +1 @@
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/44358256.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/44358256.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a08c0fc1b8cf6f17a71f4ee81c9714ac994e101
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/44358256.json
@@ -0,0 +1 @@
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/44358647.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/44358647.json
new file mode 100644
index 0000000000000000000000000000000000000000..c84a91677976cb28cb333b39ce9d5b0ab33ef3d2
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/44358647.json
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/44358660.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/44358660.json
new file mode 100644
index 0000000000000000000000000000000000000000..41e93acb035c98dd66f7c888022763571c1a8b57
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/44358661.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/44358661.json
new file mode 100644
index 0000000000000000000000000000000000000000..965f24acdf927444ee5f0338c336d1a90bb9fe73
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/44358661.json
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/44358673.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/44358673.json
new file mode 100644
index 0000000000000000000000000000000000000000..0483d1e25106815986199786289c2356e3ec9173
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/44358673.json
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/44358691.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/44358691.json
new file mode 100644
index 0000000000000000000000000000000000000000..da0aa93bc7801b92370bcc0a5ab5ab78cdf987d6
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/44358691.json
@@ -0,0 +1 @@
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/44358693.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/44358693.json
new file mode 100644
index 0000000000000000000000000000000000000000..da65452445014647d7bf0607c04e5321c3906583
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/44358693.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/44358698.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/44358698.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ba51bb8e5b3d43cc0569548e86620cb0fba9945
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/44358698.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/44358700.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/44358700.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1284b772a8140b59eb3e537c131ec8511ae7239
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/44358700.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/44358707.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/44358707.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0fa8f398e8f026286bd34a7169bac21af9b7b61
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/44358707.json
@@ -0,0 +1 @@
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/44358710.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/44358710.json
new file mode 100644
index 0000000000000000000000000000000000000000..642e891132176d2ef9abdf1ad577c97412cce6a9
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/44358710.json
@@ -0,0 +1 @@
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/44358718.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/44358718.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d425bb3eb4e3b5f31727c9e4f0eae8781e047b3
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/44358718.json
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\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/44358719.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/44358719.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f3e102da41f4f2eafe95cbc39bdc3d681ecc320
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/44358719.json
@@ -0,0 +1 @@
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/44358720.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/44358720.json
new file mode 100644
index 0000000000000000000000000000000000000000..11420fa39f8a42b30c1a718a72f3dbd9ccf9ae0f
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/44358720.json
@@ -0,0 +1 @@
+[{"weights": [0.35075, 0.28075, 0.3685], "means": [[197.02850341796875, 168.4661407470703, 134.47825622558594], [76.30899047851562, 58.8673210144043, 40.44879913330078], [139.66757202148438, 117.223876953125, 90.9552230834961]]}, {"weights": [0.39575, 0.20275, 0.4015], "means": [[106.90271759033203, 91.3177490234375, 73.58622741699219], [176.94573974609375, 112.52157592773438, 69.41060638427734], [79.23101043701172, 59.4881706237793, 39.52677536010742]]}, {"weights": [0.107, 0.807, 0.086], "means": [[202.60513305664062, 149.28271484375, 108.1799087524414], [20.444856643676758, 18.16480827331543, 10.02137565612793], [111.98837280273438, 85.38372039794922, 60.16860580444336]]}, {"weights": [0.39025, 0.16075, 0.449], "means": [[88.60601806640625, 52.76041030883789, 23.800128936767578], [206.27215576171875, 152.92691040039062, 98.84758758544922], [148.82516479492188, 95.34688568115234, 52.71269607543945]]}, {"weights": [0.59, 0.094, 0.316], "means": [[80.72966003417969, 35.69873046875, 17.53771209716797], [182.45213317871094, 137.7925567626953, 101.02127838134766], [119.20411682128906, 69.55696105957031, 44.7041130065918]]}, {"weights": [0.578, 0.0848, 0.3372], "means": [[120.9640121459961, 39.9307975769043, 10.363322257995605], [137.08018493652344, 83.23584747314453, 56.04716873168945], [78.81138610839844, 29.26215934753418, 12.758007049560547]]}, {"weights": [0.1651073197578426, 0.5261419922949917, 0.30875068794716565], "means": [[121.44000244140625, 74.0199966430664, 65.5], [107.885986328125, 50.91841125488281, 27.294979095458984], [79.54723358154297, 38.42424392700195, 23.269163131713867]]}, {"weights": [0.62025, 0.048, 0.33175], "means": [[40.73720169067383, 32.85771942138672, 15.990729331970215], [173.4739532470703, 149.9947967529297, 112.38021087646484], [87.94499206542969, 69.76564025878906, 46.18085861206055]]}, {"weights": [0.34375, 0.2175, 0.43875], "means": [[175.99053955078125, 147.42982482910156, 122.64508819580078], [99.7425308227539, 69.0574722290039, 32.92643737792969], [145.07350158691406, 107.80398559570312, 67.05299377441406]]}, {"weights": [0.48613678373382624, 0.39987677141096734, 0.11398644485520641], "means": [[57.835235595703125, 25.005069732666016, 7.395437240600586], [102.87364959716797, 60.964561462402344, 32.19414520263672], [159.88108825683594, 126.15135192871094, 89.73513793945312]]}, {"weights": [0.3845300803992237, 0.36872747435542, 0.24674244524535624], "means": [[118.46719360351562, 64.77649688720703, 32.061283111572266], [86.52857208251953, 37.12105178833008, 8.91654109954834], [44.846065521240234, 18.886516571044922, 4.407865047454834]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/44358728.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/44358728.json
new file mode 100644
index 0000000000000000000000000000000000000000..67a47a22f947a697788701d003d67efe787d8480
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/44358728.json
@@ -0,0 +1 @@
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/45261392.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261392.json
new file mode 100644
index 0000000000000000000000000000000000000000..0dbedbe2062ad8efdfe4b7fc8b8658a06554281c
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261392.json
@@ -0,0 +1 @@
+[{"weights": [0.295, 0.3605, 0.3445], "means": [[54.02033996582031, 45.51694869995117, 37.56779479980469], [218.96670532226562, 207.0617218017578, 187.91400146484375], [147.54136657714844, 131.2235107421875, 109.40058135986328]]}, {"weights": [0.34900000000000003, 0.10425000000000001, 0.5467500000000001], "means": [[89.81733703613281, 83.72062683105469, 77.55516052246094], [221.9160614013672, 211.82974243164062, 197.16307067871094], [141.6035614013672, 131.9405517578125, 121.60676574707031]]}, {"weights": [0.246, 0.31975, 0.43425], "means": [[42.65243911743164, 43.162601470947266, 46.41056823730469], [171.9749755859375, 174.7490234375, 180.83033752441406], [98.98561096191406, 96.08808135986328, 95.16695404052734]]}, {"weights": [0.461, 0.387, 0.152], "means": [[57.58405685424805, 53.245662689208984, 49.63069534301758], [131.0988311767578, 116.28811645507812, 106.39405822753906], [205.63980102539062, 197.3075714111328, 187.61184692382812]]}, {"weights": [0.2875739644970414, 0.29664694280078896, 0.4157790927021696], "means": [[139.61727905273438, 120.12208557128906, 103.41014862060547], [205.56515502929688, 179.6622314453125, 151.54920959472656], [54.386146545410156, 44.80360412597656, 40.795066833496094]]}, {"weights": [0.4371761658031088, 0.12176165803108809, 0.4410621761658031], "means": [[41.63999938964844, 22.739259719848633, 16.34666633605957], [159.9202117919922, 107.76063537597656, 86.67021179199219], [98.64463806152344, 63.77826690673828, 49.27019119262695]]}, {"weights": [0.22450805008944544, 0.05992844364937388, 0.7155635062611807], "means": [[51.6693229675293, 38.601593017578125, 27.490039825439453], [100.82089233398438, 91.0447769165039, 76.71641540527344], [14.6225004196167, 11.8462495803833, 8.953749656677246]]}, {"weights": [0.16187739463601533, 0.4003831417624521, 0.43773946360153254], "means": [[102.78697967529297, 107.62129974365234, 106.26627349853516], [52.17224884033203, 52.72488021850586, 50.6483268737793], [12.32603931427002, 14.623632431030273, 14.30634593963623]]}, {"weights": [0.527, 0.1705, 0.3025], "means": [[157.86575317382812, 103.58776092529297, 72.21205139160156], [78.71701049804688, 47.45161437988281, 30.140762329101562], [206.34793090820312, 141.37933349609375, 100.92644500732422]]}, {"weights": [0.379, 0.18625, 0.43475], "means": [[30.902374267578125, 26.525726318359375, 24.065963745117188], [175.83489990234375, 131.61073303222656, 112.676513671875], [121.6158676147461, 80.51235961914062, 60.17423629760742]]}, {"weights": [0.37525, 0.17825, 0.4465], "means": [[202.38241577148438, 160.12191772460938, 136.42237854003906], [84.56661987304688, 51.30294418334961, 27.48948097229004], [159.4059295654297, 109.1108627319336, 76.7967529296875]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/45261395.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261395.json
new file mode 100644
index 0000000000000000000000000000000000000000..b948f07554944a2f119337aa8e35081c05bf8644
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261395.json
@@ -0,0 +1 @@
+[{"weights": [0.40475, 0.3725, 0.22275], "means": [[154.28721618652344, 147.5836944580078, 135.0308837890625], [213.7718048095703, 209.90335083007812, 199.9751739501953], [47.735130310058594, 45.21099853515625, 39.70594787597656]]}, {"weights": [0.4944998720900486, 0.2831926323867997, 0.2223074955231517], "means": [[135.4014434814453, 134.27987670898438, 127.56027221679688], [76.9936752319336, 78.63775634765625, 75.0], [171.3647918701172, 178.3153076171875, 183.61219787597656]]}, {"weights": [0.27775, 0.30025, 0.422], "means": [[38.01169967651367, 46.451847076416016, 48.30513000488281], [133.11573791503906, 158.87510681152344, 166.93255615234375], [81.6540298461914, 94.98045349121094, 96.76776885986328]]}, {"weights": [0.29025, 0.38225, 0.3275], "means": [[192.27993774414062, 184.91903686523438, 170.76658630371094], [133.7056884765625, 119.31393432617188, 108.23021697998047], [40.9068717956543, 36.75725173950195, 35.330535888671875]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/45261397.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261397.json
new file mode 100644
index 0000000000000000000000000000000000000000..1380ac122981bd85acc8a3125fac7ff27e7ff19e
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261397.json
@@ -0,0 +1 @@
+[{"weights": [0.22575, 0.452, 0.32225], "means": [[48.16168212890625, 46.72978973388672, 42.58139419555664], [213.39657592773438, 206.00885009765625, 191.86117553710938], [146.4817657470703, 138.6842498779297, 125.03646087646484]]}, {"weights": [0.3205, 0.22425, 0.45525], "means": [[177.99142456054688, 177.72308349609375, 174.4828338623047], [75.73690032958984, 75.94760131835938, 71.20289611816406], [133.88687133789062, 131.7704620361328, 125.799560546875]]}, {"weights": [0.41075, 0.28825, 0.301], "means": [[36.87218475341797, 46.25502014160156, 50.57455825805664], [128.6990509033203, 151.3937530517578, 162.31829833984375], [93.2890396118164, 91.04900360107422, 86.63787078857422]]}, {"weights": [0.2935, 0.397, 0.3095], "means": [[27.821975708007812, 25.976150512695312, 23.744462966918945], [166.74244689941406, 158.96852111816406, 143.6523895263672], [110.1712417602539, 93.7083969116211, 83.78675079345703]]}, {"weights": [0.12153739612188366, 0.6319252077562327, 0.24653739612188366], "means": [[119.7464370727539, 110.2250747680664, 106.4387435913086], [54.991233825683594, 29.190685272216797, 21.809314727783203], [79.70365142822266, 55.634830474853516, 46.70927047729492]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/45261399.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261399.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b87f17ed9b641b364f77ded2e5f7e04bddf25cc
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261399.json
@@ -0,0 +1 @@
+[{"weights": [0.20675, 0.3565, 0.43675], "means": [[46.97218704223633, 45.12333679199219, 40.356712341308594], [142.164794921875, 135.56661987304688, 123.9389877319336], [206.1614227294922, 199.7303924560547, 187.7538604736328]]}, {"weights": [0.5055, 0.27525, 0.21925], "means": [[129.89564514160156, 128.46438598632812, 123.37932586669922], [173.43505859375, 176.47775268554688, 175.0090789794922], [63.163055419921875, 64.53705596923828, 61.338653564453125]]}, {"weights": [0.30875, 0.391, 0.30025], "means": [[76.24615478515625, 85.62753295898438, 85.15142059326172], [24.1074161529541, 34.48465347290039, 40.129154205322266], [108.69192504882812, 137.6020050048828, 148.20982360839844]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/45261406.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261406.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9404c5ea7bbadad7f2a15beadc5870e6cae4477
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261406.json
@@ -0,0 +1 @@
+[{"weights": [0.1945, 0.317, 0.4885], "means": [[77.75321197509766, 70.32904815673828, 58.48329162597656], [211.2373809814453, 204.90220642089844, 190.37539672851562], [152.7297821044922, 146.00460815429688, 131.19703674316406]]}, {"weights": [0.33475, 0.3355, 0.32975], "means": [[123.5519027709961, 111.89693450927734, 96.97684478759766], [69.65425109863281, 58.99478530883789, 45.508941650390625], [192.4912872314453, 194.03488159179688, 191.63609313964844]]}, {"weights": [0.2255, 0.12175, 0.65275], "means": [[197.04766845703125, 204.58204650878906, 209.44346618652344], [129.4414825439453, 119.14989471435547, 109.9055404663086], [16.141324996948242, 17.661815643310547, 18.18153953552246]]}, {"weights": [0.1836734693877551, 0.6289424860853432, 0.18738404452690166], "means": [[133.92929077148438, 135.4545440673828, 128.55555725097656], [26.817110061645508, 27.12389373779297, 19.755163192749023], [207.5742645263672, 209.0297088623047, 202.9702911376953]]}, {"weights": [0.3205, 0.373, 0.3065], "means": [[118.36583709716797, 105.39859771728516, 87.45553588867188], [188.42694091796875, 171.79222106933594, 147.85321044921875], [58.33279037475586, 45.88662338256836, 30.34828758239746]]}, {"weights": [0.377, 0.1525, 0.4705], "means": [[47.95756149291992, 23.90848731994629, 10.41777229309082], [175.73770141601562, 148.93115234375, 122.42131042480469], [117.1960678100586, 78.89000701904297, 53.2635498046875]]}, {"weights": [0.36875, 0.31725, 0.314], "means": [[208.40406799316406, 202.6833953857422, 188.69288635253906], [42.49960708618164, 39.24507522583008, 33.78250503540039], [119.2380599975586, 113.95780181884766, 104.8216552734375]]}, {"weights": [0.333, 0.2165, 0.4505], "means": [[49.804805755615234, 48.37687683105469, 25.409910202026367], [157.24942016601562, 155.18821716308594, 126.1004638671875], [105.1481704711914, 102.52885437011719, 66.84850311279297]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/45261407.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261407.json
new file mode 100644
index 0000000000000000000000000000000000000000..07ad1c13f62c5624d8b74e0e36385ff2b9b5554f
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261407.json
@@ -0,0 +1 @@
+[{"weights": [0.49725, 0.32675, 0.176], "means": [[151.49220275878906, 143.70236206054688, 128.9049835205078], [208.39556884765625, 203.72225952148438, 190.87452697753906], [73.796875, 67.32670593261719, 56.35653305053711]]}, {"weights": [0.52925, 0.30275, 0.168], "means": [[113.10533905029297, 111.75862121582031, 73.91544342041016], [48.22047805786133, 46.58051300048828, 25.1998348236084], [171.5863037109375, 171.64137268066406, 149.60565185546875]]}, {"weights": [0.276, 0.4175, 0.3065], "means": [[117.3768081665039, 107.93659210205078, 95.93115997314453], [59.85868453979492, 52.61317443847656, 42.45808410644531], [195.5709686279297, 198.4102783203125, 198.73410034179688]]}, {"weights": [0.24202898550724639, 0.35942028985507246, 0.39855072463768115], "means": [[26.61676597595215, 27.880239486694336, 25.095808029174805], [181.40725708007812, 178.60079956054688, 169.7056427001953], [110.16363525390625, 107.4000015258789, 101.27999877929688]]}, {"weights": [0.30925, 0.2715, 0.41925], "means": [[200.58770751953125, 180.35650634765625, 154.768798828125], [76.66758728027344, 62.847145080566406, 45.219154357910156], [148.1085205078125, 130.79666137695312, 107.99403381347656]]}, {"weights": [0.6577500000000001, 0.23575000000000002, 0.10650000000000001], "means": [[13.005321502685547, 14.255796432495117, 13.961231231689453], [199.76564025878906, 209.2237548828125, 215.70944213867188], [79.77465057373047, 75.33567810058594, 70.25821685791016]]}, {"weights": [0.5015000000000001, 0.39375000000000004, 0.10475000000000001], "means": [[103.17547607421875, 66.8748779296875, 42.49800491333008], [45.96952438354492, 21.370159149169922, 8.029841423034668], [164.0763702392578, 127.98806762695312, 99.80667877197266]]}, {"weights": [0.2465, 0.4075, 0.346], "means": [[222.39654541015625, 218.8407745361328, 204.48681640625], [138.5552215576172, 131.42637634277344, 118.70674896240234], [49.796241760253906, 46.583091735839844, 40.176300048828125]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/45261689.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261689.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e64f7de268c3b199ef9b327a6fc90e262c0768a
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261689.json
@@ -0,0 +1 @@
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diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/45261695.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261695.json
new file mode 100644
index 0000000000000000000000000000000000000000..2639195e596c211707ecf6b579e1543477948d02
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261695.json
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\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/45261709.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261709.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7e0906c20d9157b7aacc5206b3aa6f42386d926
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261709.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/45261710.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261710.json
new file mode 100644
index 0000000000000000000000000000000000000000..610fd7c97c6c89b5ccbfe745eef874a64230c4b3
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261710.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/45261713.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261713.json
new file mode 100644
index 0000000000000000000000000000000000000000..3166ae6755ec0bdad6be6fd32ebe1ae1c44023db
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/45261713.json
@@ -0,0 +1 @@
+[{"weights": [0.19375, 0.42175, 0.3845], "means": [[98.77548217773438, 81.18193817138672, 60.450321197509766], [197.46295166015625, 199.95851135253906, 194.66567993164062], [164.0988311767578, 146.33810424804688, 123.85175323486328]]}, {"weights": [0.5566750629722922, 0.3364119787293591, 0.10691295829834872], "means": [[185.89642333984375, 163.51885986328125, 134.4635467529297], [143.65640258789062, 125.6406021118164, 103.153076171875], [112.75916290283203, 91.02094268798828, 66.19371795654297]]}, {"weights": [0.3853637901861252, 0.27284263959390864, 0.34179357021996615], "means": [[142.70362854003906, 128.38858032226562, 107.19100189208984], [85.67597198486328, 72.83565521240234, 53.249610900878906], [166.24009704589844, 164.53712463378906, 158.83168029785156]]}, {"weights": [0.39215183380353935, 0.35675814311361886, 0.25109002308284173], "means": [[40.09941101074219, 38.63047790527344, 29.177894592285156], [181.09849548339844, 175.9827423095703, 162.5003662109375], [120.48519134521484, 107.45761108398438, 89.64453887939453]]}, {"weights": [0.5426577042399172, 0.2551706308169597, 0.20217166494312305], "means": [[23.026203155517578, 21.496427536010742, 11.257741928100586], [177.24417114257812, 166.5663604736328, 147.6879425048828], [89.736572265625, 85.55626678466797, 66.27749633789062]]}, {"weights": [0.37531699070160607, 0.22147083685545224, 0.40321217244294166], "means": [[121.6441421508789, 114.95270538330078, 104.98648834228516], [155.46946716308594, 181.0992431640625, 197.71755981445312], [82.83228302001953, 69.10901641845703, 51.096435546875]]}, {"weights": [0.2505, 0.4065, 0.343], "means": [[150.51397705078125, 159.4600830078125, 167.35629272460938], [70.84563446044922, 69.2287826538086, 63.64636993408203], [107.66472625732422, 113.56049346923828, 118.31340789794922]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/45662875.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/45662875.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a5de99a167d3f60f6330399e263ae2937ccd796
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/45662875.json
@@ -0,0 +1 @@
+[{"weights": [0.45325, 0.2695, 0.27725], "means": [[154.30833435058594, 142.26199340820312, 123.42581176757812], [98.86363983154297, 82.43785095214844, 62.97587966918945], [204.3814239501953, 200.82687377929688, 189.0964813232422]]}, {"weights": [0.452, 0.12975, 0.41825], "means": [[160.34568786621094, 148.92919921875, 134.85951232910156], [90.90943908691406, 78.1714859008789, 64.91136932373047], [205.5062713623047, 205.49192810058594, 198.72683715820312]]}, {"weights": [0.167, 0.5205, 0.3125], "means": [[93.55389404296875, 69.18113708496094, 43.37874221801758], [216.6570587158203, 183.720947265625, 125.03025817871094], [146.04080200195312, 111.97360229492188, 74.92639923095703]]}, {"weights": [0.08635097493036212, 0.13370473537604458, 0.7799442896935933], "means": [[83.3548355102539, 80.25806427001953, 68.3548355102539], [167.9375, 164.7916717529297, 147.7708282470703], [8.70714282989502, 9.532142639160156, 6.435714244842529]]}, {"weights": [0.431266846361186, 0.4582210242587601, 0.1105121293800539], "means": [[134.75625610351562, 133.1374969482422, 123.25], [231.89999389648438, 235.27647399902344, 235.12940979003906], [176.63414001464844, 177.68292236328125, 174.9268341064453]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/45662882.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/45662882.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca0ce914ccf711f602992aabd7c4c39b114fe641
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/45662882.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/45662884.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/45662884.json
new file mode 100644
index 0000000000000000000000000000000000000000..fff8894433d74fbb616c5078c1a7ae7c3ab63601
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/45662884.json
@@ -0,0 +1 @@
+[{"weights": [0.4645, 0.257, 0.2785], "means": [[134.75564575195312, 117.9655532836914, 84.90957641601562], [67.62645721435547, 58.540855407714844, 34.06614685058594], [202.24147033691406, 179.51077270507812, 153.61041259765625]]}, {"weights": [0.2897271268057785, 0.29775280898876405, 0.41252006420545745], "means": [[103.40997314453125, 88.85595703125, 69.639892578125], [175.47439575195312, 134.7142791748047, 98.6927261352539], [53.896888732910156, 43.07587432861328, 26.706226348876953]]}, {"weights": [0.3771289537712895, 0.4215328467153285, 0.201338199513382], "means": [[99.78871154785156, 66.43064880371094, 48.82258224487305], [53.25973892211914, 42.28282928466797, 30.135643005371094], [173.03927612304688, 134.6827850341797, 88.88821411132812]]}, {"weights": [0.4626769626769627, 0.37773487773487774, 0.15958815958815958], "means": [[104.9610595703125, 99.39360046386719, 83.9958267211914], [57.902896881103516, 41.87393569946289, 25.08347511291504], [181.28628540039062, 146.74192810058594, 116.79435729980469]]}, {"weights": [0.14492753623188406, 0.5420289855072464, 0.3130434782608696], "means": [[142.65142822265625, 139.65142822265625, 144.03428649902344], [79.79296875, 52.76165008544922, 40.830406188964844], [145.86111450195312, 72.51190185546875, 68.10449981689453]]}, {"weights": [0.50825, 0.27025, 0.2215], "means": [[62.05951690673828, 39.77717590332031, 22.727005004882812], [178.05087280273438, 154.7798309326172, 137.15818786621094], [125.10609436035156, 103.47065734863281, 81.04063415527344]]}, {"weights": [0.3345832131525815, 0.393712143063167, 0.2717046437842515], "means": [[81.31896209716797, 64.5525894165039, 38.774139404296875], [42.28498077392578, 30.66373634338379, 14.493040084838867], [116.67622375488281, 98.98301696777344, 71.73673248291016]]}, {"weights": [0.4575, 0.3375, 0.205], "means": [[112.12950897216797, 60.51694107055664, 38.38360595703125], [40.51777648925781, 29.102222442626953, 17.569629669189453], [151.60609436035156, 93.98048400878906, 72.88780212402344]]}, {"weights": [0.3596442468037799, 0.36631461923290715, 0.274041133963313], "means": [[127.57186889648438, 79.42194366455078, 69.36321258544922], [59.37480926513672, 34.36722183227539, 25.171472549438477], [209.90872192382812, 163.9857940673828, 164.1764678955078]]}, {"weights": [0.41131498470948014, 0.16055045871559634, 0.42813455657492355], "means": [[48.67905807495117, 24.65303611755371, 9.298637390136719], [150.59364318847656, 105.9047622680664, 87.32380676269531], [102.36904907226562, 50.386905670166016, 31.22381019592285]]}, {"weights": [0.5176991150442478, 0.08280657395701643, 0.3994943109987358], "means": [[90.11111450195312, 49.409034729003906, 38.11233139038086], [125.03816986083984, 114.65648651123047, 133.93130493164062], [42.14240646362305, 26.352848052978516, 22.26898765563965]]}, {"weights": [0.15175, 0.32475, 0.5235], "means": [[115.74464416503906, 90.46128845214844, 75.7940673828125], [27.938413619995117, 13.5088529586792, 3.9969208240509033], [75.73686981201172, 39.80706787109375, 19.923112869262695]]}, {"weights": [0.3408637873754153, 0.25116279069767444, 0.4079734219269103], "means": [[76.24561309814453, 41.63352966308594, 27.105262756347656], [209.6640167236328, 126.02909851074219, 103.92857360839844], [168.0553741455078, 80.9609146118164, 66.86808013916016]]}, {"weights": [0.6692160611854685, 0.245697896749522, 0.08508604206500955], "means": [[60.92071533203125, 27.961427688598633, 17.26714324951172], [139.7062225341797, 71.11478424072266, 54.509727478027344], [213.87078857421875, 179.46629333496094, 158.0786590576172]]}, {"weights": [0.09903748733535968, 0.36347517730496454, 0.5374873353596757], "means": [[167.97442626953125, 127.57544708251953, 84.60614013671875], [80.4564437866211, 48.66829299926758, 23.930313110351562], [34.38925552368164, 19.21677589416504, 8.060791969299316]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/45662886.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/45662886.json
new file mode 100644
index 0000000000000000000000000000000000000000..24595b224f1fc1c4a4852e7dc7d3a6eacb047a51
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/45662886.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/45662890.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/45662890.json
new file mode 100644
index 0000000000000000000000000000000000000000..23e3967d0d2d81a6910f2ce1158e698c5c150377
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/45662890.json
@@ -0,0 +1 @@
+[{"weights": [0.2525, 0.51075, 0.23675], "means": [[175.1465301513672, 175.85247802734375, 172.11187744140625], [163.13754272460938, 139.0195770263672, 107.2413101196289], [87.4139404296875, 72.29989624023438, 49.182682037353516]]}, {"weights": [0.9412780656303973, 0.013816925734024179, 0.044905008635578586], "means": [[1.0660550594329834, 1.640367031097412, 0.2623853087425232], [117.75, 107.875, 84.625], [39.96154022216797, 35.11538314819336, 23.19230842590332]]}, {"weights": [0.3475336322869955, 0.3273542600896861, 0.3251121076233184], "means": [[69.81290435791016, 59.51612854003906, 45.477420806884766], [13.315068244934082, 10.952054977416992, 5.219178199768066], [37.958621978759766, 32.22068786621094, 21.86896514892578]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/45662891.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/45662891.json
new file mode 100644
index 0000000000000000000000000000000000000000..5322e55870923c3ec7475938539b4c1a3b342da7
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/45662891.json
@@ -0,0 +1 @@
+[{"weights": [0.6, 0.107, 0.293], "means": [[181.6062469482422, 162.6995849609375, 136.60000610351562], [65.16822052001953, 52.25467300415039, 32.56775665283203], [136.5554656982422, 115.3353271484375, 85.4991455078125]]}, {"weights": [0.8565656565656565, 0.006060606060606061, 0.13737373737373737], "means": [[1.4622641801834106, 1.6179245710372925, 0.38443395495414734], [149.0, 139.6666717529297, 119.0], [25.455883026123047, 21.823530197143555, 16.58823585510254]]}, {"weights": [0.5526695526695526, 0.10678210678210678, 0.34054834054834054], "means": [[16.425586700439453, 13.945169448852539, 6.50130558013916], [110.02702331542969, 81.56756591796875, 44.91891860961914], [44.71186447143555, 39.70762634277344, 30.008474349975586]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47115165.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47115165.json
new file mode 100644
index 0000000000000000000000000000000000000000..66f33f3068a9f0eb47c882ff7fd2d63b83134cde
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47115165.json
@@ -0,0 +1 @@
+[{"weights": [0.509, 0.275, 0.216], "means": [[152.92042541503906, 120.8786849975586, 81.6046142578125], [191.802734375, 164.64273071289062, 131.17091369628906], [107.47685241699219, 77.59259033203125, 39.314815521240234]]}, {"weights": [0.2745, 0.24725, 0.47825], "means": [[157.19581604003906, 128.35336303710938, 92.9608383178711], [226.2335662841797, 199.69464111328125, 164.16481018066406], [89.4485092163086, 59.421852111816406, 24.383689880371094]]}, {"weights": [0.2937375745526839, 0.41898608349900596, 0.28727634194831014], "means": [[179.30795288085938, 155.5803680419922, 127.06937408447266], [213.92408752441406, 192.24554443359375, 166.08065795898438], [126.98442840576172, 96.27335357666016, 56.915225982666016]]}, {"weights": [0.5075, 0.34425, 0.14825], "means": [[71.51329803466797, 39.85418701171875, 6.738423824310303], [131.7908477783203, 87.20116424560547, 36.17864990234375], [200.97976684570312, 149.57504272460938, 85.62394714355469]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47115166.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47115166.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcf2e485ac0fd7265a95ab3d4a954d166254b620
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47115166.json
@@ -0,0 +1 @@
+[{"weights": [0.2605, 0.22375, 0.51575], "means": [[188.63723754882812, 165.87139892578125, 136.42227172851562], [112.69161987304688, 78.04580688476562, 37.06927490234375], [155.13330078125, 122.69752502441406, 82.22879028320312]]}, {"weights": [0.1815, 0.4925, 0.326], "means": [[221.33058166503906, 191.89256286621094, 156.5564727783203], [84.14669799804688, 55.34720993041992, 22.232486724853516], [151.99386596679688, 118.46012115478516, 78.76380157470703]]}, {"weights": [0.17163120567375886, 0.5148936170212766, 0.31347517730496455], "means": [[116.38291931152344, 90.94214630126953, 57.30303192138672], [218.7135009765625, 193.84481811523438, 167.88796997070312], [184.6289520263672, 160.7556610107422, 134.69532775878906]]}, {"weights": [0.46625, 0.2235, 0.31025], "means": [[61.51903533935547, 34.3345832824707, 5.831635475158691], [200.94854736328125, 148.4888153076172, 82.09507751464844], [129.57131958007812, 85.74053192138672, 33.74778366088867]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47115174.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47115174.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c10c85423b0eeffc20e1deaad5a45c023ed31bd
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47115174.json
@@ -0,0 +1 @@
+[{"weights": [0.3615, 0.3515, 0.287], "means": [[153.6459197998047, 130.9979248046875, 97.49654388427734], [196.3101043701172, 191.03271484375, 177.02774047851562], [99.82229614257812, 71.60104370117188, 36.333621978759766]]}, {"weights": [0.44375, 0.263, 0.29325], "means": [[216.52394104003906, 218.09295654296875, 217.6901397705078], [110.59980773925781, 84.69866943359375, 53.481937408447266], [179.32565307617188, 155.30349731445312, 105.6948013305664]]}, {"weights": [0.4070729872084274, 0.3867569601203913, 0.20617005267118135], "means": [[134.2255096435547, 98.48429107666016, 56.887245178222656], [90.95330810546875, 58.26070022583008, 22.85603141784668], [166.18247985839844, 134.88320922851562, 95.41970825195312]]}, {"weights": [0.8196125907990315, 0.12469733656174334, 0.05569007263922518], "means": [[66.12112426757812, 30.412113189697266, 3.6720826625823975], [92.39805603027344, 65.0873794555664, 36.59223175048828], [139.36956787109375, 135.56521606445312, 118.89130401611328]]}, {"weights": [0.40213143872113677, 0.3243339253996448, 0.27353463587921845], "means": [[144.7217254638672, 112.89134216308594, 81.63692474365234], [115.96276092529297, 81.16210174560547, 46.10843276977539], [81.6324691772461, 50.83506393432617, 22.133766174316406]]}, {"weights": [0.2651162790697674, 0.5383720930232558, 0.19651162790697674], "means": [[60.31578826904297, 51.89912414550781, 28.543859481811523], [117.63066864013672, 111.62850952148438, 94.17926788330078], [186.61538696289062, 179.56805419921875, 152.61538696289062]]}, {"weights": [0.6507592190889371, 0.02386117136659436, 0.32537960954446854], "means": [[92.87000274658203, 93.52999877929688, 85.94000244140625], [183.81817626953125, 176.5454559326172, 144.4545440673828], [145.17333984375, 143.5933380126953, 119.87999725341797]]}, {"weights": [0.4274447949526814, 0.22712933753943218, 0.34542586750788645], "means": [[133.65682983398438, 110.88314819335938, 81.47232818603516], [86.42823791503906, 57.71296310424805, 23.814815521240234], [192.6331787109375, 165.40638732910156, 128.70167541503906]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47115526.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47115526.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cb30cdf8b1c67c8cad0d8da244bf7eab1b96357
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47115526.json
@@ -0,0 +1 @@
+[{"weights": [0.471, 0.287, 0.242], "means": [[156.63694763183594, 139.97186279296875, 118.10456848144531], [200.4059295654297, 195.34320068359375, 182.7848358154297], [96.88946533203125, 81.33367919921875, 60.60950469970703]]}, {"weights": [0.17075, 0.41625, 0.413], "means": [[185.31478881835938, 182.38067626953125, 168.79063415527344], [50.84744644165039, 49.55915832519531, 29.96576499938965], [127.00060272216797, 115.3529052734375, 98.3232421875]]}, {"weights": [0.29825, 0.341, 0.36075], "means": [[121.18022155761719, 123.59262084960938, 116.16680908203125], [182.23387145996094, 186.66201782226562, 182.48387145996094], [53.12889862060547, 52.04158020019531, 38.50935363769531]]}, {"weights": [0.4555, 0.18325, 0.36125], "means": [[39.37486267089844, 42.93578338623047, 25.00933074951172], [172.38336181640625, 177.68894958496094, 171.9454345703125], [109.99723052978516, 109.16886138916016, 84.69065856933594]]}, {"weights": [0.55425, 0.162, 0.28375], "means": [[72.46414184570312, 70.79476928710938, 63.45782470703125], [205.77777099609375, 207.09722900390625, 200.84413146972656], [137.56298828125, 134.7594757080078, 124.578857421875]]}, {"weights": [0.6080937167199149, 0.10543130990415335, 0.28647497337593186], "means": [[9.758318901062012, 10.716287612915039, 8.399299621582031], [54.191917419433594, 48.61616134643555, 41.121212005615234], [21.579925537109375, 21.29739761352539, 18.11524200439453]]}, {"weights": [0.373434314011069, 0.42441013690649576, 0.2021555490824352], "means": [[150.98985290527344, 126.37285614013672, 102.81591033935547], [76.59986114501953, 51.4543571472168, 30.20109748840332], [209.62391662597656, 205.3746337890625, 198.10662841796875]]}, {"weights": [0.1975, 0.4095, 0.393], "means": [[58.28480911254883, 53.944305419921875, 34.22658157348633], [127.13491821289062, 108.64652252197266, 83.07325744628906], [180.0089111328125, 175.7519073486328, 158.9115753173828]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47115529.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47115529.json
new file mode 100644
index 0000000000000000000000000000000000000000..4499026917b4991eda2864895e739d68a57bf901
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47115529.json
@@ -0,0 +1 @@
+[{"weights": [0.30475, 0.25625, 0.439], "means": [[95.89171600341797, 83.35356903076172, 65.6915512084961], [202.60194396972656, 200.34634399414062, 190.2087860107422], [155.6435089111328, 141.7203826904297, 122.00057220458984]]}, {"weights": [0.36275, 0.26275, 0.3745], "means": [[181.06202697753906, 178.79531860351562, 165.59959411621094], [57.86013412475586, 54.796382904052734, 37.28163528442383], [132.90386962890625, 124.2296371459961, 105.10213470458984]]}, {"weights": [0.24125, 0.355, 0.40375], "means": [[174.79896545410156, 169.3720245361328, 156.9554443359375], [63.2408447265625, 60.46337890625, 41.904930114746094], [126.6253890991211, 115.1195068359375, 97.49349975585938]]}, {"weights": [0.43766756032171583, 0.21983914209115282, 0.3424932975871314], "means": [[72.82542419433594, 49.43415069580078, 27.391271591186523], [211.1905517578125, 206.77438354492188, 198.71798706054688], [143.8375701904297, 125.2005844116211, 104.49803924560547]]}, {"weights": [0.46715145436308925, 0.24648946840521566, 0.28635907723169507], "means": [[76.26301574707031, 74.56951141357422, 67.08695983886719], [221.62969970703125, 223.0030517578125, 219.0803680419922], [155.25306701660156, 151.52890014648438, 140.61558532714844]]}, {"weights": [0.32146829810901, 0.4916573971078977, 0.18687430478309233], "means": [[37.74048614501953, 37.173011779785156, 32.460208892822266], [10.02036190032959, 11.221719741821289, 9.60180950164795], [83.2797622680664, 81.02381134033203, 73.81547546386719]]}, {"weights": [0.457, 0.2235, 0.3195], "means": [[39.648250579833984, 45.288291931152344, 27.121444702148438], [168.68568420410156, 174.08724975585938, 169.24607849121094], [102.76917266845703, 105.58920288085938, 83.56024932861328]]}, {"weights": [0.22675, 0.517, 0.25625], "means": [[111.29106903076172, 109.65821075439453, 97.80705261230469], [183.1803741455078, 184.54302978515625, 175.80078125], [40.3765869140625, 38.995121002197266, 29.202926635742188]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_gmm_color/47115543.json b/scan_data/ARKitScenes/instance_id_to_gmm_color/47115543.json
new file mode 100644
index 0000000000000000000000000000000000000000..229d9ac146df2caffeae400f623f66557ee35d6f
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_gmm_color/47115543.json
@@ -0,0 +1 @@
+[{"weights": [0.40725, 0.3815, 0.21125], "means": [[136.35665893554688, 121.0177993774414, 92.5702896118164], [186.4259490966797, 177.04849243164062, 160.30799865722656], [74.46745300292969, 62.759761810302734, 37.63313674926758]]}, {"weights": [0.3265646731571627, 0.4200278164116829, 0.2534075104311544], "means": [[66.5076675415039, 45.70016860961914, 18.202726364135742], [170.822509765625, 122.39006805419922, 66.389404296875], [194.04061889648438, 178.4281005859375, 161.59275817871094]]}, {"weights": [0.22998296422487224, 0.17546848381601363, 0.5945485519591142], "means": [[159.41233825683594, 121.00247192382812, 66.06172943115234], [187.1618194580078, 179.77346801757812, 144.6245880126953], [63.077362060546875, 59.07545471191406, 25.37535858154297]]}, {"weights": [0.45138396025550037, 0.22285308729595457, 0.3257629524485451], "means": [[183.17295837402344, 173.8726348876953, 151.50314331054688], [109.4363021850586, 100.43312072753906, 68.07962036132812], [52.11111068725586, 48.34858322143555, 21.618736267089844]]}, {"weights": [0.18846345101939332, 0.3580308304326206, 0.4535057185479861], "means": [[167.97889709472656, 167.8258514404297, 146.08970642089844], [69.04166412353516, 66.29582977294922, 36.32638931274414], [123.91557312011719, 113.22807312011719, 73.90460205078125]]}, {"weights": [0.4496894409937888, 0.3316770186335404, 0.2186335403726708], "means": [[55.68784713745117, 54.765193939208984, 25.70442008972168], [198.9157257080078, 182.85018920898438, 154.86891174316406], [108.1647720336914, 112.8977279663086, 88.76704406738281]]}, {"weights": [0.5258573761567773, 0.3652694610778443, 0.10887316276537834], "means": [[108.38198852539062, 114.07763671875, 67.65217590332031], [128.29806518554688, 137.78240966796875, 91.6229476928711], [167.4949951171875, 183.47999572753906, 146.48500061035156]]}, {"weights": [0.5029717682020802, 0.3410104011887073, 0.15601783060921248], "means": [[80.84194946289062, 78.89364624023438, 40.973411560058594], [104.60131072998047, 104.45315551757812, 66.50762176513672], [147.5, 150.92381286621094, 130.60000610351562]]}, {"weights": [0.2886178861788618, 0.5853658536585366, 0.12601626016260162], "means": [[17.211267471313477, 19.154930114746094, 10.380281448364258], [8.24305534362793, 9.05555534362793, 1.3680555820465088], [43.19355010986328, 43.25806427001953, 33.25806427001953]]}, {"weights": [0.9047619047619048, 0.031746031746031744, 0.06349206349206349], "means": [[4.811403274536133, 7.061403274536133, 3.662280797958374], [45.0, 47.5, 40.625], [57.3125, 59.125, 52.4375]]}, {"weights": [0.2898406374501992, 0.1902390438247012, 0.5199203187250996], "means": [[116.62371063232422, 98.80068969726562, 74.30068969726562], [181.17800903320312, 154.78533935546875, 127.3717269897461], [47.77777862548828, 40.99617004394531, 20.373563766479492]]}, {"weights": [0.12368064952638701, 0.3096075778078484, 0.5667117726657646], "means": [[145.8336944580078, 172.46170043945312, 144.36761474609375], [98.71678161621094, 94.70454406738281, 61.08478927612305], [53.36055374145508, 38.41069793701172, 17.520057678222656]]}]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_name/48018331.json b/scan_data/ARKitScenes/instance_id_to_name/48018331.json
new file mode 100644
index 0000000000000000000000000000000000000000..72ac03a5e5d0d38b75b9dba6882c969a7a6fcd53
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_name/48018331.json
@@ -0,0 +1 @@
+["object", "cabinet", "refrigerator", "cabinet", "oven", "dishwasher", "cabinet", "sink", "table", "cabinet", "cabinet", "cabinet", "cabinet", "cabinet", "cabinet", "cabinet", "cabinet", "chair", "chair", "chair", "chair", "cabinet", "cabinet", "cabinet", "shelf", "cabinet", "shelf"]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_name/48018334.json b/scan_data/ARKitScenes/instance_id_to_name/48018334.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b6f581c1c7971a354fe56192a93f83f57e9a720
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_name/48018334.json
@@ -0,0 +1 @@
+["object", "cabinet", "cabinet", "dishwasher", "oven", "cabinet", "cabinet", "cabinet", "cabinet", "cabinet", "cabinet", "cabinet", "sink", "table", "chair", "chair", "chair", "cabinet", "shelf", "cabinet", "cabinet", "cabinet", "cabinet", "shelf", "stove"]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_name/48018339.json b/scan_data/ARKitScenes/instance_id_to_name/48018339.json
new file mode 100644
index 0000000000000000000000000000000000000000..045360126c5487f5444125b0d7e9e044b0db7f9a
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_name/48018339.json
@@ -0,0 +1 @@
+["object", "shelf", "shelf", "stool", "cabinet", "shelf", "cabinet", "chair", "table", "chair", "table", "sofa"]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_name/48018340.json b/scan_data/ARKitScenes/instance_id_to_name/48018340.json
new file mode 100644
index 0000000000000000000000000000000000000000..c933f8f517fbeb391095c2593d1e432271a6ac0c
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_name/48018340.json
@@ -0,0 +1 @@
+["object", "sofa", "table", "table", "chair", "chair", "cabinet", "shelf", "cabinet", "stool"]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_name/48018341.json b/scan_data/ARKitScenes/instance_id_to_name/48018341.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1e20e9e462fc6f4b85f009600539e0947e4b01d
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_name/48018341.json
@@ -0,0 +1 @@
+["object", "sofa", "table", "table", "chair", "chair", "shelf", "cabinet", "cabinet", "stool", "shelf"]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_name/48018396.json b/scan_data/ARKitScenes/instance_id_to_name/48018396.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f7c59fc00d98c85deb97358c557d84a3ee21101
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_name/48018396.json
@@ -0,0 +1 @@
+["object", "bed", "table", "bed", "sofa", "cabinet", "cabinet", "cabinet", "cabinet"]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_name/48018399.json b/scan_data/ARKitScenes/instance_id_to_name/48018399.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec87430cfa4619ac5e9e4b3f7d92751707183bd2
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_name/48018399.json
@@ -0,0 +1 @@
+["object", "bed", "bed", "sofa", "cabinet", "cabinet", "cabinet", "table", "cabinet", "cabinet"]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_name/48018403.json b/scan_data/ARKitScenes/instance_id_to_name/48018403.json
new file mode 100644
index 0000000000000000000000000000000000000000..b33f7a9276fe1eb4509aea97ba3101ed4d863f5e
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_name/48018403.json
@@ -0,0 +1 @@
+["object", "table", "bed", "bed", "sofa", "cabinet", "cabinet", "table", "cabinet", "cabinet"]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_name/48018404.json b/scan_data/ARKitScenes/instance_id_to_name/48018404.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ace3c8b849ddc1d6597dffe90d331a6f27a3c2f
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_name/48018404.json
@@ -0,0 +1 @@
+["object", "bathtub", "cabinet", "sink", "toilet", "cabinet", "cabinet", "cabinet"]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_name/48018405.json b/scan_data/ARKitScenes/instance_id_to_name/48018405.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a218f7ff2b78fae455dbc16b47a8ee549fe4c9e
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_name/48018405.json
@@ -0,0 +1 @@
+["object", "cabinet", "cabinet", "toilet", "cabinet", "sink", "bathtub", "cabinet", "cabinet", "cabinet"]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_name/48018407.json b/scan_data/ARKitScenes/instance_id_to_name/48018407.json
new file mode 100644
index 0000000000000000000000000000000000000000..43f47a0197ac7f2b71f1c2eecff5f695f71d4b54
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_name/48018407.json
@@ -0,0 +1 @@
+["object", "bathtub", "cabinet", "cabinet", "sink", "toilet", "cabinet", "cabinet"]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_name/48018411.json b/scan_data/ARKitScenes/instance_id_to_name/48018411.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e97712ec52b16d685cff657aac4fc3e091d3163
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_name/48018411.json
@@ -0,0 +1 @@
+["object", "table", "chair", "refrigerator", "chair", "oven", "stove", "cabinet", "sink", "sink", "washing machine", "cabinet", "table"]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_name/48018412.json b/scan_data/ARKitScenes/instance_id_to_name/48018412.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a37a8e5cb75f82a6140dbc500be4668222925e2
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_name/48018412.json
@@ -0,0 +1 @@
+["object", "cabinet", "washing machine", "cabinet", "cabinet", "oven", "stove", "sink", "sink", "chair", "refrigerator", "table", "chair", "cabinet", "table"]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_name/48018415.json b/scan_data/ARKitScenes/instance_id_to_name/48018415.json
new file mode 100644
index 0000000000000000000000000000000000000000..96d8f29063d6270c75cdaef440b433ec0585300c
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_name/48018415.json
@@ -0,0 +1 @@
+["object", "washing machine", "cabinet", "sink", "sink", "oven", "stove", "cabinet", "table", "chair", "refrigerator", "chair", "cabinet"]
\ No newline at end of file
diff --git a/scan_data/ARKitScenes/instance_id_to_name/48018420.json b/scan_data/ARKitScenes/instance_id_to_name/48018420.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3f51a5c3e7988f09ec39d1b1abfbde2dc81dc9c
--- /dev/null
+++ b/scan_data/ARKitScenes/instance_id_to_name/48018420.json
@@ -0,0 +1 @@
+["object", "sofa", "sofa", "table", "cabinet", "cabinet", "cabinet", "shelf", "cabinet", "cabinet", "shelf", "cabinet"]
\ No newline at end of file
diff --git a/scan_data/HM3D/instance_id_to_name/00155-iLDo95ZbDJq_sub007.json b/scan_data/HM3D/instance_id_to_name/00155-iLDo95ZbDJq_sub007.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fe632b9c4d9f84dd21c86c3dfe9be89b95708d5
--- /dev/null
+++ b/scan_data/HM3D/instance_id_to_name/00155-iLDo95ZbDJq_sub007.json
@@ -0,0 +1 @@
+["object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "door", "object", "object", "object", "object", "clothes hanger", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "bench", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "decoration", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "basket", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "basket", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "window", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "counter", "object", "object", "object", "object", "object", "object", "object", "basket", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "basket", "object", "object", "object", "object", "object", "object", "object", "object", "basket", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "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", "basket", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "washing machines", "object", "object", "object", "washing machines", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "lamp"]
\ No newline at end of file
diff --git a/scan_data/HM3D/instance_id_to_name/00155-iLDo95ZbDJq_sub008.json b/scan_data/HM3D/instance_id_to_name/00155-iLDo95ZbDJq_sub008.json
new file mode 100644
index 0000000000000000000000000000000000000000..74c9fa0780792c7e9668aa6c11e38cb9884d1214
--- /dev/null
+++ b/scan_data/HM3D/instance_id_to_name/00155-iLDo95ZbDJq_sub008.json
@@ -0,0 +1 @@
+["object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "towel", "object", "object", "object", "faucet", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "rug", "object", "object", "basket", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "soap dish", "sink", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "soap dish", "object", "object", "object", "object", "object", "towel rack", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "lamp", "object", "object", "object", "object", "toilet paper", "object", "object", "object", "bathroom vanity", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "toiletry", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "towel rack", "object", "object", "toilet", "object", "object", "object", "object", "object", "object", "object", "towel rack", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "towel", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "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", "shower", "object", "object", "towel", "object", "towel", "object", "object", "object", "object", "object", "object", "object", "object", "rug", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "bathroom vanity", "object", "object", "sink", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "bathroom vanity", "object", "object", "object", "object", "object", "object", "object", "object", "shower", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "chair", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "soap dish", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "faucet", "object", "picture", "object", "object", "object", "object", "object", "object", "object", "object", "towel", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "object", "towel rack"]
\ No newline at end of file
diff --git a/scan_data/HM3D/instance_id_to_name/00155-iLDo95ZbDJq_sub009.json b/scan_data/HM3D/instance_id_to_name/00155-iLDo95ZbDJq_sub009.json
new file mode 100644
index 0000000000000000000000000000000000000000..1036820169ce1134787f7225a3162ac2067a52fa
--- /dev/null
+++ b/scan_data/HM3D/instance_id_to_name/00155-iLDo95ZbDJq_sub009.json
@@ -0,0 +1 @@
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diff --git a/scan_data/HM3D/instance_id_to_name/00155-iLDo95ZbDJq_sub010.json b/scan_data/HM3D/instance_id_to_name/00155-iLDo95ZbDJq_sub010.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6e83fc7c2bae6f808b49196165d45f4017fc8a9
--- /dev/null
+++ b/scan_data/HM3D/instance_id_to_name/00155-iLDo95ZbDJq_sub010.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/scan_data/HM3D/instance_id_to_name/00155-iLDo95ZbDJq_sub011.json b/scan_data/HM3D/instance_id_to_name/00155-iLDo95ZbDJq_sub011.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5bfa2123c732faedb12373403df7442aca3a41e
--- /dev/null
+++ b/scan_data/HM3D/instance_id_to_name/00155-iLDo95ZbDJq_sub011.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/scan_data/HM3D/instance_id_to_name/00173-qZ4B7U6XE5Y_sub013.json b/scan_data/HM3D/instance_id_to_name/00173-qZ4B7U6XE5Y_sub013.json
new file mode 100644
index 0000000000000000000000000000000000000000..24bb14ac8d3c193281fe2f76470e0dd27a93cc36
--- /dev/null
+++ b/scan_data/HM3D/instance_id_to_name/00173-qZ4B7U6XE5Y_sub013.json
@@ -0,0 +1 @@
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diff --git a/scan_data/HM3D/instance_id_to_name/00272-kA2nG18hCAr_sub009.json b/scan_data/HM3D/instance_id_to_name/00272-kA2nG18hCAr_sub009.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ce81822e5c0c95de41f39a0f53b369c0a096ec6
--- /dev/null
+++ b/scan_data/HM3D/instance_id_to_name/00272-kA2nG18hCAr_sub009.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/scan_data/HM3D/instance_id_to_name/00272-kA2nG18hCAr_sub010.json b/scan_data/HM3D/instance_id_to_name/00272-kA2nG18hCAr_sub010.json
new file mode 100644
index 0000000000000000000000000000000000000000..1779da15680f68596f436984e90958d742b09892
--- /dev/null
+++ b/scan_data/HM3D/instance_id_to_name/00272-kA2nG18hCAr_sub010.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/scan_data/HM3D/instance_id_to_name/00304-X6Pct1msZv5_sub003.json b/scan_data/HM3D/instance_id_to_name/00304-X6Pct1msZv5_sub003.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4562a7e92ea246ffea22cce53f0b6cf2748ae82
--- /dev/null
+++ b/scan_data/HM3D/instance_id_to_name/00304-X6Pct1msZv5_sub003.json
@@ -0,0 +1 @@
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diff --git a/scan_data/HM3D/instance_id_to_name/00304-X6Pct1msZv5_sub004.json b/scan_data/HM3D/instance_id_to_name/00304-X6Pct1msZv5_sub004.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c0a0a2a883805484f231645a9b24c8b408c069b
--- /dev/null
+++ b/scan_data/HM3D/instance_id_to_name/00304-X6Pct1msZv5_sub004.json
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diff --git a/scan_data/HM3D/instance_id_to_name/00304-X6Pct1msZv5_sub005.json b/scan_data/HM3D/instance_id_to_name/00304-X6Pct1msZv5_sub005.json
new file mode 100644
index 0000000000000000000000000000000000000000..20004c5920a350690907c43f61f337f9457e8dbf
--- /dev/null
+++ b/scan_data/HM3D/instance_id_to_name/00304-X6Pct1msZv5_sub005.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/scan_data/HM3D/instance_id_to_name/00803-k1cupFYWXJ6_sub005.json b/scan_data/HM3D/instance_id_to_name/00803-k1cupFYWXJ6_sub005.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd7cd2d6af0a033a3e4db456615898414f47c879
--- /dev/null
+++ b/scan_data/HM3D/instance_id_to_name/00803-k1cupFYWXJ6_sub005.json
@@ -0,0 +1 @@
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diff --git a/scan_data/HM3D/instance_id_to_name/00803-k1cupFYWXJ6_sub006.json b/scan_data/HM3D/instance_id_to_name/00803-k1cupFYWXJ6_sub006.json
new file mode 100644
index 0000000000000000000000000000000000000000..78c63afd3c62c88047ab0178d728a35cc789c6e4
--- /dev/null
+++ b/scan_data/HM3D/instance_id_to_name/00803-k1cupFYWXJ6_sub006.json
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diff --git a/scan_data/HM3D/instance_id_to_name/00808-y9hTuugGdiq_sub012.json b/scan_data/HM3D/instance_id_to_name/00808-y9hTuugGdiq_sub012.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7d2e7ad5a5b8758d0df8788766152b480a0b442
--- /dev/null
+++ b/scan_data/HM3D/instance_id_to_name/00808-y9hTuugGdiq_sub012.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/scan_data/HM3D/instance_id_to_name/00808-y9hTuugGdiq_sub013.json b/scan_data/HM3D/instance_id_to_name/00808-y9hTuugGdiq_sub013.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d78fa247aa5b8db7308da2470a4919849d86f9f
--- /dev/null
+++ b/scan_data/HM3D/instance_id_to_name/00808-y9hTuugGdiq_sub013.json
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diff --git a/scan_data/HM3D/instance_id_to_name/00890-6s7QHgap2fW_sub008.json b/scan_data/HM3D/instance_id_to_name/00890-6s7QHgap2fW_sub008.json
new file mode 100644
index 0000000000000000000000000000000000000000..69d90fcb022f1c18f9b9b24ce560234ba7136a08
--- /dev/null
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