diff --git a/materials/98/hdr_crop_bboxes.json b/materials/98/hdr_crop_bboxes.json
new file mode 100644
index 0000000000000000000000000000000000000000..3583dfa97fa380f1c83239a63ffbee885d6e4c15
--- /dev/null
+++ b/materials/98/hdr_crop_bboxes.json
@@ -0,0 +1 @@
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diff --git a/materials/98/point_metadata.json b/materials/98/point_metadata.json
new file mode 100644
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diff --git a/materials/98/rotated_camera.json b/materials/98/rotated_camera.json
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\ No newline at end of file
diff --git a/materials/98/scan_log.json b/materials/98/scan_log.json
new file mode 100644
index 0000000000000000000000000000000000000000..51755737410b5d51b8d19f46f11589891adcbcd4
--- /dev/null
+++ b/materials/98/scan_log.json
@@ -0,0 +1,43514 @@
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\ No newline at end of file
diff --git a/materials/99/scan_log.json b/materials/99/scan_log.json
new file mode 100644
index 0000000000000000000000000000000000000000..61c1f6ce62690e959091cb35f069ec836e942b1f
--- /dev/null
+++ b/materials/99/scan_log.json
@@ -0,0 +1,43514 @@
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+      [
+        -84.377375,
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+        31.574214,
+        113.328359,
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+    ],
+    "turn_angle": 2678.8856227365545,
+    "filename": "scan-0581_light-85_camera-581.png"
+  },
+  {
+    "id": 582,
+    "scan_id": "0582",
+    "camera_id": 582,
+    "light_id": 85,
+    "position": [
+      28.618101,
+      -136.381149,
+      437.862244
+    ],
+    "rotation_matrix": [
+      [
+        0.9772236419109815,
+        0.21221204732064902,
+        2.573357362381512e-05
+      ],
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+        -6.25435089675469e-05,
+        0.0001667455869833745,
+        0.9999999841421094
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+      [
+        0.2122120396644537,
+        -0.9772236280237439,
+        0.0001762202158691606
+      ]
+    ],
+    "position_light": [
+      251.002151,
+      -43.44363,
+      296.381378
+    ],
+    "rotation_matrix_light": [
+      [
+        0.8413542794194914,
+        0.2802666074351847,
+        0.46214024414595234
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+      [
+        0.43845350462147814,
+        0.1460552277206223,
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+        -0.31604034677181925,
+        0.9487457505634738,
+        3.1461600502602494e-07
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+    ],
+    "servo_angle": [
+      [
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+        -20.206331,
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+        254.045361,
+        24.063081,
+        -174.18828,
+        0.0
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+      [
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+        9.116446,
+        -76.114177,
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+        31.574214,
+        113.328359,
+        0.0
+      ]
+    ],
+    "turn_angle": 2678.8856227365545,
+    "filename": "scan-0582_light-85_camera-582.png"
+  },
+  {
+    "id": 583,
+    "scan_id": "0583",
+    "camera_id": 583,
+    "light_id": 85,
+    "position": [
+      124.495506,
+      -136.381149,
+      453.527802
+    ],
+    "rotation_matrix": [
+      [
+        0.9996449875497267,
+        0.026643863119248573,
+        5.852170367339968e-05
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+        0.9999999841319255
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+        0.02664385294435713,
+        -0.9996449753732174,
+        0.000168259797064918
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+    ],
+    "position_light": [
+      251.002151,
+      -43.44363,
+      296.381378
+    ],
+    "rotation_matrix_light": [
+      [
+        0.8413542794194914,
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+        0.46214024414595234
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+        0.1460552277206223,
+        -0.8868068531200131
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+        0.9487457505634738,
+        3.1461600502602494e-07
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+    ],
+    "servo_angle": [
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+        244.806417,
+        5.866228,
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+      [
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+        9.116446,
+        -76.114177,
+        -226.098657,
+        31.574214,
+        113.328359,
+        0.0
+      ]
+    ],
+    "turn_angle": 2678.8856227365545,
+    "filename": "scan-0583_light-85_camera-583.png"
+  },
+  {
+    "id": 584,
+    "scan_id": "0584",
+    "camera_id": 584,
+    "light_id": 86,
+    "position": [
+      521.225891,
+      -136.381149,
+      308.694366
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+    "rotation_matrix": [
+      [
+        0.6893883350851824,
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+        0.00016440686857716047
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+        0.0001672545470253195,
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+        -0.6893883344001802,
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+    "position_light": [
+      251.002151,
+      -43.44363,
+      296.381378
+    ],
+    "rotation_matrix_light": [
+      [
+        0.8413542794194914,
+        0.2802666074351847,
+        0.46214024414595234
+      ],
+      [
+        0.43845350462147814,
+        0.1460552277206223,
+        -0.8868068531200131
+      ],
+      [
+        -0.31604034677181925,
+        0.9487457505634738,
+        3.1461600502602494e-07
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+      [
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+        9.116446,
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+        -226.098657,
+        31.574214,
+        113.328359,
+        0.0
+      ]
+    ],
+    "turn_angle": 2763.963088755187,
+    "filename": "scan-0584_light-86_camera-584.png"
+  },
+  {
+    "id": 585,
+    "scan_id": "0585",
+    "camera_id": 585,
+    "light_id": 86,
+    "position": [
+      573.058289,
+      -136.381149,
+      250.459167
+    ],
+    "rotation_matrix": [
+      [
+        0.5732807499311241,
+        -0.8193589882981307,
+        0.0001733593715965709
+      ],
+      [
+        -6.306552789930864e-05,
+        0.00016745421439429142,
+        0.9999999839909126
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+      [
+        -0.8193590042106984,
+        -0.5732807516864227,
+        4.432497047096584e-05
+      ]
+    ],
+    "position_light": [
+      251.002151,
+      -43.44363,
+      296.381378
+    ],
+    "rotation_matrix_light": [
+      [
+        0.8413542794194914,
+        0.2802666074351847,
+        0.46214024414595234
+      ],
+      [
+        0.43845350462147814,
+        0.1460552277206223,
+        -0.8868068531200131
+      ],
+      [
+        -0.31604034677181925,
+        0.9487457505634738,
+        3.1461600502602494e-07
+      ]
+    ],
+    "servo_angle": [
+      [
+        43.386713,
+        4.754633,
+        -61.021094,
+        118.355032,
+        55.345488,
+        13.031123,
+        0.0
+      ]
+    ],
+    "servo_angle_light": [
+      [
+        -84.377375,
+        9.116446,
+        -76.114177,
+        -226.098657,
+        31.574214,
+        113.328359,
+        0.0
+      ]
+    ],
+    "turn_angle": 2763.963088755187,
+    "filename": "scan-0585_light-86_camera-585.png"
+  },
+  {
+    "id": 586,
+    "scan_id": "0586",
+    "camera_id": 586,
+    "light_id": 87,
+    "position": [
+      575.532104,
+      -136.381149,
+      247.193405
+    ],
+    "rotation_matrix": [
+      [
+        0.5668040066056181,
+        -0.8238526495346157,
+        0.0001730624512200074
+      ],
+      [
+        -6.291691163723412e-05,
+        0.00016677847786128464,
+        0.9999999841132007
+      ],
+      [
+        -0.8238526653093263,
+        -0.5668040084894715,
+        4.269644511445403e-05
+      ]
+    ],
+    "position_light": [
+      251.002151,
+      -43.44363,
+      296.381378
+    ],
+    "rotation_matrix_light": [
+      [
+        0.8413542794194914,
+        0.2802666074351847,
+        0.46214024414595234
+      ],
+      [
+        0.43845350462147814,
+        0.1460552277206223,
+        -0.8868068531200131
+      ],
+      [
+        -0.31604034677181925,
+        0.9487457505634738,
+        3.1461600502602494e-07
+      ]
+    ],
+    "servo_angle": [
+      [
+        43.126533,
+        5.336472,
+        -61.221113,
+        118.378581,
+        55.715161,
+        13.196307,
+        0.0
+      ]
+    ],
+    "servo_angle_light": [
+      [
+        -84.377375,
+        9.116446,
+        -76.114177,
+        -226.098657,
+        31.574214,
+        113.328359,
+        0.0
+      ]
+    ],
+    "turn_angle": 2793.4719583798596,
+    "filename": "scan-0586_light-87_camera-586.png"
+  },
+  {
+    "id": 587,
+    "scan_id": "0587",
+    "camera_id": 587,
+    "light_id": 87,
+    "position": [
+      654.200989,
+      -136.381149,
+      95.925453
+    ],
+    "rotation_matrix": [
+      [
+        0.2697008180642263,
+        -0.9629441506333348,
+        0.00017747262556849774
+      ],
+      [
+        -6.284068419903921e-05,
+        0.0001667017123582748,
+        0.9999999841307938
+      ],
+      [
+        -0.962944164937166,
+        -0.2697008249367896,
+        -1.5552481075487012e-05
+      ]
+    ],
+    "position_light": [
+      251.002151,
+      -43.44363,
+      296.381378
+    ],
+    "rotation_matrix_light": [
+      [
+        0.8413542794194914,
+        0.2802666074351847,
+        0.46214024414595234
+      ],
+      [
+        0.43845350462147814,
+        0.1460552277206223,
+        -0.8868068531200131
+      ],
+      [
+        -0.31604034677181925,
+        0.9487457505634738,
+        3.1461600502602494e-07
+      ]
+    ],
+    "servo_angle": [
+      [
+        35.841833,
+        30.995126,
+        -72.213366,
+        119.307632,
+        67.527603,
+        20.428409,
+        0.0
+      ]
+    ],
+    "servo_angle_light": [
+      [
+        -84.377375,
+        9.116446,
+        -76.114177,
+        -226.098657,
+        31.574214,
+        113.328359,
+        0.0
+      ]
+    ],
+    "turn_angle": 2793.4719583798596,
+    "filename": "scan-0587_light-87_camera-587.png"
+  }
+]
\ No newline at end of file
diff --git a/materials/99/unmatched_scan_ids.json b/materials/99/unmatched_scan_ids.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a50e5b2b409d111f34d97dded62f28a2b8299f1
--- /dev/null
+++ b/materials/99/unmatched_scan_ids.json
@@ -0,0 +1,10 @@
+[
+  546,
+  555,
+  556,
+  564,
+  565,
+  566,
+  567,
+  587
+]
\ No newline at end of file
diff --git a/sample/README.md b/sample/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..e460eaf21e60432a90735113747a39ae08cf269b
--- /dev/null
+++ b/sample/README.md
@@ -0,0 +1,46 @@
+# RoboCloth — sample subset
+
+A small, self-contained slice of [RoboCloth](https://huggingface.co/datasets/koalapenguin/RoboCloth)
+for inspecting the data format without downloading terabytes.
+
+## What is here
+
+- A handful of complete materials, drawn from the **test split** and chosen to span
+  different physical sample sizes. The material ids present are the `material_<id>/`
+  folders listed above.
+- Each material keeps ~12 HDR frames in `hdr.tar`, evenly subsampled from the full ~580.
+- The small per-material files — `point_positions.npz`, `rotated_camera.json`,
+  `scan_log.json`, `point_metadata.json`, `bbox.json`, `hdr_crop_bboxes.json`,
+  `unmatched_scan_ids.json` — are included **verbatim**, so names, shapes and dtypes match
+  the full release exactly.
+- The per-point observation tensor `observations_structured.npz` (≈1 GB per material) is
+  **not** part of the sample; fetch it from `materials/<id>/` when you need it (see below).
+
+## Mapping back to the full dataset
+
+`sample/material_<id>/` here corresponds to `materials/<id>/` in the main tree. To pull the
+same material at full size:
+
+```bash
+hf download koalapenguin/RoboCloth --repo-type dataset \
+    --include "globals/*" --include "materials/<id>/*" --local-dir ./RoboCloth
+```
+
+## Download just this subset
+
+```bash
+hf download koalapenguin/RoboCloth --repo-type dataset \
+    --include "sample/*" --include "globals/*" --include "examples/*" \
+    --local-dir ./robocloth-sample
+```
+
+## Loader
+
+[`../examples/load_material.py`](../examples/load_material.py) shows how to read every file
+type in a material directory. Once this subset is downloaded, the same arrays load directly:
+
+```python
+import numpy as np
+pts = np.load("robocloth-sample/sample/material_<id>/point_positions.npz")
+print({k: (pts[k].shape, pts[k].dtype) for k in pts.files})
+```
diff --git a/sample/material_156/bbox.json b/sample/material_156/bbox.json
new file mode 100644
index 0000000000000000000000000000000000000000..66258b342900149c80b0414571a27beaf03e3aef
--- /dev/null
+++ b/sample/material_156/bbox.json
@@ -0,0 +1,23 @@
+{
+  "bbox_min": [
+    0.11500025884866003,
+    -0.16999985345986426,
+    -0.061025127868442886
+  ],
+  "bbox_max": [
+    0.204999983615974,
+    -0.05000063678519341,
+    -0.05670688502310256
+  ],
+  "bbox_center": [
+    0.16,
+    -0.11,
+    -0.05887341624172924
+  ],
+  "bbox_size": [
+    0.08999972476731397,
+    0.11999921667467085,
+    0.004318242845340325
+  ],
+  "num_points": 312204
+}
\ No newline at end of file
diff --git a/sample/material_156/hdr.tar b/sample/material_156/hdr.tar
new file mode 100644
index 0000000000000000000000000000000000000000..f9f5dc63efbcbc1f8e43f80df5519f0021884f18
--- /dev/null
+++ b/sample/material_156/hdr.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:425cc6331f3eb1b208f4e92c73b10b1a9f34d415d3719869e12ecad821463c28
+size 85145600
diff --git a/sample/material_156/hdr_crop_bboxes.json b/sample/material_156/hdr_crop_bboxes.json
new file mode 100644
index 0000000000000000000000000000000000000000..72bf66ec15818d7dfec242ce93ccc6cab5637361
--- /dev/null
+++ b/sample/material_156/hdr_crop_bboxes.json
@@ -0,0 +1 @@
+{"intrinsics": {"width": 3072, "height": 2048, "focal_length": 6721.054, "cx": 1536.0, "cy": 1024.0, "distortion": -0.0648}, "dilate_px": 16, "bbox_center": [0.16, -0.11, -0.05887341624172924], "bbox_size": [0.08999972476731397, 0.11999921667467085, 0.004318242845340325], "bboxes": {"0": [693, 878, 2625, 1451], "2": [689, 743, 2620, 1521], "1": [691, 796, 2622, 1495], "3": [685, 672, 2615, 1561], "4": [681, 610, 2610, 1599], "5": [677, 535, 2604, 1642], "6": [675, 492, 2601, 1670], "7": [673, 462, 2598, 1686], "9": [665, 376, 2586, 1744], "8": [668, 401, 2590, 1728], "10": [721, 412, 2541, 1717], "11": [717, 394, 2536, 1732], "12": [708, 362, 2522, 1760], "14": [691, 335, 2498, 1793], "15": [679, 326, 2484, 1800], "13": [700, 345, 2511, 1777], "16": [629, 316, 2427, 1813], "17": [581, 313, 2377, 1821], "18": [518, 307, 2316, 1831], "19": [506, 308, 2305, 1835], "20": [543, 349, 2288, 1793], "21": [543, 355, 2286, 1794], "22": [545, 365, 2285, 1789], "23": [549, 380, 2285, 1785], "24": [557, 406, 2289, 1772], "25": [561, 422, 2291, 1765], "27": [574, 477, 2297, 1726], "28": [576, 492, 2299, 1717], "26": [564, 433, 2292, 1755], "29": [585, 536, 2305, 1687], "30": [485, 430, 2382, 1832], "31": [494, 501, 2388, 1777], "34": [509, 639, 2396, 1661], "32": [498, 533, 2390, 1753], "33": [503, 585, 2393, 1708], "36": [516, 708, 2401, 1597], "35": [514, 695, 2399, 1613], "37": [523, 770, 2405, 1543], "39": [537, 898, 2416, 1418], "38": [529, 829, 2410, 1484], "40": [612, 885, 2219, 1433], "41": [605, 821, 2214, 1497], "42": [603, 776, 2212, 1540], "43": [598, 718, 2209, 1594], "45": [592, 594, 2207, 1704], "44": [595, 652, 2208, 1656], "46": [590, 523, 2207, 1764], "47": [588, 493, 2206, 1791], "48": [586, 442, 2206, 1827], "49": [586, 380, 2208, 1870], "50": [823, 421, 2114, 1778], "51": [819, 406, 2111, 1790], "53": [803, 319, 2100, 1839], "52": [811, 361, 2105, 1814], "55": [792, 273, 2094, 1860], "54": [801, 307, 2100, 1845], "57": [780, 228, 2090, 1871], "58": [777, 220, 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diff --git a/sample/material_156/point_metadata.json b/sample/material_156/point_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f88a923c7b4c28fa947e1bf2286bf484a253f525
--- /dev/null
+++ b/sample/material_156/point_metadata.json
@@ -0,0 +1,5 @@
+{
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+  "num_observations": 182951544,
+  "observations_folder": "observations"
+}
\ No newline at end of file
diff --git a/sample/material_156/point_positions.npz b/sample/material_156/point_positions.npz
new file mode 100644
index 0000000000000000000000000000000000000000..32a4d43c00355d1873de2cf5da3e9a1fd8372868
--- /dev/null
+++ b/sample/material_156/point_positions.npz
@@ -0,0 +1,3 @@
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+oid sha256:e46f0e72bf42b45e1e24f2015177af8cf1df8bdde348dff76adb0b13ef71b3c3
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diff --git a/sample/material_156/rotated_camera.json b/sample/material_156/rotated_camera.json
new file mode 100644
index 0000000000000000000000000000000000000000..75a76d6d655bd9db64a79a823cdb5fcbf778c13f
--- /dev/null
+++ b/sample/material_156/rotated_camera.json
@@ -0,0 +1,15238 @@
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\ No newline at end of file
diff --git a/sample/material_156/scan_log.json b/sample/material_156/scan_log.json
new file mode 100644
index 0000000000000000000000000000000000000000..a42cd176bad4df2f19b2f487b14a1d11a8c3e862
--- /dev/null
+++ b/sample/material_156/scan_log.json
@@ -0,0 +1,43440 @@
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+    "filename": "scan-0586_light-85_camera-586.png"
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\ No newline at end of file
diff --git a/sample/material_156/unmatched_scan_ids.json b/sample/material_156/unmatched_scan_ids.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f1163d328bc6387ec754699987a5cd81eb58d2d
--- /dev/null
+++ b/sample/material_156/unmatched_scan_ids.json
@@ -0,0 +1,3 @@
+[
+  537
+]
\ No newline at end of file
diff --git a/sample/material_249/bbox.json b/sample/material_249/bbox.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d29bc549db14a37e43e1ec0a8dcbfa7ced0b604
--- /dev/null
+++ b/sample/material_249/bbox.json
@@ -0,0 +1,23 @@
+{
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+}
\ No newline at end of file
diff --git a/sample/material_249/hdr.tar b/sample/material_249/hdr.tar
new file mode 100644
index 0000000000000000000000000000000000000000..d0eb5e1fb951f7e87b8602bcf0941ccf7b1d0046
--- /dev/null
+++ b/sample/material_249/hdr.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d260a04ef1c789d3cdbddda6371583d0bc15d3ce3dc11526ad89c6a698247891
+size 122122240
diff --git a/sample/material_249/hdr_crop_bboxes.json b/sample/material_249/hdr_crop_bboxes.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cf75b8f1faa4f69f4ed8aa38f17af0e964adaa2
--- /dev/null
+++ b/sample/material_249/hdr_crop_bboxes.json
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diff --git a/sample/material_249/point_metadata.json b/sample/material_249/point_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b27e387b126f8936b216e09326dc86ea4f4cba97
--- /dev/null
+++ b/sample/material_249/point_metadata.json
@@ -0,0 +1,4 @@
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+}
\ No newline at end of file
diff --git a/sample/material_249/point_positions.npz b/sample/material_249/point_positions.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5f218a664f329c269e9474fd7c83a5363069a4ad
--- /dev/null
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diff --git a/sample/material_249/rotated_camera.json b/sample/material_249/rotated_camera.json
new file mode 100644
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\ No newline at end of file
diff --git a/sample/material_249/scan_log.json b/sample/material_249/scan_log.json
new file mode 100644
index 0000000000000000000000000000000000000000..c12c9608f1ef66d49cbcd90b19c3e127f8b45621
--- /dev/null
+++ b/sample/material_249/scan_log.json
@@ -0,0 +1,43588 @@
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\ No newline at end of file
diff --git a/sample/material_249/unmatched_scan_ids.json b/sample/material_249/unmatched_scan_ids.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd3b5a09864a8c3c2bb3bd2d29305d9e8b74cf32
--- /dev/null
+++ b/sample/material_249/unmatched_scan_ids.json
@@ -0,0 +1,7 @@
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+]
\ No newline at end of file
diff --git a/sample/material_309/bbox.json b/sample/material_309/bbox.json
new file mode 100644
index 0000000000000000000000000000000000000000..1dd406e9d8695512da6d3f37c6824455906550a1
--- /dev/null
+++ b/sample/material_309/bbox.json
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+}
\ No newline at end of file
diff --git a/sample/material_309/hdr.tar b/sample/material_309/hdr.tar
new file mode 100644
index 0000000000000000000000000000000000000000..af64991c44974292458621b1c05c96c2f5764ac3
--- /dev/null
+++ b/sample/material_309/hdr.tar
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diff --git a/sample/material_309/hdr_crop_bboxes.json b/sample/material_309/hdr_crop_bboxes.json
new file mode 100644
index 0000000000000000000000000000000000000000..f012ccf69ae5fa162711178b0e551b73621540d7
--- /dev/null
+++ b/sample/material_309/hdr_crop_bboxes.json
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diff --git a/sample/material_309/point_metadata.json b/sample/material_309/point_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ae61ffa6bc572fdca609add067de23e403e0fa6
--- /dev/null
+++ b/sample/material_309/point_metadata.json
@@ -0,0 +1,5 @@
+{
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+  "num_observations": 191592163,
+  "observations_folder": "observations"
+}
\ No newline at end of file
diff --git a/sample/material_309/point_positions.npz b/sample/material_309/point_positions.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ae063a76f29c134e74f64c15f0756885bbb8d32a
--- /dev/null
+++ b/sample/material_309/point_positions.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51aeee58310bf9e086fa260945905cba4d452c4982d3c196f97102396fc1d82a
+size 6607342
diff --git a/sample/material_309/rotated_camera.json b/sample/material_309/rotated_camera.json
new file mode 100644
index 0000000000000000000000000000000000000000..fea4f7d088fd8364ad703c128235aecdfabdbbdc
--- /dev/null
+++ b/sample/material_309/rotated_camera.json
@@ -0,0 +1,15082 @@
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\ No newline at end of file
diff --git a/sample/material_309/scan_log.json b/sample/material_309/scan_log.json
new file mode 100644
index 0000000000000000000000000000000000000000..654c57f8bbf61f92bc60f915a98820327fed81b2
--- /dev/null
+++ b/sample/material_309/scan_log.json
@@ -0,0 +1,43588 @@
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+  }
+]
\ No newline at end of file
diff --git a/sample/material_309/unmatched_scan_ids.json b/sample/material_309/unmatched_scan_ids.json
new file mode 100644
index 0000000000000000000000000000000000000000..42eb12d3659238234bde4cbc556b923846f63d81
--- /dev/null
+++ b/sample/material_309/unmatched_scan_ids.json
@@ -0,0 +1,11 @@
+[
+  512,
+  513,
+  514,
+  556,
+  557,
+  558,
+  566,
+  567,
+  588
+]
\ No newline at end of file
diff --git a/sample/material_428/bbox.json b/sample/material_428/bbox.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef4aeefb21334e8a0529d123b386801b0a51a2b7
--- /dev/null
+++ b/sample/material_428/bbox.json
@@ -0,0 +1,23 @@
+{
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+  "num_points": 273715
+}
\ No newline at end of file
diff --git a/sample/material_428/hdr.tar b/sample/material_428/hdr.tar
new file mode 100644
index 0000000000000000000000000000000000000000..7919b17742b3302b37c055538c40cda8596da3ad
--- /dev/null
+++ b/sample/material_428/hdr.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35cd586b7ec6cf339377d80b8b0f9156e7fc0c23780845257bc9cee12010e4a6
+size 70297600
diff --git a/sample/material_428/hdr_crop_bboxes.json b/sample/material_428/hdr_crop_bboxes.json
new file mode 100644
index 0000000000000000000000000000000000000000..83c2a13ba0730f6970955c14691cbb97d944f313
--- /dev/null
+++ b/sample/material_428/hdr_crop_bboxes.json
@@ -0,0 +1 @@
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diff --git a/sample/material_428/point_metadata.json b/sample/material_428/point_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e8593b1da4f823b253882c3d6440c3c4f2dc06d
--- /dev/null
+++ b/sample/material_428/point_metadata.json
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+}
\ No newline at end of file
diff --git a/sample/material_428/point_positions.npz b/sample/material_428/point_positions.npz
new file mode 100644
index 0000000000000000000000000000000000000000..dc0a82b2890b4ef769d204ab14f9ec4d4baa6cf9
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diff --git a/sample/material_428/rotated_camera.json b/sample/material_428/rotated_camera.json
new file mode 100644
index 0000000000000000000000000000000000000000..1745d5e44183a0ec64359f68ad91108cc177affc
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+  }
+]
\ No newline at end of file
diff --git a/sample/material_428/scan_log.json b/sample/material_428/scan_log.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3e5f3490b52530853e618212416400a5250ada0
--- /dev/null
+++ b/sample/material_428/scan_log.json
@@ -0,0 +1,43440 @@
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diff --git a/sample/material_428/unmatched_scan_ids.json b/sample/material_428/unmatched_scan_ids.json
new file mode 100644
index 0000000000000000000000000000000000000000..0637a088a01e8ddab3bf3fa98dbe804cbde1a0dc
--- /dev/null
+++ b/sample/material_428/unmatched_scan_ids.json
@@ -0,0 +1 @@
+[]
\ No newline at end of file
diff --git a/sample/material_483/bbox.json b/sample/material_483/bbox.json
new file mode 100644
index 0000000000000000000000000000000000000000..6cbee5ea82c0096667c363a4c1158af7816bcc38
--- /dev/null
+++ b/sample/material_483/bbox.json
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+}
\ No newline at end of file
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new file mode 100644
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diff --git a/sample/material_483/hdr_crop_bboxes.json b/sample/material_483/hdr_crop_bboxes.json
new file mode 100644
index 0000000000000000000000000000000000000000..55a18382c03b58eeb53f005a2e4c5bdba5943862
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diff --git a/sample/material_483/point_metadata.json b/sample/material_483/point_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d973e49cdd6a8207e0f13519ca0b7373ad1e033
--- /dev/null
+++ b/sample/material_483/point_metadata.json
@@ -0,0 +1,4 @@
+{
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+  "num_observations": 187353327
+}
\ No newline at end of file
diff --git a/sample/material_483/point_positions.npz b/sample/material_483/point_positions.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6352ac2a505fb5c61cc37081f99acd7e87c269c4
--- /dev/null
+++ b/sample/material_483/point_positions.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00b8f777302d0d8fcddec105840850e8ac8adde700258d8fe36aab8c596aa15f
+size 6449862
diff --git a/sample/material_483/rotated_camera.json b/sample/material_483/rotated_camera.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec234b08d3ca42f0b329887743e7608e410be6c7
--- /dev/null
+++ b/sample/material_483/rotated_camera.json
@@ -0,0 +1,15108 @@
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\ No newline at end of file
diff --git a/sample/material_483/scan_log.json b/sample/material_483/scan_log.json
new file mode 100644
index 0000000000000000000000000000000000000000..034561a486e0e14ad328e22384ccfe34f5635a2d
--- /dev/null
+++ b/sample/material_483/scan_log.json
@@ -0,0 +1,43588 @@
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+    ],
+    "servo_angle_light": [
+      [
+        -89.53474,
+        -4.598387,
+        -70.997664,
+        -257.018897,
+        49.754566,
+        143.0981,
+        0.0
+      ]
+    ],
+    "turn_angle": 2788.68212984243,
+    "filename": "scan-0587_light-87_camera-587.png"
+  },
+  {
+    "id": 588,
+    "scan_id": "0588",
+    "camera_id": 588,
+    "light_id": 87,
+    "position": [
+      648.492615,
+      -136.381149,
+      112.50103
+    ],
+    "rotation_matrix": [
+      [
+        0.30202231485673514,
+        -0.953300839038866,
+        0.00017780993614507912
+      ],
+      [
+        -6.28231613387098e-05,
+        0.0001666168015461711,
+        0.999999984146046
+      ],
+      [
+        -0.9533008535514012,
+        -0.30202232123906947,
+        -9.567380318320495e-06
+      ]
+    ],
+    "position_light": [
+      236.577408,
+      7.476343,
+      396.712219
+    ],
+    "rotation_matrix_light": [
+      [
+        0.6327552089923723,
+        0.2033802751741005,
+        0.7471661857733704
+      ],
+      [
+        0.7113251483596867,
+        0.22863473593112632,
+        -0.6646372626002652
+      ],
+      [
+        -0.3060022529395642,
+        0.9520307879453329,
+        3.157053646840602e-07
+      ]
+    ],
+    "servo_angle": [
+      [
+        36.318534,
+        28.295005,
+        -70.876827,
+        119.205703,
+        66.594025,
+        19.624206,
+        0.0
+      ]
+    ],
+    "servo_angle_light": [
+      [
+        -89.53474,
+        -4.598387,
+        -70.997664,
+        -257.018897,
+        49.754566,
+        143.0981,
+        0.0
+      ]
+    ],
+    "turn_angle": 2788.68212984243,
+    "filename": "scan-0588_light-87_camera-588.png"
+  }
+]
\ No newline at end of file
diff --git a/sample/material_483/unmatched_scan_ids.json b/sample/material_483/unmatched_scan_ids.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c208569252b69c383d1bdd973f20a76a0c22c2b
--- /dev/null
+++ b/sample/material_483/unmatched_scan_ids.json
@@ -0,0 +1,10 @@
+[
+  537,
+  565,
+  566,
+  567,
+  576,
+  577,
+  587,
+  588
+]
\ No newline at end of file