diff --git a/.gitattributes b/.gitattributes
index 8dc9f1c25909c27ad995dc31a4049551334b58c4..30676fe29361021f7ce75c702022b2320975f7e0 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -1263,3 +1263,26 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 1M2_D1_Good/MechMind-LSRL/xyz/1M2_D1_Good_LSRL_012_cloud.ply filter=lfs diff=lfs merge=lfs -text
 1M2_D1_Good/MechMind-LSRL/xyz/1M2_D1_Good_LSRL_013_cloud.ply filter=lfs diff=lfs merge=lfs -text
 1M2_D1_Good/MechMind-LSRL/xyz/1M2_D1_Good_LSRL_010_cloud.ply filter=lfs diff=lfs merge=lfs -text
+1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_001_cloud.ply filter=lfs diff=lfs merge=lfs -text
+1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_006_cloud.ply filter=lfs diff=lfs merge=lfs -text
+1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_009_cloud.ply filter=lfs diff=lfs merge=lfs -text
+1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_000_cloud.ply filter=lfs diff=lfs merge=lfs -text
+1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_003_cloud.ply filter=lfs diff=lfs merge=lfs -text
+1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_002_cloud.ply filter=lfs diff=lfs merge=lfs -text
+1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_004_cloud.ply filter=lfs diff=lfs merge=lfs -text
+1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_005_cloud.ply filter=lfs diff=lfs merge=lfs -text
+1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_007_cloud.ply filter=lfs diff=lfs merge=lfs -text
+1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_010_cloud.ply filter=lfs diff=lfs merge=lfs -text
+1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_008_cloud.ply filter=lfs diff=lfs merge=lfs -text
+1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_011_cloud.ply filter=lfs diff=lfs merge=lfs -text
+1M2_D1_Good/MechMind-LSRL/xyz/1M2_D1_Good_LSRL_014_cloud.ply filter=lfs diff=lfs merge=lfs -text
+1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_012_cloud.ply filter=lfs diff=lfs merge=lfs -text
+1M2_D1_Good/RealSense/xyz/1M2_D1_Good_RS_001_cloud.ply filter=lfs diff=lfs merge=lfs -text
+1M2_D1_Good/RealSense/xyz/1M2_D1_Good_RS_003_cloud.ply filter=lfs diff=lfs merge=lfs -text
+1M2_D1_Good/RealSense/xyz/1M2_D1_Good_RS_004_cloud.ply filter=lfs diff=lfs merge=lfs -text
+1M2_D1_Good/RealSense/xyz/1M2_D1_Good_RS_008_cloud.ply filter=lfs diff=lfs merge=lfs -text
+1M2_D1_Good/RealSense/xyz/1M2_D1_Good_RS_000_cloud.ply filter=lfs diff=lfs merge=lfs -text
+1M2_D1_Good/RealSense/xyz/1M2_D1_Good_RS_002_cloud.ply filter=lfs diff=lfs merge=lfs -text
+1M2_D1_Good/RealSense/xyz/1M2_D1_Good_RS_007_cloud.ply filter=lfs diff=lfs merge=lfs -text
+1M2_D1_Good/RealSense/xyz/1M2_D1_Good_RS_005_cloud.ply filter=lfs diff=lfs merge=lfs -text
+1M2_D1_Good/RealSense/xyz/1M2_D1_Good_RS_006_cloud.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/1M2_D1_Good/MechMind-LSRL/xyz/1M2_D1_Good_LSRL_014_cloud.ply b/1M2_D1_Good/MechMind-LSRL/xyz/1M2_D1_Good_LSRL_014_cloud.ply
new file mode 100644
index 0000000000000000000000000000000000000000..57713ca98eff6afb95e6ddb5e643d1970a51e65d
--- /dev/null
+++ b/1M2_D1_Good/MechMind-LSRL/xyz/1M2_D1_Good_LSRL_014_cloud.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbf757771e428f753aa4bba0f1d3ecc50e55a27c0500048743059b4f3b10f596
+size 88080668
diff --git a/1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_000_cloud.ply b/1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_000_cloud.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f2b1e1efbedc1586582767b08dcc1ddb962ffb23
--- /dev/null
+++ b/1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_000_cloud.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9259853b19bd3083541261dc9b52098b93ccf44b1728cd65ed4a430a4d284527
+size 36700444
diff --git a/1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_001_cloud.ply b/1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_001_cloud.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f529d76b86f431d08a30cac0ffbdc97ef10d6457
--- /dev/null
+++ b/1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_001_cloud.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fff548671fcb781e92528bb70a05373a22fcee617f3fd9d44cc11d85b606bfe8
+size 36700444
diff --git a/1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_002_cloud.ply b/1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_002_cloud.ply
new file mode 100644
index 0000000000000000000000000000000000000000..158d6aa9470c807db57360497822be025191d6d0
--- /dev/null
+++ b/1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_002_cloud.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e668fcb62a4b7ec9467f200e3204b0141609a5e9caafc8c11391798bd29f3e0a
+size 36700444
diff --git a/1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_003_cloud.ply b/1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_003_cloud.ply
new file mode 100644
index 0000000000000000000000000000000000000000..8ebac2b4228585674f63fa46b07e6ad7877a83d3
--- /dev/null
+++ b/1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_003_cloud.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1210fb507a8eeaf09c9f24314d433fe69fb096622b158d477bad8ad65fa00377
+size 36700444
diff --git a/1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_004_cloud.ply b/1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_004_cloud.ply
new file mode 100644
index 0000000000000000000000000000000000000000..ae7006b03d924c629e59b3a5c05614616169708d
--- /dev/null
+++ b/1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_004_cloud.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b85a0a9db5802f2ab2605baaaf37435ef2a66dc977e04fba48c49edde38733c6
+size 36700444
diff --git a/1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_005_cloud.ply b/1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_005_cloud.ply
new file mode 100644
index 0000000000000000000000000000000000000000..ddf936eeddeb32785b16f831a0e3ce2746f2cff1
--- /dev/null
+++ b/1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_005_cloud.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1c2c51f805e5e2374ccbbf6fc1a61ce50d35dc822067741d323756e647a9c5b
+size 36700444
diff --git a/1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_006_cloud.ply b/1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_006_cloud.ply
new file mode 100644
index 0000000000000000000000000000000000000000..58aca469d8ad9abc5ca7ee28f702f22a094719e1
--- /dev/null
+++ b/1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_006_cloud.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69991885483c0fd9d7fcc1bad570f8b405c64d0739d056238669b3b1a5130129
+size 36700444
diff --git a/1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_007_cloud.ply b/1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_007_cloud.ply
new file mode 100644
index 0000000000000000000000000000000000000000..6304eefa479ec67709ed94f6498d6cc98e9e63b9
--- /dev/null
+++ b/1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_007_cloud.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3ded516d01da37cf8ca648f523884426f6800a0ef853845324ebaf16545af38
+size 36700444
diff --git a/1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_008_cloud.ply b/1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_008_cloud.ply
new file mode 100644
index 0000000000000000000000000000000000000000..dcb601aa67b59f8a6eafb15a1b0a3b4dd568acdb
--- /dev/null
+++ b/1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_008_cloud.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae2ffb7f6958d20a673f67a822b5ad35905b9cddab0fe37197ec2447d364bfd2
+size 36700444
diff --git a/1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_009_cloud.ply b/1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_009_cloud.ply
new file mode 100644
index 0000000000000000000000000000000000000000..c6768e5ac87a09954eeae506be700fee78d948f1
--- /dev/null
+++ b/1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_009_cloud.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5860a4d62dac3470f4a89ac1d547bc573fcc67b1ea380f99389b5b0ce36280f
+size 36700444
diff --git a/1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_010_cloud.ply b/1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_010_cloud.ply
new file mode 100644
index 0000000000000000000000000000000000000000..51e0699eaa630aeca42d023d9185bab51bba7cb8
--- /dev/null
+++ b/1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_010_cloud.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa37cc05649227360a5a7c939569932e3c8cf8596ab508f79f2a590a78616a6d
+size 36700444
diff --git a/1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_011_cloud.ply b/1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_011_cloud.ply
new file mode 100644
index 0000000000000000000000000000000000000000..1d9b02f2ecc72416450987ae471ed0c279c1c06c
--- /dev/null
+++ b/1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_011_cloud.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1ec840b632fe70a5bdcb1fd896eb7340c493e8e853e4426af1c7fad188f53f6
+size 36700444
diff --git a/1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_012_cloud.ply b/1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_012_cloud.ply
new file mode 100644
index 0000000000000000000000000000000000000000..2c279fdc9b76650f13f569b6ec281c99a7c5985a
--- /dev/null
+++ b/1M2_D1_Good/MechMind-Nano/xyz/1M2_D1_Good_Nano_012_cloud.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f27d408c5481b85322a270bdb587c95607d704f7fb742d4b5e14658337c077e5
+size 36700444
diff --git a/1M2_D1_Good/RealSense/images/1M2_D1_Good_RS_000_image.png b/1M2_D1_Good/RealSense/images/1M2_D1_Good_RS_000_image.png
new file mode 100644
index 0000000000000000000000000000000000000000..368dab43f867c6f6aef02722357b8ceed8713780
--- /dev/null
+++ b/1M2_D1_Good/RealSense/images/1M2_D1_Good_RS_000_image.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9dfd5834394e6ed64efdc44f67aba2b70806b4f2d2ef6c9bbcdc10015049e00
+size 1355310
diff --git a/1M2_D1_Good/RealSense/images/1M2_D1_Good_RS_003_image.png b/1M2_D1_Good/RealSense/images/1M2_D1_Good_RS_003_image.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b00ecdba25157638bada49ecfbd2df961ca8b05
--- /dev/null
+++ b/1M2_D1_Good/RealSense/images/1M2_D1_Good_RS_003_image.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a36413e5c783652305c8671ba12fc1f0627e3686a2a9844bb1ed0b33416e492
+size 1382941
diff --git a/1M2_D1_Good/RealSense/images/1M2_D1_Good_RS_004_image.png b/1M2_D1_Good/RealSense/images/1M2_D1_Good_RS_004_image.png
new file mode 100644
index 0000000000000000000000000000000000000000..72d11833519bff1cba50a5eb2fa45987040da216
--- /dev/null
+++ b/1M2_D1_Good/RealSense/images/1M2_D1_Good_RS_004_image.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84904b621bacfbfc193638ad76dc107d60d5786b75b77db578bf16a11cadd6a6
+size 1384976
diff --git a/1M2_D1_Good/RealSense/images/1M2_D1_Good_RS_005_image.png b/1M2_D1_Good/RealSense/images/1M2_D1_Good_RS_005_image.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c97b872b03f7f10a48f25ac8e506dccf879c3b6
--- /dev/null
+++ b/1M2_D1_Good/RealSense/images/1M2_D1_Good_RS_005_image.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5ba01cc7e4c4ad0d67efe6a26cd64b53f69b3403c49c9c4e263517f65f94629
+size 1375411
diff --git a/1M2_D1_Good/RealSense/images/1M2_D1_Good_RS_008_image.png b/1M2_D1_Good/RealSense/images/1M2_D1_Good_RS_008_image.png
new file mode 100644
index 0000000000000000000000000000000000000000..a5e7c3f0c35e64f2885e421d57a278fcdaa1c9f8
--- /dev/null
+++ b/1M2_D1_Good/RealSense/images/1M2_D1_Good_RS_008_image.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1884966765a2409ad7c22815bafaa9952eb604680f55a2bf5b1e6c133b8ed013
+size 1388956
diff --git a/1M2_D1_Good/RealSense/images/1M2_D1_Good_RS_010_image.png b/1M2_D1_Good/RealSense/images/1M2_D1_Good_RS_010_image.png
new file mode 100644
index 0000000000000000000000000000000000000000..5a46deeac9196f8ce4bb2fe4eba2d30bc7ce1161
--- /dev/null
+++ b/1M2_D1_Good/RealSense/images/1M2_D1_Good_RS_010_image.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f9ed2dde3895cdf62c2585f78e4ce65c17e7ac3ba77f306bf43237bdd0b1370
+size 1351138
diff --git a/1M2_D1_Good/RealSense/images/1M2_D1_Good_RS_011_image.png b/1M2_D1_Good/RealSense/images/1M2_D1_Good_RS_011_image.png
new file mode 100644
index 0000000000000000000000000000000000000000..ad3ab2a7800a20049f7226b4f2803f0bd307fe9f
--- /dev/null
+++ b/1M2_D1_Good/RealSense/images/1M2_D1_Good_RS_011_image.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:904d42a6fdbab20dbb1109ddefc7cc5e3f47e2bb46d4af72b39076423809fb71
+size 1379243
diff --git a/1M2_D1_Good/RealSense/images/1M2_D1_Good_RS_013_image.png b/1M2_D1_Good/RealSense/images/1M2_D1_Good_RS_013_image.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3e9284b76caf676653e5565a022ebe8cc43e109
--- /dev/null
+++ b/1M2_D1_Good/RealSense/images/1M2_D1_Good_RS_013_image.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96b0e2998025fe930bce238fca36cb109c4dcc161baf5d849f25d7db7f48e8ac
+size 1388167
diff --git a/1M2_D1_Good/RealSense/images/1M2_D1_Good_RS_014_image.png b/1M2_D1_Good/RealSense/images/1M2_D1_Good_RS_014_image.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d197d851858101f4964b712a800f9f54b22cbf3
--- /dev/null
+++ b/1M2_D1_Good/RealSense/images/1M2_D1_Good_RS_014_image.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:575338b5472bd705f9b43f2ae001678810b12f416a03c04efa6d385907fc9750
+size 1373439
diff --git a/1M2_D1_Good/RealSense/images/1M2_D1_Good_RS_015_image.png b/1M2_D1_Good/RealSense/images/1M2_D1_Good_RS_015_image.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c4ae5dd893411817657c79821543997bbc0dede
--- /dev/null
+++ b/1M2_D1_Good/RealSense/images/1M2_D1_Good_RS_015_image.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f6d44003aedd8847543b8781fb231e361e346388b7f26ce213826839615cf58
+size 1405161
diff --git a/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_000_image.png b/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_000_image.png
new file mode 100644
index 0000000000000000000000000000000000000000..799ff6c7079424db8443f9a900b4ec8217a9d4d3
--- /dev/null
+++ b/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_000_image.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c92778617053dff6b888c5e0b1110a30f78d27808efff60b2993cefaa4b3d82
+size 2507
diff --git a/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_001_image.png b/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_001_image.png
new file mode 100644
index 0000000000000000000000000000000000000000..5c3736d8ed2d9c2b3ba14f1ca2d4d553633d30f4
--- /dev/null
+++ b/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_001_image.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e152ef6015d5a958eacbdf8adb5a5571531d343d5a7f4a760f7b67024ec3669
+size 2471
diff --git a/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_003_image.png b/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_003_image.png
new file mode 100644
index 0000000000000000000000000000000000000000..a876076249839ac2b431b392e3d35e4fe768195d
--- /dev/null
+++ b/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_003_image.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:605e7435e7ae16dd14b341fad51e7c5806f86f794ebce21540d2f70a873cca58
+size 2480
diff --git a/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_004_image.png b/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_004_image.png
new file mode 100644
index 0000000000000000000000000000000000000000..ded4ca47f5f9f2d05ae8274b83286be0c5348a84
--- /dev/null
+++ b/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_004_image.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2dcfe4d4629b600a6edc30003f50547c81d64821558012b93aff7e405af0258
+size 2507
diff --git a/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_005_image.png b/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_005_image.png
new file mode 100644
index 0000000000000000000000000000000000000000..831941309207649b53b2f47419ed3a7899d35d3f
--- /dev/null
+++ b/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_005_image.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b714994025c81b80065ced4e4228d2494444c92d87d368a3aa3f7a3e68524e84
+size 2508
diff --git a/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_006_image.png b/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_006_image.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d7199718647a3d20555f6d7495d309a130181a3
--- /dev/null
+++ b/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_006_image.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc62fb4421e1c282bf374fa694218495d01159e4176eb8c4c63631b141e07b1b
+size 2533
diff --git a/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_007_image.png b/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_007_image.png
new file mode 100644
index 0000000000000000000000000000000000000000..5ee7f1c43eb4681df9add5ba4aaa3059d3d3d555
--- /dev/null
+++ b/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_007_image.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d35212aa8705083eab5a3ba64ac6f716355535dbeccc6c591f233ecb5f0ffdae
+size 2516
diff --git a/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_008_image.png b/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_008_image.png
new file mode 100644
index 0000000000000000000000000000000000000000..670582ea26f92a06cf2f50a02b3f29420fbbfc03
--- /dev/null
+++ b/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_008_image.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c8cbcbfde109c8ff2b77b878eac7828e55a6141bbdfb46fa86b81e3f5eff8c1
+size 2494
diff --git a/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_009_image.png b/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_009_image.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b49856b38b05edc88b27e8608a19af2e158c6ef
--- /dev/null
+++ b/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_009_image.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2ae8505500edcdb5d20ac36ba2848b18d2481b95795f8b38365221c1694ef11
+size 2484
diff --git a/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_010_image.png b/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_010_image.png
new file mode 100644
index 0000000000000000000000000000000000000000..f083cc85df994222f758812cfe68c7bbe86e6ea0
--- /dev/null
+++ b/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_010_image.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cddf3bb87057742843b16c204814c717c9f90af3243889759264bd4f573383a1
+size 2488
diff --git a/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_011_image.png b/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_011_image.png
new file mode 100644
index 0000000000000000000000000000000000000000..b9fbc464a56676a01783a5b22d0649725fadc96d
--- /dev/null
+++ b/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_011_image.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33040fbb22e4b5569c9815d99468560f97556442d2435bc7111bc2216278c0a4
+size 2503
diff --git a/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_012_image.png b/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_012_image.png
new file mode 100644
index 0000000000000000000000000000000000000000..0183e7a5e3e00ef7fd00143667112203250dd7f7
--- /dev/null
+++ b/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_012_image.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da544d302495ffe5f2349dc0ecf902f30140bb9dbb91393c68c729bbdede586e
+size 2506
diff --git a/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_013_image.png b/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_013_image.png
new file mode 100644
index 0000000000000000000000000000000000000000..b384baf5256cc155d6776724a6dc8a8918ed5dfa
--- /dev/null
+++ b/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_013_image.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a78b771fd722fac58302b4340256357c0b8a706bb27ae2e5d1583d44d3b479a2
+size 2528
diff --git a/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_014_image.png b/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_014_image.png
new file mode 100644
index 0000000000000000000000000000000000000000..fc2eb61902ed888c6f99c3212f9a9fad677a88a2
--- /dev/null
+++ b/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_014_image.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e79eb899796613dc2ff5802cb857a2482d8f52a2ae085a4ce5dcb16e234c63b5
+size 2524
diff --git a/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_015_image.png b/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_015_image.png
new file mode 100644
index 0000000000000000000000000000000000000000..8dd9a19b128e25b16fcd558fda3281af16e0a59e
--- /dev/null
+++ b/1M2_D1_Good/RealSense/masks/1M2_D1_Good_RS_015_image.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d84b927ac707736edea115abdc645df4132fd52afbd2b99c152016f57e0adbad
+size 2474
diff --git a/1M2_D1_Good/RealSense/xyz/1M2_D1_Good_RS_000_cloud.ply b/1M2_D1_Good/RealSense/xyz/1M2_D1_Good_RS_000_cloud.ply
new file mode 100644
index 0000000000000000000000000000000000000000..25b69d99ecaef06188cac3549fc9d3013a642d9e
--- /dev/null
+++ b/1M2_D1_Good/RealSense/xyz/1M2_D1_Good_RS_000_cloud.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adc60ab6c4b153ec03ecdcf96d599f80faf46a0de0b76433c78e9f5584ae45d2
+size 9769158
diff --git a/1M2_D1_Good/RealSense/xyz/1M2_D1_Good_RS_001_cloud.ply b/1M2_D1_Good/RealSense/xyz/1M2_D1_Good_RS_001_cloud.ply
new file mode 100644
index 0000000000000000000000000000000000000000..7a3ce45da5f9b624412be9355dd9358e7932a290
--- /dev/null
+++ b/1M2_D1_Good/RealSense/xyz/1M2_D1_Good_RS_001_cloud.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25ce0961eab7c76a7082491fec1dad8d6e89bc6627f273b07b05897d010822b1
+size 9769158
diff --git a/1M2_D1_Good/RealSense/xyz/1M2_D1_Good_RS_002_cloud.ply b/1M2_D1_Good/RealSense/xyz/1M2_D1_Good_RS_002_cloud.ply
new file mode 100644
index 0000000000000000000000000000000000000000..573b77f5cf5c2d0f53dd5c7a84f6d3f2eda00abb
--- /dev/null
+++ b/1M2_D1_Good/RealSense/xyz/1M2_D1_Good_RS_002_cloud.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e94d60e8850c1342dad53fda6f2180d6b27cfc8d3bb08ba5eb225b63cfb13724
+size 9769158
diff --git a/1M2_D1_Good/RealSense/xyz/1M2_D1_Good_RS_003_cloud.ply b/1M2_D1_Good/RealSense/xyz/1M2_D1_Good_RS_003_cloud.ply
new file mode 100644
index 0000000000000000000000000000000000000000..d83b39b936d02416abb5d7c67d0bf51f6aaf00a5
--- /dev/null
+++ b/1M2_D1_Good/RealSense/xyz/1M2_D1_Good_RS_003_cloud.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0f7dbca096be81712b0b6df74cd999807633f2ab29cfca0e03c2be7804b810c
+size 9769158
diff --git a/1M2_D1_Good/RealSense/xyz/1M2_D1_Good_RS_004_cloud.ply b/1M2_D1_Good/RealSense/xyz/1M2_D1_Good_RS_004_cloud.ply
new file mode 100644
index 0000000000000000000000000000000000000000..0187a70fb8cd90cefbe77c860b39d0bb49754a17
--- /dev/null
+++ b/1M2_D1_Good/RealSense/xyz/1M2_D1_Good_RS_004_cloud.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ad83249ef7b34a9d1eb4a1bd788c09e9fe963221f9fb8bdada006ad7ccc53aa
+size 9769158
diff --git a/1M2_D1_Good/RealSense/xyz/1M2_D1_Good_RS_005_cloud.ply b/1M2_D1_Good/RealSense/xyz/1M2_D1_Good_RS_005_cloud.ply
new file mode 100644
index 0000000000000000000000000000000000000000..50be37d3094e6bae8c950ef03c95e3fc26c03394
--- /dev/null
+++ b/1M2_D1_Good/RealSense/xyz/1M2_D1_Good_RS_005_cloud.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9480156559d141d0efbc02f5f5a64ed596d27072f89a8a67a469179490c53762
+size 9769158
diff --git a/1M2_D1_Good/RealSense/xyz/1M2_D1_Good_RS_006_cloud.ply b/1M2_D1_Good/RealSense/xyz/1M2_D1_Good_RS_006_cloud.ply
new file mode 100644
index 0000000000000000000000000000000000000000..250759f7aeeddf167449e98a462ae470c1c6f61c
--- /dev/null
+++ b/1M2_D1_Good/RealSense/xyz/1M2_D1_Good_RS_006_cloud.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83d16f91dbe33704f01baa2e1e8d499b32fc3f532953e46bee8719738a7810b9
+size 9769158
diff --git a/1M2_D1_Good/RealSense/xyz/1M2_D1_Good_RS_007_cloud.ply b/1M2_D1_Good/RealSense/xyz/1M2_D1_Good_RS_007_cloud.ply
new file mode 100644
index 0000000000000000000000000000000000000000..9f3ba41893f6ff90b3451633bf75b147737194db
--- /dev/null
+++ b/1M2_D1_Good/RealSense/xyz/1M2_D1_Good_RS_007_cloud.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cb3e54afde0a2b0c40d6b5e19ab8d489e9c0534fb2247b7fb97e5288526531c
+size 9769158
diff --git a/1M2_D1_Good/RealSense/xyz/1M2_D1_Good_RS_008_cloud.ply b/1M2_D1_Good/RealSense/xyz/1M2_D1_Good_RS_008_cloud.ply
new file mode 100644
index 0000000000000000000000000000000000000000..97dc33374d5713b0d7d4a2fc6b6c0c4e3636fa80
--- /dev/null
+++ b/1M2_D1_Good/RealSense/xyz/1M2_D1_Good_RS_008_cloud.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:015a31fbcc800af6f28ecc530d230dabe49ffe6d4782af8bb08d8c322b451fdb
+size 9769158
diff --git a/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_000_image.png b/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_000_image.png
new file mode 100644
index 0000000000000000000000000000000000000000..7cd17148d06d564f12dfd7fd1b78b569a4fe1a40
--- /dev/null
+++ b/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_000_image.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abed861691bbb3fa5c3e37a3175f53404b8ab2e5e825731bdd8955ef120abd11
+size 7061
diff --git a/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_001_image.png b/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_001_image.png
new file mode 100644
index 0000000000000000000000000000000000000000..0999ced025d73403684f5cd897851179e701c59e
--- /dev/null
+++ b/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_001_image.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3fc0a9ecd0946d9a78df7a2339d0492f76fbe3585093bc881bd79e38e4aa79a
+size 7043
diff --git a/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_002_image.png b/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_002_image.png
new file mode 100644
index 0000000000000000000000000000000000000000..e6e42f553e1707cb2d2fad2a873a5e1dad9b13d2
--- /dev/null
+++ b/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_002_image.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1659a11d652cf53e1c21c5d9dab87b3b86cb0a4b7e926fcc94b37649b87678f
+size 7067
diff --git a/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_003_image.png b/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_003_image.png
new file mode 100644
index 0000000000000000000000000000000000000000..58ca59f7213a9ba4a95b85a20f52a3e2a9ebccd0
--- /dev/null
+++ b/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_003_image.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b289d40b90d1f0b438e7a942368898a8e9cafaed37313fcec62e97dcf0af151
+size 7052
diff --git a/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_004_image.png b/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_004_image.png
new file mode 100644
index 0000000000000000000000000000000000000000..6bf0c9dea5507fb7557e4030750e68186235bc39
--- /dev/null
+++ b/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_004_image.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea0beccf9b40e88ec5a3c8a1d2967db4120e9b83bf52b9f1d79189d638cfd180
+size 7099
diff --git a/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_005_image.png b/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_005_image.png
new file mode 100644
index 0000000000000000000000000000000000000000..51e2ec07482470383ca98959b20b41f4f032cd60
--- /dev/null
+++ b/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_005_image.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f918ce54f5900a5719752309fdf6de65fbb85005b1ed6d96e48dc15187702d6
+size 7085
diff --git a/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_006_image.png b/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_006_image.png
new file mode 100644
index 0000000000000000000000000000000000000000..bdb124a9d48d159b7d21d5fc5026885eb8faf2c6
--- /dev/null
+++ b/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_006_image.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3e03a5ec3be22a71b346b0e8863c01e002ce005f60ba1c1bbfc9125b9683834
+size 7070
diff --git a/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_007_image.png b/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_007_image.png
new file mode 100644
index 0000000000000000000000000000000000000000..ede6d4645c1bc9caa9c1f7d456cbe82c9561627a
--- /dev/null
+++ b/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_007_image.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:213780c03d0f9e272e4b7d374e11c80854d8793f855ff861157dd01655feedba
+size 7039
diff --git a/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_008_image.png b/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_008_image.png
new file mode 100644
index 0000000000000000000000000000000000000000..1cbc22511b7811b28ef512fbff35e1e65097a44e
--- /dev/null
+++ b/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_008_image.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5827c3e8c5b2db53504cc97ed548da94cae61f6d260c1025447387dca1c931ff
+size 7083
diff --git a/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_009_image.png b/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_009_image.png
new file mode 100644
index 0000000000000000000000000000000000000000..a6c6a3dda3368d96c9bdb3966ffe1169c51e4f99
--- /dev/null
+++ b/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_009_image.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d36de7ae2cc2a5e63b5355f8037a0d9a5be6f38f7c260622f21e41903d2054ba
+size 7028
diff --git a/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_010_image.png b/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_010_image.png
new file mode 100644
index 0000000000000000000000000000000000000000..5608ce384de923343013fd85f2cb4bb415a726ed
--- /dev/null
+++ b/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_010_image.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:432676d1c167466b050ab84d27f1f536c1c71ba991eeeacf96cb561477ed626f
+size 7035
diff --git a/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_011_image.png b/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_011_image.png
new file mode 100644
index 0000000000000000000000000000000000000000..abc7e989a167b0c7aeaa4c68eec5d24e09a71007
--- /dev/null
+++ b/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_011_image.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bf4d2c79f66ddd04df46c9bb546fa2de051297ea7b58b9e338c0e3bae8731e4
+size 7046
diff --git a/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_012_image.png b/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_012_image.png
new file mode 100644
index 0000000000000000000000000000000000000000..c10cb071e918a97096c9f1093106e0de90e2517b
--- /dev/null
+++ b/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_012_image.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43fecd1382b92381537fe396ff7b4a08b5c9b430e2abd3b3c481dfdfc46720e5
+size 7031
diff --git a/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_013_image.png b/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_013_image.png
new file mode 100644
index 0000000000000000000000000000000000000000..2dd5a0ea5db0c791a31508a27c9300fcc2c45fcb
--- /dev/null
+++ b/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_013_image.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea4897df31983fc453ccde5fbc75f6312af68a809dcb8633616876ba3bf033bd
+size 7094
diff --git a/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_014_image.png b/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_014_image.png
new file mode 100644
index 0000000000000000000000000000000000000000..12ece566ebfc1681134b10d6374fc4319f2109a0
--- /dev/null
+++ b/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_014_image.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ff37365437419cdbf6e9b3031912c893ff16b2de2ceec5c293ea53ea33b154a
+size 7120
diff --git a/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_015_image.png b/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_015_image.png
new file mode 100644
index 0000000000000000000000000000000000000000..a0ba4114d8e0b6a0e712c745db61712ca565ab0e
--- /dev/null
+++ b/1M2_D1_Good/Zed/binary_masks/1M2_D1_Good_Zed_015_image.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bb98b89564bb4d460f162d3a701b435848b7332ee514dee340b634e7ace0d56
+size 7123