diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000020_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000020_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a6a626856c1500daf8813a998265506e4702bd97
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000020_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000026_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000026_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a84305b7c8fed480191abb136d71cfa404dae322
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000026_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000037_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000037_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1eea1ae2365ac29a6827943433d6b05a574531ba
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000037_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000046_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000046_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..67aba9472aac8c195688fc0a9b7c7ec191f6a9a2
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000046_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000051_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000051_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9b88e7190a6286810c30082e5c843d5c75536647
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000051_corrupted_depths.txt
@@ -0,0 +1,500 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000057_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000057_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..502e84df9df86cae8b0023e793d25e7b73637693
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000057_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000120_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000120_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d05f3fcb4439cfbb399897b82b43c7e9df9e94e4
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000120_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000126_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000126_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f683462fcd15360f9907d5012722483dfec60d7
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000126_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000140_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000140_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..aaa086f552ad3c7f80a0e2f4cc7dd82c9c7dde2d
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000140_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000151_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000151_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..afe7bab9f556fd548f81866608a9762f9aaeda2a
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000151_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000157_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000157_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..45ca3fb59e9e24f01c95eed6fae63a20cddfc861
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000157_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000221_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000221_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0a611ff249b56a37946876f951792f1fc3fbc586
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000221_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000227_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000227_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d56cfa70f1a73530c2df4d85729f579a73f442cb
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000227_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000241_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000241_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a006dd3b3ac4ab08f1c249a4c1006a8c137a09bc
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000241_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000250_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000250_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..211a733225be858f9b3748a444acfa7b16c4df74
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000250_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000256_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000256_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..992d7835322675609d5f81e2fa0fafd260ac94b3
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000256_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000321_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000321_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f867cf36e09a4ddfe139212911ac165f312d6cff
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000321_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000327_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000327_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c0f3684b900031a1d739f9ae34c950648228e63f
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000327_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000336_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000336_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d975570d8c5676e9e8039f801b3f154164829a01
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000336_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000347_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000347_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0b63ee33fdcbe454e4a93a078ae82ae8ced24346
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000347_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000350_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000350_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..12d8e542026215a9a0f9a3988ecd747374161fc5
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000350_corrupted_depths.txt
@@ -0,0 +1,500 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000356_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000356_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a8267d1f538d6852823fbe2e5b5374ea0f271513
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000356_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000423_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000423_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e937c328ba73d56796eb17666804778099066671
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000423_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000425_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000425_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0001dfeb2d2be2e2cbce2fb310ee405dadcfa09b
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000425_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000428_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000428_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f5b76e131320d2ebc9adc85cd34295b5ac7fca47
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000428_corrupted_depths.txt
@@ -0,0 +1,500 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000432_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000432_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e4544e300ec065066015dbc943538fac319d1f19
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000432_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000439_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000439_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6c9fa81f542eecebd7152c69c72d4d15eaed5271
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000439_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000443_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000443_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8b0610ab5e58ca5f75c1ab2c0cd938d4b4a5f62b
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000443_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000445_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000445_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c25f6d9fcbcd698065046c44f2a4035489b657ed
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000445_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000448_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000448_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7500bfa7d92f3a4ed26e759cd17b5f9f6cdcf1da
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000448_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000452_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000452_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..22e55089fc8a9ab92448ea53d58d544e9584f150
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000452_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000454_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000454_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..39b483d2c3acd89b46c17c092078a431cb41034e
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000454_corrupted_depths.txt
@@ -0,0 +1,500 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000523_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000523_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7262d6e98ab9e8e5eb87ed764ec32d34a9236f97
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000523_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000525_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000525_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b18f5bde9f80f6c36eb9c484c6c6d0d316b9e235
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000525_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000532_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000532_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f9074b16d85f172aecaca8a93ef8e313a711387
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000532_corrupted_depths.txt
@@ -0,0 +1,500 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000534_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000534_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..475525c9bcf4b8264816a808cf29e82484b0333b
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000534_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000539_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000539_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..38213eb6ab99a642cf05835f5e0df3d579708f2d
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000539_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000545_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000545_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fc39c724de3c0dc7e9c6c17aa177fc00c8a497c7
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000545_corrupted_depths.txt
@@ -0,0 +1,500 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000548_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000548_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..50e299cc2c8d43ed9f492992762e3a77504957dd
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000548_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000552_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000552_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4e23fcaa1fe00190dca067088157e9bccd256ea9
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000552_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000554_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000554_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3d93a1c35b81aee9fd9e210938b1427b755c37ff
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000554_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000559_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000559_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e97bcfc925179eea16becd859682d2ed049692b9
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000559_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000622_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000622_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1200cc59d8c56530d6f759be559870774e21cde3
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000622_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000624_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000624_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..38473a7e22c2a1884a62fbbe35dbe42d092b041d
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000624_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000633_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000633_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b8703db3dc1f89f14b9d77099dac043b77574f42
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000633_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000635_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000635_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cf863f438eb66e645795384c5ebc2fef91656223
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000635_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000638_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000638_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a8c10e3ae80d9cf22a44553712368c009c7d5ea3
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000638_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000644_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000644_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..01e34489403ae54b4e82020a6f42b3c16cce7645
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000644_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000649_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000649_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e5522cc9572760ca0b731ba0eaef9630b20a0880
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000649_corrupted_depths.txt
@@ -0,0 +1,500 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000653_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000653_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..df3559c84da48179692b6531d3c4a8ded668e567
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000653_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000655_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000655_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4b6520a71740c6d1ba6e5d2167ad0ad67a40c3d7
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000655_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000722_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000722_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..94eca9fb25e1809824012804cc04d4ca55e4332d
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000722_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000724_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000724_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..030a5510d800f17b3800a181757afee877f16ef7
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000724_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000729_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000729_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..43f526bf6bc5aa044d36640ae6915f8d5765a1df
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000729_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000738_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000738_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4d338917688cc0222564071a861eea0817673d63
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000738_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000742_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000742_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..069f3b719b040f941a06da9bf7101901c2784c52
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000742_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000749_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000749_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a5e91f71a7591f44e45077ffc92e77eb0b01170c
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000749_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000753_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000753_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..14227e726c5eb1453b09fc4309b5eaaad55da92f
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000753_corrupted_depths.txt
@@ -0,0 +1,500 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000755_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000755_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9bfbe8cad590b296f9eb5f8128f599f9582a87c8
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000755_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000821_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000821_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0c529f9161ccff325805d0dffd02036eefd08ac9
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000821_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000827_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000827_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..11e4e9aeeeb23e5f4ea3fab7b600083d77a40bc4
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000827_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000836_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000836_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..341319b7954dfd90efb70bc70341f1e2f703f077
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000836_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000850_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000850_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2bc5903fec688547caf0c9eaf315b46906fbdc63
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000850_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000856_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000856_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..93b4a2c2898abfd7c3bec4f23ba732482c73ffeb
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000856_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000921_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000921_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..003b13dbdd1db67c9d48a1ca9d484d999873c334
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000921_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000927_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000927_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ee65ccbdd462519f754f29240ed68405c14b76ce
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000927_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000941_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000941_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fd50c5d1a677c455a0e1522523537af9fcfa64de
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000941_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000947_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000947_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..25977988e0924e743389bfea98fa991c2d45441a
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000947_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000950_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000950_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bdc62b20912a6606ef9c3a63e05e71d0b74ce3be
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000950_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000956_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000956_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5f270b556d6fa77dd929a2b880e0caee1612983a
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000956_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_001022_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_001022_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..79330da1e018a971370efea994b2c81b2fe9000e
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_001022_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_001029_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_001029_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2f2d01468edaf887349bd8f48df10bc4571b3f4e
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_001029_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_001033_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_001033_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eb2b14e99df8732d92b680e26b2281d891728fa0
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_001033_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_001035_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_001035_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8f5e9a1a21d116acd2a4badfe580ca412e7f1620
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_001035_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_001038_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_001038_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9c01d62eaa2f03766bccc72a29b8c58e738d1112
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_001038_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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