diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000009_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000009_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2db29979fde6860276a7f5132aa61d5cdc9723ea
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000009_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_000025_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000025_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b8a74a19f526ca834988a6c6f9e698f8e99c6ef9
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000025_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_000034_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000034_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cb42956562139c575c5616ccf706c3155c2c4770
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000034_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_000045_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000045_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..01e4e320522183e77947c75c866e1bf7f55ff086
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000045_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_000054_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000054_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..92437458cf0aa0f96ded347a2813a29117dbbf65
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000054_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_000062_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000062_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ffc86b494f97996e3d87a431796ac058fe502c0c
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000062_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_000073_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000073_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..67a7047eae2f9caa850baad71338ac9a129fb0aa
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000073_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_000091_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000091_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9a9aa2e3401f8d0fdffa6a81c4d855b83eddb3a2
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000091_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_000115_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000115_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2b90174b17e64786ff8ebf4c393817b816caa21f
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000115_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_000128_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000128_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..63aee7316e8f6340f20ab7323a34f18a9be96a2c
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000128_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_000132_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000132_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e255fd394eaf5d81026e6aef3b576d8a5fe180ec
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000132_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_000139_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000139_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..89f5a929f0d2abdcb436678e6f7e6a3d710e9388
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000139_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_000143_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000143_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cdff0eac61b072ef01e05c68476d1a45e5ec2c62
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000143_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_000148_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000148_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..65a92fc9d582fcc8ce02b3f6df8221415c6f0473
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000148_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_000152_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000152_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1779dd3142524e54ea6776c82002bd72f84bbf83
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000152_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_000159_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000159_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f6c6c8752ec9484655d8ae132d9ef5cd42d4352e
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000159_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_000205_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000205_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9e06f14617164505a915e6f0ecd11b09976cf486
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000205_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_000214_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000214_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a8549c18f1d9f1fff0921c633e5bf2dc374d7e9f
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000214_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_000222_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000222_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9f81b00a3172b52553ceb17f3dbf21bb210978be
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000222_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_000229_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000229_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fb76a863fa0ac9d8c308f02b0a2da5723e97422b
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000229_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_000233_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000233_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..29f257480cc97991a12cd7d0c2f5d7a895f84e2c
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000233_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_000238_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000238_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..91119d5aaca41c51ae3b7958c1f91e220f1f21a9
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000238_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_000242_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000242_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ad100c233cd289b6287f26591791c084d772614b
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000242_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_000249_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000249_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..80e900711f98761c07914935041ef701c849cd51
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000249_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_000253_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000253_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8f0e7ac5b81a1714e255cd12991ce6a32bf1ae19
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000253_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_000258_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000258_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..48e1c469441651b74f547c264786ffa168eb2808
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000258_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_000308_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000308_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3b4f441b8da59025c240273a79e430a7348dcd98
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000308_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_000324_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000324_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..38cf31316f35e2376b97d2a512c421f2d14b91a6
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000324_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_000335_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000335_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bf9a69131ec161d010441ef4ef7b401ea6d7d99d
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000335_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_000344_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000344_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..512e55ae9206f1acf9ee0fd5129f2b8870789a43
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000344_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_000355_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000355_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..886313722da6cd7deec0fb05a16c577e0f080bea
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000355_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_000363_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000363_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4ca21d8ff6fa0e084185b7dc757fab8e7cd682cb
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000363_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_000372_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000372_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e97a50926af8d99a518f3e9acda1bcb26bdbbd33
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000372_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_000390_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000390_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..143fc8fbfcd3e8ce27d5b49cc8e2f07f635635c6
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000390_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_000416_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000416_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f4b18ec8fa3c4ee4e2a5270f7380fb68ba1c667
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000416_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_000420_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000420_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c5fe7a0c517fb7efa78ea3bb56ed8fdf1d25c636
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000420_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_000431_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000431_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1c9ae65b4cc6eaf429d8e6a7afa1488842fb8aa4
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000431_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_000440_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000440_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4a6cfe861fd6798db48c02a257c11ba7b14aee9c
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000440_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_000451_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000451_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3ec23f060a7fd57d7645d11269747ca6d7b5c29b
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000451_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_000526_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000526_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f6ee4abaf42942f46160319f1439b862606eef30
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000526_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_000537_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000537_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f1a0587d012f4e4a6da7a16a2ca9e6705e327f7f
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000537_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_000546_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000546_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a14a93c72d35552327097f6783945966a99f7ad5
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000546_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_000557_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000557_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9b606446530aba5a541e9125995dbeb78d12dd9b
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000557_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_000561_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000561_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bd32b45a7b58f3613ef2eb563f4ded6bd1c7d2ac
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000561_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_000592_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000592_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..322f38ac6773e727c86f333f719b506fc5d534df
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000592_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_000611_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000611_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bf07db72d93c11e5ed58838afedcc6343bb2552b
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000611_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_000614_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000614_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..290a295d4024079049217afd4ef6bc4657831700
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000614_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_000627_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000627_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dad3e5f0e85166f66948749a0f680eed514930a8
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000627_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_000636_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000636_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7cf0a58016e947a215e0864383d1b215a06df5fb
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000636_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_000647_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000647_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7a8420f941ab7e8762391c27beff0b8d4dd1de36
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000647_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_000656_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000656_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..82bde8fbee951251588370d531317a53607df40e
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000656_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_000660_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000660_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d7f6345481ecf655c6194fb1c36336ea92c8db8a
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000660_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_000693_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000693_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..395a7b76549158138ab2156bdba35fa5674021a7
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000693_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_000717_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000717_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eeb8f5a1da05bbb57a265adbbe819e56e0fba9ce
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000717_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_000721_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000721_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..da4783d0aec12fbbc2ef19bcf7dc191b1095f22a
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000721_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_000730_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000730_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..828df2ce1b329ead56928b9064f2bfcc3f063451
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000730_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_000741_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000741_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6e304e07218a7d2c53d5728481779b05735afe49
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000741_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_000750_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000750_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7a3436a492c404c15e7bbc669cbe6109f45ee1ec
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000750_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_000808_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000808_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b758e18252a88a81cd26681c674b135951e00042
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000808_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_000824_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000824_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..22a79885bcc9942089bb3fdd451b9137ab699cc0
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000824_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_000835_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000835_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3ec5215ffbcbb1f5cc7c4f8d8021eac310621856
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000835_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_000844_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000844_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..acb22cf50a794d713a4f579870cd3ecc8f973482
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000844_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_000863_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000863_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7c80f6557b98013acc829a065d277d48d4c224a8
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000863_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_000890_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000890_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f3e15aaaea9d8f68cb86af6ee72af7137f20135d
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000890_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_000914_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000914_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5c44901730aedd2f88143c8fc100d5ef1f47a47d
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000914_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_000929_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000929_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f1523739a81123b553a6889147c52a7642dfe722
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000929_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_000933_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000933_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..348e0bd5322cb4d524b084e633f333e64f9cd191
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000933_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_000938_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000938_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..da79b14b7915621bc7152cf2fa379c9a50ab8abf
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000938_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_000942_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000942_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..30eb7217a8fdb25a4fb1f3f937b5674965c6ec32
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000942_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_000949_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000949_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3e8285a4fb92b284286efcce8ea9bd447dff9c80
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000949_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_000953_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000953_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..71b67cc64f54cec9541e09d6f384fc64828dc0fa
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000953_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_000958_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000958_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..12df5820eb14b1226e95befb3ecf645a398ad270
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000958_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_000965_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000965_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..21c72dede3076dda4e50cdd9b57e3da01d3fba03
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000965_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_001021_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_001021_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..20921772418319a9117062889dd01781e0a5a09f
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_001021_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_001030_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_001030_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b4d00783289491b196c81d2719e6504d230c9ae5
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_001030_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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