diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000008_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000008_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..265dcb148b5db59ab6110fe2ce9f4eca878cb918
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000008_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_000021_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000021_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..50a2a9a642640d128b237ea94849b6b47ce1f914
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000021_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_000030_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000030_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0829bde7d033080c0f502049ec4e4999ee1051c7
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000030_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_000041_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000041_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8086cb88bf1d897a0f9fa48e72ba1a06daf229a3
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000041_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_000047_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000047_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bb3e09db2c7ff7bfc165891d644793a30c42012e
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000047_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_000050_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000050_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..09e6be9975030b0eaa95f8c55c87d2dfcd2f35a0
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000050_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_000090_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000090_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1b413a764882a69007ea323a250a9918f5490b7e
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000090_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_000127_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000127_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a0667a09f9cee603a6c1d7eae8f2186b974a8057
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000127_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_000130_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000130_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4d0e284ba229aa20137f8ee856fb898c972a7f89
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000130_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_000136_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000136_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..501e231eff6cb2da591a4439c9f3a6ccabd804da
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000136_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_000147_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000147_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1a129421e04b17f7e024af68a23791be83e8514a
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000147_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_000156_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000156_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2698c08f7fd405ccaca4a2bf0c6021c99a9486fa
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000156_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_000215_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000215_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6e65211fc5941df43a25ba51344073da517118d3
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000215_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_000226_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000226_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..01fde7ed2fae4dcab14f4e4a2c1a3eead3e54191
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000226_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_000231_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000231_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f7948a0e279da585bb25b7efe0e1c652be8557f6
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000231_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_000237_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000237_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..023e7b705479cbb2818e3af699f04f369bea4f24
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000237_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_000246_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000246_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8ed0fc443a8b199f0607f45305f285e1b0c524f4
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000246_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_000257_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000257_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fecc2edcf0290a7adf50c20ad65713d5c3d133f5
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000257_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_000309_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000309_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..77dbf2df5b64d370d262dc96e054d8d05c9b46c4
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000309_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_000320_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000320_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c4a5e09c644a9a29a3436e4ba7e78dc1a4413a3a
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000320_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_000331_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000331_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7a6647ba9c0df83b204d136307a52472b40bf806
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000331_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_000340_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000340_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7801ef46eb18c5ab2b71b14d46884d8860c918b1
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000340_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_000346_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000346_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e38f8d1aecf2820123d82b804e249fb648a1cdba
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000346_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_000351_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000351_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..35333460a7de6e92fa8625f38b5c06a67d89f0a1
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000351_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_000362_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000362_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5cda50f97ece67a99a37785cff26270728269d32
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000362_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_000391_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000391_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..00b5b21ae0f39583f5d0e541876c69dc695fd843
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000391_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+001330_000011:[0]
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000417_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000417_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a7e5fba533062ff68e7b82c981b29ba7aea9bfca
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000417_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_000424_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000424_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1c62723059e59a6b4c7d8133a222cdc0c5292287
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000424_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_000433_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000433_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ee2b8aa47e8d1feb8ede278defedef1da7b72158
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000433_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_000435_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000435_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9a99d2ba99c1e79446268346ef3f0a37b0dc27bc
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000435_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_000444_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000444_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c2e40a587cbb0479ef3b987cb95e0249c103d4d2
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000444_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_000455_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000455_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..51b76227bb5c049552833f67d3c890a513bbda63
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000455_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_000522_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000522_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7964daf23b7523b25ec97446ac716e18637f15d6
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000522_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_000529_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000529_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f7c30e9e7f1c8c13a5cdadb3260b17df509d52b8
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000529_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_000533_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000533_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cc4bf120def3727a4cdf0724c61a34eb844c9c29
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000533_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_000538_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000538_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8571790583f6f921f8543ec3d53a9486221cd3f9
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000538_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_000542_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000542_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f9c366dd6214fc3f764a061daa6998fd4e3a9481
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000542_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_000544_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000544_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ca22bd3b5a967e6ede3df592012f0c943c007550
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000544_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_000549_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000549_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d74a35a447e72a7c142dbc4904efe0a891e0cc4a
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000549_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_000553_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000553_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b164185a72857538dbe8d1b63fd718d5ff347e03
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000553_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_000558_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000558_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1f522322295a9be2aecdabcee394a08eb0133bea
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000558_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_000560_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000560_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5299dc7e2790601d6e08630e6757d9ce56335f76
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000560_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_000593_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000593_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2601630de5200923a064a28a80bb8547ada6731c
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000593_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_000623_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000623_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b4e0d776a22a29f6195c2f13a9307c9a6d721b1a
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000623_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_000628_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000628_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..069017592e4d2386bb837cfedf6b4db4f3dad1dd
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000628_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_000632_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000632_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..756c16b47ad322b5e97d22a7d829dd34d67cd5c9
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000632_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_000639_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000639_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3e026dc312ab458e0ca06727a6d1934daedd019f
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000639_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_000643_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000643_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5d40c2618b8b0a84126d0f121d6dd12dc2d32b51
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000643_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_000645_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000645_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0bcc0096e9ed0319f2829e3e071eaa45fd88cb92
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000645_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_000648_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000648_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9e27c699d2a48ad4701c127b5e1fe07553d7e878
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000648_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_000652_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000652_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..53f17edfb3cb8911e0b7f1b27e7982739bc32500
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000652_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_000659_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000659_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..722692d48e08ea7e1d7dfa4f9efbc537a33315f4
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000659_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_000661_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000661_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e12958ad50622ce12cb44f5bb3ce594d165e75a4
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000661_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_000716_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000716_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9deebcd9afb67921d493e6a07e5330e42e498a9c
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000716_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_000725_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000725_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..133012014f86e9a3b6140424bf43f1f91162ed57
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000725_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_000732_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000732_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..43311c7e545470416b88b251c1160a381bc72ace
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000732_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_000734_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000734_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8867e5026746ef52e15136c65d545eef012b0997
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000734_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_000745_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000745_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c1b652243e0b2283ecaa11cc9767b062fd5104a1
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000745_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_000754_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000754_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1c1afc5879aea916f3065cf242e17d239490acf9
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000754_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_000759_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000759_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..12da037d6450e254c52a2a60477d89a2cc897267
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000759_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_000820_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000820_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7d69da265578d9df2a981d5dc7ae2f15fdf00581
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000820_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_000831_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000831_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5b372f8976b1f41f8f2d6d3d2cb46b3de5cd1261
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000831_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_000840_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000840_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eb5aa853d95384c8392865cf187f45f14c86e375
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000840_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_000846_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000846_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..55b8de48160a09c2cb4fa19abe895c9554ba8bd9
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000846_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_000851_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000851_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8426dd923f6b7a52cc73dd697edcbdafe4dd7356
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000851_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_000891_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000891_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7f4b58db80de3ee5d47691bfb6ec30c5c2ca3d7f
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000891_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_000926_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000926_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..102c92379ca2f5575fc70778bf68773ab6cdcbc6
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000926_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_000931_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000931_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7cdd30f2898da677f30c5cb3e340b5b02a2a37be
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000931_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_000937_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000937_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2ecc4efc6e1ccddfa767177030402329e836351e
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000937_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_000946_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000946_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bbd5b44611a1acb92303d8a0812f1496be287f2c
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000946_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_000957_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000957_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..842ca6d68ef2c00cec4f03d42bd762a4fe5f1b85
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000957_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_001007_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_001007_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b3e9d96a6629dba74bd016646a094c13235f6319
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_001007_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_001023_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_001023_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..91c18450c2403aa816e07d14c03b4a89a107b206
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_001023_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_001025_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_001025_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ea29ced73ab9faab5da03928824e5bb7db82254a
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_001025_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_001034_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_001034_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a9b9e01ee2713b7984cca2e077d394c3350149db
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_001034_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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