diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000001_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000001_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..acf9a97d57c4dfaf020e1f87b5e1cfc843988088
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000001_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_000076_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000076_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4d15f790abd38b6eada49959967645c84638a247
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000076_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_000083_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000083_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4c44e6cd95d254801c3c35511eda642b81da0f96
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000083_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_000085_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000085_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6bd97cfbc1262e8733254d3559d5af1cd62200be
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000085_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_000088_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000088_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..32f942677f29148b555730b5445596f39b065507
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000088_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_000092_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000092_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..95d0efcf03e26554f69678c8be3cc6fc1365f4bb
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000092_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_000099_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000099_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..21f5336c22fd1272f8d1810a6c802ea3cf11d816
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000099_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_000101_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000101_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eafa90200f29a303fa9e1ebaff5a5792bf22edc0
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000101_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_000107_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000107_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..519b136fb600aff9a055760217036f29bf7984b8
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000107_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_000116_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000116_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cd190ed3a125ba6902561d4bb92eb7e60579b399
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000116_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_000167_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000167_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a5b65c9e2c3b40c7bc5bc4b84152843243c1bee4
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000167_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_000176_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000176_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..33dc9a2aac581f1de360a6ba3376d9aa38266b40
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000176_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_000185_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000185_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..553ac91894a327029947bb38a45b7227523e1ce8
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000185_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_000194_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000194_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8e31b8677dae821367c10fe65d3ce897981e117a
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000194_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_000200_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000200_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0ec557790c2db4cc607f349d970ebd5603007514
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000200_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_000217_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000217_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4ab7d6780ab4beeb50acfd7904f53d67c6f1e1df
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000217_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_000266_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000266_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1ffc956e5d805355ef10a8a3e3bfe269e01ea1a5
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000266_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_000277_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000277_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..25d32d01e6a818473938be30d9c1eb97d8aa9cfc
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000277_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_000284_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000284_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2b919e2f21fcda3021dfe9971185d924aec12cd6
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000284_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_000300_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000300_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6da99d701a7906edd5d20c1d46041dac2b4bd614
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000300_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_000311_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000311_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f2857c0f45243d75b76a4b5e4681b661f25823cf
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000311_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_000360_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000360_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8ab9c2ee7cae79bdc1c6cb38ee6af6eb0ffe0b35
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000360_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_000371_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000371_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..049ae690f1785b13cc970374f5f4e9e05b3760c3
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000371_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+016677_000036:[2, 4, 9, 10, 14]
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000382_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000382_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b9225a7dbee4bcf1e875c527a92c053a3f9e93c9
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000382_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_000389_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000389_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4f689584f28690df5c6e43c10de3bef4632c7ef7
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000389_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_000393_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000393_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2949539fa812d603ec4db319940e6f8958f07425
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000393_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_000398_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000398_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..84d44aff2691d8ed81bed6ac8d4f14fab267f865
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000398_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_000404_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000404_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ba33babf3e737c203722c7013a130eede2d47375
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000404_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_000415_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000415_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..31abab14b45b582af95c567f224e0ed9aee3166b
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000415_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_000475_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000475_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9c4711a7dbf46b4bddfacd921edbde104dda9d0f
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000475_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_000486_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000486_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..84e62fbf1006d3af18a62bcb5a791936871e45f0
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000486_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_000497_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000497_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5af50b4c72e648cc12dbdf4f0d78fe23fef90f89
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000497_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_000502_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000502_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cdf794b91e39a9695788e15044ac20c8527bf805
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000502_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_000509_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000509_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ef7654d87cc16db960dc2c7b93e3cf91331a46c3
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000509_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_000562_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000562_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3d24ceba3fadd9e9b5aeb155c32d022eaa76c68e
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000562_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_000569_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000569_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1ae5caad4070c24acdbb24c49ae011951a593afe
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000569_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_000573_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000573_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..be305e22b2b6b9ff8cf3312af32633cdddc2559b
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000573_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_000578_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000578_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6ef8c25f196d8a94eaafba72c69ce9ca291fce5e
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000578_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_000580_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000580_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cb32c20c30289fd2afc2b4019f03430274acf057
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000580_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_000586_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000586_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1af3bd877f69bfdb4e3c9c50876e6fd949aa6edc
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000586_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_000591_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000591_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6c0644410c4ab909d90458e398f20302220be336
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000591_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_000603_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000603_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e41853aa2cdb3cec21d75dc31f6fbda1115c6670
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000603_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_000608_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000608_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eb8c17c830d4b22432eec8bbea0d957d094c5310
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000608_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_000612_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000612_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e5d0ff687114150ad1182523df8e2411433f9f37
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000612_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_000663_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000663_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..deea55d7d207dd4d55203c836460d2f55964706f
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000663_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_000668_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000668_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6fae0c5062835532f76d432447cb8574ef289f0f
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000668_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_000672_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000672_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..be69cf7ae6314d49940724a0cbcdc647ed8df2c0
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000672_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_000679_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000679_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6422c4a3f964e2a7d5b1e329602e4030da60af82
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000679_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_000681_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000681_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7a5d789ec06257808968191dccd94288f043f40e
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000681_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_000687_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000687_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..faf96d71669ec8085fe459e62b5bdcbbf53d1988
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000687_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_000690_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000690_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..86c1ce421c32b34735e3c3491e290b8331b3ac92
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000690_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_000705_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000705_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..376daa865e711d3efebb240cee3b71565139d74c
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000705_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_000714_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000714_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cc113f36250b9529ec152063e2107afca0296b15
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000714_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_000768_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000768_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..af9ab7d08f0ebc9781d41f94409becc6c421332c
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000768_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_000774_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000774_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6ece341a9cdc87a858ab0636bce328b1d4127d7f
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000774_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_000787_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000787_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..62b68165126d9cb9b2d50b5985242d07f4a88205
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000787_corrupted_depths.txt
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diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000796_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000796_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5a722bcf6e4187049a569b4fe99034e0da6843f5
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000796_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_000800_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000800_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3ddf92ca68c19cec82d1a260e55d086b78ba3899
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000800_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_000811_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000811_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..de9807eb23e05e94ed187d0e826f82de68d4070f
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000811_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_000853_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000853_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..70d01983ee9d095c417aa18b2a97da4b97833469
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000853_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_000860_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000860_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c53a6a6041de4c02220cb3856b328196c4afb251
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000860_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_000871_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000871_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4d6efa137f2578a2d473b67b4471f47801c954d4
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000871_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_000882_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000882_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..46ad9514d81037d1821e974bb35552d478654f9f
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000882_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_000889_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000889_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..602d26839c9dd092a16786eea335f71e2ba0b98a
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000889_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_000893_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000893_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..74c7a7501e5474869128755ce06b5a505dbc95d4
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000893_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_000898_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000898_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b971ae19c5d8a471411562a09eaa8f6e75758629
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000898_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_000900_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000900_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a83c3c57f2c26a292c529c14fcef549222aabdf3
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000900_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_000906_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000906_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..875e13d08517652a020ad46db8f3913b753399fd
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000906_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_000917_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000917_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9133ba9109ff5d6eff54c8ca5ecd0aa89d8be305
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000917_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_000966_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000966_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..074e2cd5e242ccf4159bec8594230fdfd5a09d77
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000966_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_000977_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000977_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..019d139dcc06c8724f434b827b4b294a4eb00b47
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000977_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_000984_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000984_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..94726c35260e699e6a24efdaf7f6650f571017f2
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000984_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_000998_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000998_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8b9b35f03d68b3dcc07aa3a6f90b98c19e753d98
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000998_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_001005_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_001005_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..48ba82442f194c6d0d853f31097a30b7c8b8e84a
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_001005_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_001014_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_001014_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6d508df988f7c4b925cd9d7a53ce22180c52bb41
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_001014_corrupted_depths.txt
@@ -0,0 +1,1000 @@
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