diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000000_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000000_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c4a9d619052e7b4d1e2cabad34ef31b1c1e18295
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000000_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+022722_000018:[6, 9, 13]
+022833_000014:[]
+015599_000028:[15]
+021477_000029:[11]
+002826_000020:[3]
+020955_000004:[1, 14, 18]
+005430_000017:[9]
+022143_000031:[8, 16, 18]
+022150_000005:[]
+015065_000016:[]
+006338_000010:[4, 13]
+024448_000034:[]
+014686_000017:[]
+012922_000031:[]
+004645_000038:[]
+024496_000025:[5, 9, 12, 14]
+005578_000000:[]
+010290_000026:[]
+019555_000034:[]
+016087_000030:[]
+018897_000028:[]
+000150_000005:[]
+004401_000017:[3, 4, 5, 12]
+001887_000002:[]
+016635_000004:[6, 12, 16]
+012941_000022:[2, 19]
+017447_000027:[18]
+007101_000026:[]
+011423_000039:[]
+011322_000005:[]
+023657_000022:[]
+000520_000039:[]
+024358_000012:[]
+023707_000013:[6, 15, 17]
+016464_000038:[]
+016548_000031:[]
+015374_000021:[]
+009814_000039:[12]
+008654_000000:[2, 9]
+012114_000001:[]
+013626_000008:[2, 10, 14]
+016197_000017:[19]
+011340_000017:[]
+023727_000029:[]
+013656_000016:[3, 12]
+003639_000021:[18]
+005588_000033:[]
+002451_000032:[]
+021748_000022:[]
+014347_000038:[]
+003793_000015:[]
+006462_000036:[12]
+007086_000016:[]
+001888_000035:[]
+017710_000005:[]
+007838_000013:[0, 1, 3, 17]
+013535_000018:[]
+003732_000025:[0, 2, 5, 6, 7, 14, 16, 19]
+016471_000015:[2, 17]
+002771_000031:[]
+020582_000013:[3, 4, 10]
+013903_000025:[4]
+007541_000027:[6, 13]
+000692_000003:[]
+011527_000036:[]
+019730_000004:[]
+015457_000033:[3, 7, 12, 17]
+019109_000003:[]
+016347_000020:[]
+012529_000011:[]
+000268_000010:[]
+004843_000034:[]
+023864_000035:[0, 8, 9, 12, 17, 18]
+012453_000019:[]
+003405_000020:[]
+005934_000012:[1, 11]
+012007_000006:[2, 4, 11, 14]
+009938_000037:[]
+021355_000025:[]
+000893_000018:[]
+018944_000015:[]
+015572_000001:[]
+019073_000009:[]
+022320_000037:[]
+011138_000004:[0, 1, 7, 8, 11, 13, 15]
+004620_000020:[7]
+021330_000005:[0, 3, 7, 11, 16]
+018860_000021:[5]
+024420_000006:[1, 4, 5]
+021815_000015:[]
+010424_000035:[15]
+005044_000034:[]
+016952_000020:[]
+001431_000013:[]
+023351_000018:[0, 2, 14, 17]
+014194_000023:[0]
+020618_000007:[0, 1, 2, 6, 13, 15, 18]
+006713_000032:[]
+014374_000010:[]
+000576_000017:[4]
+007718_000011:[9]
+005022_000026:[]
+020054_000035:[]
+018665_000030:[]
+018140_000017:[]
+003958_000022:[15]
+009400_000009:[]
+015740_000034:[]
+003897_000008:[]
+021548_000006:[]
+018142_000028:[]
+011443_000016:[17]
+006259_000003:[]
+013161_000011:[]
+021901_000029:[1]
+015692_000002:[10]
+020506_000022:[7, 17, 18]
+011552_000007:[]
+004353_000019:[0, 1, 2, 3, 4, 6, 12, 14, 15, 16, 19]
+001397_000021:[]
+016796_000027:[]
+003073_000034:[8, 11]
+006565_000002:[]
+004061_000037:[]
+023257_000005:[]
+014571_000020:[]
+014207_000037:[14, 18]
+014896_000002:[]
+023427_000032:[19]
+017952_000028:[]
+009640_000039:[]
+023413_000030:[6]
+012017_000024:[]
+013002_000000:[0, 3, 4, 6, 8, 12, 13, 14, 15, 16, 17, 19]
+014554_000018:[]
+011720_000005:[10]
+000448_000034:[]
+006071_000018:[]
+017393_000038:[]
+021577_000038:[]
+020839_000022:[]
+008446_000009:[]
+018970_000038:[4, 8, 10]
+023993_000032:[3]
+007331_000016:[11]
+019279_000028:[18]
+023392_000024:[9]
+005686_000026:[10]
+017059_000019:[]
+017420_000026:[1, 7]
+005436_000001:[16]
+002435_000006:[]
+004273_000016:[1, 3, 6, 7, 15]
+020613_000034:[16]
+024527_000021:[2, 7, 8, 10, 12, 13, 15, 17, 18]
+004033_000038:[]
+013221_000024:[18]
+004255_000037:[1, 8, 9]
+003934_000026:[]
+005861_000038:[]
+018340_000003:[]
+019837_000039:[3, 5]
+008853_000034:[]
+002384_000013:[]
+021301_000003:[]
+020809_000020:[]
+009275_000023:[]
+021561_000017:[2, 3]
+003589_000030:[]
+003477_000027:[6]
+019125_000034:[]
+005263_000022:[]
+011531_000025:[]
+006573_000003:[]
+007982_000006:[9]
+014361_000000:[]
+013226_000014:[]
+003490_000009:[]
+011677_000038:[6]
+017188_000024:[]
+001253_000011:[]
+001839_000011:[5]
+004004_000010:[0]
+023953_000005:[]
+016004_000006:[12, 15]
+006462_000019:[4]
+023566_000021:[]
+001924_000039:[15, 18]
+018504_000038:[]
+000792_000010:[]
+007063_000034:[]
+002679_000013:[]
+018182_000009:[]
+008647_000023:[]
+024375_000014:[2, 5]
+008930_000000:[]
+019020_000034:[3, 9, 17]
+021625_000001:[4, 14, 16]
+022729_000037:[]
+008542_000027:[]
+010482_000024:[]
+020188_000001:[]
+004370_000028:[0]
+002950_000033:[1, 2, 5]
+004093_000011:[]
+022683_000004:[]
+022917_000030:[4, 6]
+012622_000018:[]
+003070_000035:[]
+024644_000006:[]
+010893_000010:[19]
+006025_000018:[13]
+022184_000030:[8, 13, 14]
+020709_000029:[]
+017350_000007:[]
+022889_000034:[]
+005984_000008:[]
+019028_000020:[]
+015570_000012:[]
+019320_000034:[]
+009849_000029:[4, 19]
+013571_000015:[]
+023358_000001:[1, 14]
+011241_000031:[7]
+003263_000036:[2, 4, 9]
+001172_000032:[3, 10]
+005719_000015:[]
+021500_000036:[16, 17]
+019833_000031:[17]
+006109_000032:[]
+009970_000036:[]
+001709_000017:[]
+019149_000012:[7, 9, 13, 18]
+019067_000006:[]
+003704_000037:[]
+013395_000027:[]
+013545_000018:[16]
+004443_000030:[12]
+008334_000029:[]
+018460_000008:[5]
+013311_000016:[0]
+005584_000028:[14]
+010439_000013:[10]
+006269_000025:[]
+021442_000009:[]
+011985_000006:[]
+008544_000019:[]
+013928_000016:[10]
+010234_000028:[]
+005036_000021:[]
+004825_000007:[]
+001653_000015:[]
+020761_000038:[]
+013553_000008:[]
+011540_000007:[2, 15]
+019102_000014:[0, 1, 4, 9, 16]
+021765_000028:[6]
+024550_000016:[10]
+002492_000012:[]
+006302_000013:[18]
+016578_000039:[]
+011372_000026:[]
+002814_000011:[]
+008323_000036:[]
+022810_000021:[2, 6, 11]
+019619_000018:[1, 3, 7]
+010289_000016:[1, 4, 5, 13]
+024282_000021:[2]
+000439_000025:[3]
+016235_000036:[]
+000846_000013:[0, 4, 14]
+009572_000018:[]
+012933_000033:[]
+013492_000037:[11, 16]
+012819_000018:[]
+020718_000007:[]
+001267_000029:[17]
+018023_000021:[1]
+001090_000035:[8, 9, 10]
+022742_000032:[]
+008961_000005:[]
+016145_000012:[18]
+001120_000034:[]
+020030_000012:[]
+002542_000027:[2]
+003233_000011:[]
+024552_000008:[]
+020094_000024:[6, 9, 10, 11, 14, 17]
+024524_000028:[]
+012360_000015:[16]
+005902_000021:[]
+014953_000003:[1, 7]
+017474_000007:[]
+006305_000030:[]
+004813_000016:[]
+020519_000000:[]
+006561_000016:[0, 14]
+012857_000029:[4, 11, 17]
+023375_000024:[0, 1, 5, 11, 15, 19]
+019462_000013:[]
+014102_000000:[8, 14]
+002384_000027:[]
+020886_000008:[]
+008628_000016:[]
+003710_000005:[]
+023125_000029:[]
+002208_000029:[13]
+004421_000011:[18]
+005439_000016:[]
+022324_000003:[]
+019970_000039:[]
+023109_000024:[]
+017613_000023:[]
+022178_000018:[2]
+016236_000014:[]
+017592_000009:[]
+003602_000002:[]
+000463_000024:[4]
+020326_000036:[]
+023808_000019:[1, 2, 14, 19]
+009815_000029:[]
+008001_000015:[]
+021568_000009:[15, 19]
+024183_000031:[]
+017027_000004:[]
+002744_000028:[1, 2, 7]
+013045_000019:[]
+009302_000022:[]
+021155_000023:[]
+024910_000032:[]
+011932_000015:[]
+005678_000007:[0, 6, 10, 15]
+000449_000005:[7]
+004713_000017:[0, 2, 6, 15, 18]
+022922_000015:[2]
+021614_000022:[]
+019733_000011:[8, 11]
+002483_000010:[]
+016885_000032:[10]
+016287_000030:[]
+013401_000031:[]
+018125_000038:[4]
+000395_000021:[]
+009621_000031:[]
+005185_000005:[]
+002110_000035:[17]
+001223_000001:[]
+019608_000017:[]
+013308_000022:[17]
+018169_000039:[]
+021151_000015:[0]
+000554_000011:[10, 11, 14, 17, 18]
+010362_000009:[]
+007819_000007:[]
+006098_000002:[]
+000840_000019:[]
+011458_000032:[]
+002813_000020:[]
+019394_000016:[11]
+004251_000029:[]
+013350_000024:[12]
+019762_000014:[]
+023783_000036:[11]
+017200_000025:[]
+003069_000028:[]
+010797_000023:[]
+010683_000000:[2, 9, 13]
+023888_000014:[]
+006624_000011:[]
+018294_000038:[0, 6, 14]
+019866_000020:[19]
+006498_000012:[]
+003928_000037:[]
+013217_000034:[13]
+011198_000018:[5]
+000553_000017:[]
+023374_000031:[4]
+011020_000018:[]
+003601_000034:[9, 14]
+024974_000030:[]
+003272_000023:[9, 13]
+018101_000019:[]
+004858_000022:[]
+016180_000026:[]
+003739_000026:[]
+013197_000035:[]
+024707_000019:[]
+000650_000003:[]
+002677_000012:[]
+006295_000017:[]
+013679_000018:[6]
+014623_000003:[]
+019736_000004:[6, 15, 18]
+001761_000033:[]
+022541_000012:[3]
+015832_000008:[]
+012852_000000:[0, 5, 6]
+012952_000020:[3, 4, 5, 8, 9, 19]
+012487_000037:[5]
+003223_000015:[9]
+008490_000004:[1, 2, 13]
+011075_000039:[1]
+006655_000036:[9, 10]
+002537_000026:[3, 7, 14, 16]
+018126_000036:[]
+006347_000009:[15]
+011094_000030:[]
+021507_000024:[]
+004589_000024:[]
+019505_000035:[]
+002286_000022:[]
+017987_000012:[10, 16]
+000314_000018:[]
+007120_000017:[]
+001518_000030:[0, 7, 8, 17]
+016189_000030:[5]
+005603_000023:[1]
+013657_000006:[4]
+014489_000002:[1]
+016485_000010:[]
+023426_000002:[14]
+006621_000026:[]
+019580_000039:[]
+000931_000032:[]
+017753_000028:[0, 10, 13]
+018362_000018:[9]
+003352_000025:[6, 10]
+012242_000015:[]
+015321_000039:[12]
+011282_000019:[]
+018318_000034:[9]
+013088_000032:[2, 5, 11]
+008343_000035:[]
+017948_000006:[19]
+013674_000032:[]
+020327_000029:[]
+015154_000026:[8]
+011620_000035:[15]
+007683_000035:[]
+000096_000031:[]
+017789_000037:[3, 5, 6, 9, 10, 13, 15, 18]
+008480_000013:[]
+014655_000006:[]
+008728_000020:[]
+005506_000034:[7]
+005572_000024:[]
+007061_000020:[6, 12]
+013823_000005:[]
+016707_000024:[19]
+018975_000038:[5]
+008359_000028:[]
+010071_000033:[]
+010804_000002:[2, 8, 9, 13, 19]
+021536_000013:[4, 19]
+024250_000025:[]
+011699_000031:[]
+023091_000028:[]
+020704_000002:[19]
+007337_000012:[]
+015029_000034:[0, 4, 9, 11]
+018207_000022:[]
+016686_000015:[]
+021306_000022:[]
+003295_000008:[]
+023790_000039:[3, 4, 7, 10, 18]
+024892_000037:[9]
+010889_000017:[]
+012250_000003:[8]
+013668_000022:[]
+004524_000006:[]
+013536_000028:[15]
+000371_000010:[6]
+014167_000023:[4]
+023985_000013:[17, 19]
+020491_000020:[16]
+014038_000024:[0, 2]
+007814_000016:[]
+000543_000036:[]
+005763_000003:[]
+024481_000008:[]
+004562_000013:[11]
+022448_000039:[]
+019947_000038:[]
+018070_000018:[]
+000087_000037:[]
+014167_000007:[]
+013708_000030:[]
+012627_000014:[]
+002823_000036:[]
+003697_000020:[14]
+016585_000039:[]
+012777_000026:[4, 5, 17, 18]
+014849_000034:[]
+017229_000006:[]
+008448_000017:[18]
+022712_000002:[3]
+023953_000010:[11, 13]
+015664_000004:[10, 19]
+003754_000018:[]
+010049_000002:[]
+013149_000006:[]
+000785_000029:[]
+014180_000001:[0]
+012362_000011:[11]
+012614_000013:[0, 1, 2, 6, 7, 9, 15, 16]
+014350_000018:[]
+010457_000026:[]
+001712_000005:[]
+018614_000013:[]
+010057_000023:[]
+007750_000006:[]
+004080_000019:[]
+004155_000010:[16]
+015293_000028:[13]
+006537_000039:[7, 16]
+016755_000033:[]
+002658_000003:[]
+014777_000038:[]
+004889_000008:[]
+021144_000031:[]
+024966_000013:[2]
+018347_000036:[]
+021543_000025:[]
+006887_000035:[]
+005670_000008:[]
+015356_000001:[]
+017139_000035:[1, 2, 10, 14]
+024688_000024:[0]
+022680_000017:[]
+022969_000010:[1, 6, 8, 15, 18]
+014032_000004:[0, 10]
+000249_000017:[]
+001356_000025:[9]
+012748_000020:[]
+013642_000032:[]
+021417_000021:[]
+000519_000021:[]
+006594_000002:[]
+000074_000016:[]
+007860_000016:[0, 13]
+013189_000018:[]
+001674_000004:[]
+020115_000001:[]
+003814_000039:[1, 2]
+016375_000035:[]
+011330_000038:[]
+004940_000004:[]
+013283_000005:[17]
+022260_000035:[7]
+001424_000020:[]
+007571_000039:[]
+024973_000003:[13]
+003677_000025:[6]
+001478_000003:[2]
+013142_000026:[]
+017352_000015:[]
+014559_000029:[15]
+015843_000027:[0, 16]
+009161_000016:[]
+011466_000025:[]
+018253_000035:[8]
+017394_000001:[7, 12]
+003939_000023:[]
+006196_000023:[4]
+022750_000003:[]
+021755_000039:[]
+004105_000008:[]
+016423_000000:[]
+006065_000014:[]
+013336_000016:[]
+010823_000016:[]
+004869_000018:[]
+016683_000011:[]
+020705_000023:[]
+008187_000037:[]
+005916_000007:[0]
+015282_000027:[]
+020185_000009:[8, 17]
+015660_000004:[8]
+016183_000010:[11, 12, 17, 18]
+017965_000039:[]
+017814_000006:[]
+018786_000024:[3, 6]
+011365_000017:[4]
+010241_000012:[]
+014653_000035:[19]
+005487_000032:[]
+014360_000017:[]
+024277_000022:[]
+016135_000029:[]
+002138_000015:[1, 3, 19]
+017739_000021:[2, 14, 17]
+023500_000001:[]
+017603_000021:[]
+007474_000006:[]
+010024_000037:[1, 10, 17]
+000847_000008:[]
+015479_000023:[]
+006052_000018:[7]
+014012_000011:[0, 9, 11, 17]
+023124_000018:[]
+002761_000006:[]
+003779_000020:[]
+024211_000007:[1, 3, 9, 16]
+006020_000007:[9]
+001087_000034:[]
+022212_000008:[6, 15, 18, 19]
+001252_000028:[]
+002718_000037:[6, 9, 15, 18]
+008449_000001:[]
+013685_000016:[]
+010554_000037:[]
+006130_000015:[]
+000624_000017:[]
+016813_000028:[]
+015377_000002:[]
+015151_000014:[]
+015940_000035:[]
+003071_000037:[]
+003715_000021:[0, 8]
+018920_000026:[]
+022644_000019:[]
+023483_000031:[]
+018708_000000:[2, 13]
+006483_000031:[]
+007355_000005:[]
+017475_000025:[]
+022000_000021:[]
+001969_000030:[]
+023804_000034:[]
+015019_000037:[]
+003771_000032:[]
+007544_000023:[6]
+004877_000014:[]
+011934_000015:[]
+024201_000024:[]
+011995_000036:[]
+015823_000016:[]
+019948_000033:[1]
+010360_000011:[1, 8, 10]
+014995_000032:[]
+004207_000003:[]
+012555_000029:[8]
+015420_000035:[]
+003485_000017:[10]
+008516_000024:[]
+024257_000000:[]
+005445_000026:[2]
+014297_000004:[]
+011857_000013:[]
+017343_000027:[]
+015785_000032:[5]
+004090_000036:[2, 10]
+015225_000014:[2, 14, 15, 17]
+004835_000030:[]
+000432_000034:[]
+008429_000028:[]
+003663_000005:[11]
+022027_000021:[18]
+004374_000018:[]
+015928_000036:[]
+017197_000031:[]
+016281_000024:[]
+021346_000007:[5, 6, 8, 11, 12, 13, 15]
+013204_000007:[]
+007880_000036:[]
+022773_000010:[1, 9]
+005940_000028:[]
+024751_000032:[6, 18]
+002348_000030:[]
+000007_000038:[]
+020958_000011:[2]
+002143_000038:[]
+011050_000035:[]
+022700_000031:[]
+020603_000021:[]
+002237_000025:[7, 8, 16]
+014759_000015:[]
+003257_000031:[]
+012361_000024:[0, 1, 3, 12, 15, 16, 19]
+003414_000003:[]
+005392_000037:[]
+012990_000000:[]
+012629_000002:[]
+014796_000001:[]
+000400_000009:[]
+000155_000001:[]
+015787_000012:[9]
+013590_000009:[]
+013190_000037:[2, 15]
+021377_000033:[]
+004094_000039:[]
+004395_000010:[]
+004353_000015:[1, 2, 3, 4, 6, 12, 15, 16, 19]
+018359_000023:[]
+005209_000030:[]
+017557_000028:[4, 18]
+007092_000007:[9]
+014264_000021:[]
+021853_000013:[18]
+003819_000005:[]
+017760_000030:[1, 12]
+005826_000024:[]
+014866_000000:[15]
+018703_000011:[]
+009662_000009:[]
+005697_000003:[0, 2, 14]
+023325_000019:[]
+005245_000022:[]
+003201_000008:[]
+024385_000001:[7]
+001598_000015:[6]
+020293_000000:[0]
+021962_000004:[]
+014243_000006:[]
+011939_000029:[11, 19]
+024301_000001:[12, 14, 15]
+018301_000014:[]
+024655_000022:[12]
+017962_000003:[]
+013389_000013:[]
+007809_000008:[]
+002816_000035:[]
+023325_000000:[]
+000619_000032:[3, 4, 11, 17]
+018272_000002:[]
+008660_000008:[]
+011193_000025:[]
+003980_000039:[13, 14]
+015802_000003:[9]
+019153_000023:[]
+011420_000007:[]
+004772_000023:[2, 3, 5, 12, 16]
+003690_000004:[]
+011673_000032:[]
+010380_000005:[]
+007409_000026:[2, 4]
+014345_000026:[0, 3, 7, 8, 10, 13, 14]
+010455_000028:[]
+009998_000002:[]
+005465_000013:[]
+023641_000002:[]
+019287_000002:[1, 10, 18]
+006652_000039:[3]
+003125_000003:[6]
+015225_000025:[]
+001885_000007:[10, 11, 19]
+019355_000020:[]
+021137_000012:[11, 15]
+016337_000028:[2, 3, 9]
+013338_000002:[]
+024349_000007:[]
+002487_000010:[]
+002677_000021:[]
+021227_000000:[]
+007923_000003:[]
+020253_000006:[]
+004981_000024:[9, 19]
+003687_000023:[]
+003456_000000:[9, 13]
+021211_000032:[16]
+010732_000006:[6]
+009036_000003:[1, 13]
+010260_000032:[0, 1, 9]
+012697_000029:[0, 2]
+010717_000037:[1, 3, 17]
+013871_000009:[17]
+010256_000030:[]
+000318_000005:[]
+017238_000020:[]
+022058_000020:[]
+019242_000012:[]
+010097_000015:[]
+002025_000034:[1, 4, 5, 12, 14, 19]
+009458_000018:[7]
+004483_000032:[]
+008351_000016:[18]
+008420_000030:[]
+005812_000022:[]
+002280_000018:[13]
+014715_000011:[]
+015145_000026:[2, 9]
+002238_000007:[17]
+004829_000006:[0, 2, 4, 10, 11, 16]
+000449_000002:[7]
+017739_000038:[]
+022997_000013:[]
+023128_000037:[]
+005298_000004:[6, 7, 19]
+004122_000028:[1, 16, 17]
+014608_000010:[]
+020552_000037:[]
+014025_000035:[]
+007050_000036:[]
+023775_000021:[]
+000484_000035:[10]
+021140_000013:[0]
+009330_000023:[]
+023014_000019:[2, 6, 18]
+016811_000023:[1]
+023223_000010:[4]
+002946_000016:[]
+011519_000036:[7]
+018469_000011:[6, 7, 11]
+011724_000023:[]
+009464_000013:[]
+023934_000005:[]
+008176_000032:[]
+016361_000016:[]
+013811_000022:[]
+000077_000023:[]
+016246_000028:[]
+000035_000026:[14]
+007631_000015:[]
+001011_000019:[10]
+016566_000028:[]
+020814_000016:[8]
+023801_000035:[]
+002777_000016:[3, 6]
+001166_000004:[]
+000284_000027:[]
+007976_000007:[]
+013045_000003:[]
+005004_000039:[]
+006717_000034:[12, 14]
+015214_000024:[12]
+002786_000025:[]
+020110_000000:[17]
+011198_000000:[2, 7, 10, 18]
+024655_000026:[]
+024421_000026:[]
+000417_000010:[12]
+023026_000026:[]
+016975_000010:[14]
+012193_000036:[]
+012981_000020:[2, 12, 18]
+000655_000036:[]
+017895_000005:[4, 13]
+008990_000024:[10, 15, 16]
+004680_000020:[]
+023569_000023:[]
+022038_000021:[]
+009757_000000:[]
+012677_000037:[7, 11, 18]
+022370_000030:[]
+022927_000030:[4, 13]
+003338_000039:[]
+009673_000019:[]
+024707_000015:[10]
+017947_000028:[]
+015547_000028:[]
+012878_000029:[]
+020644_000004:[]
+003052_000034:[17]
+004504_000026:[]
+007724_000024:[19]
+016754_000033:[19]
+024864_000007:[]
+011467_000030:[]
+002707_000007:[3]
+009893_000025:[2, 8, 13, 15, 16]
+001422_000030:[1]
+017197_000038:[]
+000437_000021:[]
+009609_000021:[]
+005529_000030:[]
+004442_000019:[18]
+019057_000021:[]
+019890_000015:[]
+007435_000009:[]
+009395_000030:[5, 9]
+016388_000035:[]
+012511_000036:[]
+003618_000016:[5, 6, 12]
+004405_000006:[4, 14]
+003070_000007:[]
+017550_000029:[]
+011478_000000:[2]
+010210_000009:[]
+006030_000011:[]
+000135_000027:[]
+000216_000034:[9, 10, 13, 18]
+002526_000023:[]
+004904_000037:[0, 7, 12, 16]
+001449_000006:[]
+022236_000034:[15]
+014954_000037:[12, 16]
+023882_000037:[]
+009705_000006:[]
+009281_000039:[]
+020783_000026:[]
+015000_000019:[]
+021379_000038:[0, 1, 8, 13]
+021938_000026:[0, 18]
+007231_000021:[]
+020996_000011:[]
+000212_000006:[5, 11]
+009042_000038:[2]
+011981_000039:[6]
+020420_000024:[]
+024639_000024:[]
+017924_000027:[3, 7]
+021190_000029:[0, 4, 5, 15]
+006860_000024:[]
+018843_000020:[12, 17, 18]
+009218_000018:[3, 5, 8, 10, 11, 16, 17]
+012475_000021:[]
+000725_000012:[0, 11, 15]
+003277_000010:[0, 4, 6, 8, 11, 12, 16, 18, 19]
+015581_000019:[]
+014733_000035:[]
+018242_000026:[8, 16]
+004566_000013:[]
+010993_000038:[9]
+006944_000025:[]
+004755_000015:[19]
+000185_000000:[2, 19]
+018600_000037:[]
+012723_000005:[1, 8, 12, 15]
+011807_000003:[4, 9, 13]
+015325_000003:[19]
+014393_000038:[]
+007664_000014:[]
+006566_000003:[]
+000364_000023:[]
+017812_000022:[]
+004443_000036:[7]
+014620_000013:[0, 6]
+010815_000031:[]
+018873_000026:[]
+016862_000001:[]
+019071_000034:[]
+018250_000037:[4]
+020400_000004:[]
+020552_000015:[2, 10, 11, 18]
+017034_000031:[]
+023668_000026:[]
+011714_000008:[]
+018743_000038:[]
+000666_000026:[]
+017926_000002:[4, 8]
+004420_000033:[]
+015640_000024:[]
+023192_000007:[]
+015618_000034:[]
+023411_000022:[]
+000658_000010:[]
+016691_000004:[]
+006238_000027:[]
+020837_000016:[]
+004891_000023:[]
+017901_000033:[]
+009841_000032:[]
+019028_000000:[10, 18]
+020424_000039:[]
+014712_000012:[8, 14, 16]
+003657_000014:[]
+002489_000011:[12]
+009759_000020:[6]
+013432_000003:[]
+020778_000000:[9]
+017802_000028:[]
+018360_000030:[]
+012820_000012:[12]
+007458_000035:[3, 4, 5, 10]
+022355_000012:[5, 13, 17]
+024188_000007:[]
+019042_000036:[]
+015439_000022:[]
+016820_000030:[3, 9]
+003981_000017:[13]
+014316_000038:[12]
+004784_000012:[19]
+016542_000015:[]
+005698_000002:[]
+022487_000018:[5]
+005708_000019:[2]
+010548_000034:[8]
+007915_000020:[]
+022660_000001:[0]
+021912_000003:[]
+014853_000036:[]
+023139_000015:[0, 4, 6, 9, 10, 11, 12, 14, 18]
+024817_000018:[6]
+002097_000005:[5]
+000275_000014:[]
+014135_000032:[10]
+010580_000002:[0, 2, 3, 4, 8, 11, 13]
+010105_000000:[]
+016683_000029:[3, 5]
+013268_000016:[]
+020941_000036:[17]
+012329_000026:[]
+013464_000034:[]
+004404_000029:[]
+008036_000026:[0]
+013628_000001:[]
+017874_000009:[]
+005856_000031:[]
+000768_000016:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000029_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000029_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ea51c69585fa60b1f88c79c007ee301a4191aa69
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000029_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+014279_000021:[]
+017773_000027:[]
+023027_000007:[2, 3, 19]
+018274_000011:[6]
+015482_000012:[]
+016812_000018:[]
+015585_000010:[]
+018695_000031:[16, 17]
+002591_000036:[4]
+004731_000012:[5]
+017242_000003:[4]
+002020_000026:[]
+019974_000005:[]
+006653_000033:[]
+011169_000013:[2]
+013547_000010:[14]
+001539_000037:[8]
+013272_000018:[15]
+021891_000014:[]
+010456_000038:[]
+020331_000035:[2]
+004808_000016:[0, 4, 9, 15, 16]
+013720_000009:[2, 6]
+021403_000018:[17]
+012744_000028:[]
+003388_000029:[]
+019874_000012:[2]
+002430_000036:[]
+006052_000038:[]
+017270_000026:[]
+002849_000013:[3, 8, 9]
+009879_000019:[5, 6, 7, 8, 16]
+013991_000028:[9]
+008243_000011:[1, 2, 4, 12, 13]
+018428_000030:[]
+014780_000034:[0, 5]
+020052_000029:[]
+024209_000016:[3]
+000003_000000:[1, 11, 12]
+018915_000024:[0, 2, 3, 4, 6, 7, 8]
+019871_000009:[15, 16]
+016136_000016:[]
+016754_000004:[0, 6]
+021797_000005:[3]
+003968_000009:[]
+017389_000006:[]
+024463_000001:[]
+003466_000021:[3, 16]
+000529_000028:[10, 19]
+004644_000022:[]
+005776_000002:[]
+019406_000035:[]
+011114_000023:[]
+022512_000038:[19]
+014993_000013:[]
+016092_000039:[1]
+000324_000027:[]
+015386_000033:[]
+013549_000013:[1]
+008722_000001:[1, 4]
+024010_000038:[0]
+022117_000024:[1, 2, 15]
+002524_000019:[]
+008090_000017:[2]
+012315_000027:[]
+022038_000008:[]
+013569_000020:[]
+010266_000027:[6, 10, 13, 17, 18]
+011720_000019:[16]
+010980_000025:[17]
+016409_000031:[]
+024873_000013:[]
+004208_000027:[]
+003240_000022:[]
+000990_000021:[]
+004368_000014:[]
+014592_000001:[]
+011150_000010:[]
+007418_000037:[]
+021226_000014:[6, 16, 17]
+013957_000028:[]
+003086_000032:[]
+006232_000001:[]
+008879_000035:[11, 12]
+004452_000001:[15]
+012575_000029:[]
+012503_000021:[4, 8]
+001610_000025:[]
+022505_000019:[]
+016740_000027:[8, 13, 15]
+013879_000034:[]
+004404_000025:[]
+021953_000010:[]
+005896_000005:[0, 8]
+005725_000010:[16]
+012427_000022:[]
+002461_000000:[]
+009397_000002:[1, 3, 7, 19]
+006429_000031:[10]
+020583_000021:[6]
+001584_000007:[5, 7, 13, 17]
+003628_000033:[5]
+006018_000007:[4]
+018874_000014:[]
+004108_000013:[3, 9, 11, 16]
+020561_000013:[]
+009194_000023:[0, 6, 8, 12, 19]
+005498_000005:[]
+018131_000030:[]
+008089_000020:[7, 10]
+016768_000035:[]
+003276_000026:[]
+000237_000037:[]
+010704_000002:[]
+001128_000031:[]
+007006_000016:[7, 13]
+017441_000010:[0, 3, 8, 17]
+000691_000022:[16]
+004238_000005:[5]
+011903_000019:[]
+009569_000021:[]
+001194_000038:[]
+020810_000006:[4, 15, 19]
+010474_000031:[]
+021578_000022:[]
+004125_000022:[]
+019551_000000:[16]
+011935_000017:[]
+019105_000014:[9]
+007840_000030:[]
+009638_000004:[2, 6]
+016599_000026:[]
+015381_000018:[]
+010601_000036:[]
+016874_000034:[]
+004931_000008:[5]
+021765_000014:[19]
+013519_000002:[0]
+000915_000030:[]
+018980_000036:[]
+010572_000003:[]
+022361_000013:[]
+006649_000013:[]
+006675_000015:[3, 9, 12]
+007014_000015:[16]
+006897_000009:[]
+006264_000002:[]
+013156_000017:[0, 4]
+017106_000002:[]
+019009_000013:[3]
+015367_000038:[2, 6, 8, 13, 17]
+015033_000021:[]
+000189_000020:[]
+008845_000016:[]
+020999_000016:[]
+015758_000000:[0, 5, 8, 9, 10, 12, 13, 14, 16, 17, 19]
+007752_000025:[12]
+015876_000007:[9]
+014684_000017:[]
+018617_000032:[7]
+023307_000015:[]
+022486_000026:[4]
+022914_000034:[1, 10, 17, 18, 19]
+010314_000023:[]
+007799_000030:[1, 2, 11, 15]
+004821_000024:[]
+000079_000014:[1, 15, 18]
+018641_000009:[16]
+007260_000014:[]
+017115_000039:[0, 5, 6, 15]
+010409_000008:[]
+016249_000036:[]
+022630_000014:[13]
+008167_000013:[13]
+004311_000024:[2, 6, 9, 18]
+015653_000006:[]
+014206_000001:[]
+008651_000021:[]
+015786_000009:[10, 14, 18, 19]
+016930_000000:[]
+022834_000031:[7]
+014674_000020:[]
+009419_000034:[]
+001460_000019:[]
+024665_000027:[]
+018171_000026:[]
+001624_000033:[]
+018355_000036:[1]
+016573_000035:[13]
+018540_000000:[]
+014745_000033:[0, 2, 3, 7, 13, 19]
+001483_000021:[4, 6, 9, 11, 12, 17, 18]
+013933_000011:[]
+018120_000035:[15]
+008277_000009:[]
+010017_000018:[1, 3, 4, 5, 6, 13, 15, 17]
+013173_000035:[15, 19]
+009165_000007:[]
+005729_000008:[]
+007758_000031:[]
+012173_000030:[]
+003125_000021:[6]
+023930_000031:[]
+020237_000001:[]
+006797_000025:[]
+023451_000018:[19]
+018432_000037:[]
+013336_000023:[]
+006002_000039:[8, 12]
+011914_000032:[]
+003756_000030:[9, 18]
+015959_000007:[]
+000792_000007:[9]
+017025_000020:[]
+004179_000025:[6]
+011845_000002:[]
+016564_000034:[]
+021077_000023:[9]
+002398_000037:[]
+013750_000028:[0]
+010151_000026:[]
+006669_000025:[]
+011130_000038:[6, 17, 18]
+005430_000013:[3, 6, 8]
+005261_000001:[]
+005371_000024:[]
+006314_000034:[]
+019933_000038:[]
+010337_000023:[1]
+001795_000009:[4, 8]
+010297_000036:[]
+003982_000007:[7]
+016165_000017:[]
+012831_000030:[]
+003714_000000:[]
+004788_000005:[]
+005200_000022:[]
+005660_000039:[11]
+010760_000036:[]
+000308_000032:[]
+002005_000011:[]
+001189_000017:[]
+008196_000000:[2, 5, 8, 10, 11, 17, 19]
+006650_000013:[]
+001414_000030:[]
+017899_000011:[3, 12]
+020488_000009:[]
+010168_000012:[]
+013405_000004:[]
+014903_000024:[]
+000577_000016:[]
+001406_000028:[14, 15]
+023353_000019:[5]
+005978_000007:[5, 15]
+023498_000000:[]
+003045_000011:[7]
+021990_000016:[]
+021459_000021:[]
+020914_000029:[12]
+024328_000000:[]
+007405_000031:[1, 5, 11, 18]
+008367_000017:[]
+002072_000038:[5]
+008824_000031:[]
+020278_000008:[]
+007188_000011:[3]
+018168_000015:[]
+020506_000037:[]
+005411_000026:[]
+006907_000017:[]
+015790_000024:[0, 5, 11, 18, 19]
+004626_000036:[1]
+007027_000018:[]
+016302_000031:[]
+024556_000026:[2, 13]
+021005_000033:[]
+003749_000030:[]
+024780_000017:[1, 18]
+020369_000033:[]
+014035_000001:[8, 10, 18]
+021771_000012:[6]
+012993_000007:[1]
+001697_000005:[16]
+011377_000009:[17]
+003745_000029:[]
+009710_000033:[7, 19]
+018814_000030:[]
+017469_000013:[3]
+024371_000021:[6, 8]
+020264_000009:[1, 8]
+006886_000033:[]
+019599_000024:[]
+008005_000031:[]
+015570_000005:[]
+024828_000011:[3, 14]
+012837_000018:[]
+014411_000001:[]
+021737_000017:[5, 11, 17, 18]
+001560_000001:[5, 14]
+011223_000020:[]
+008728_000006:[5, 15]
+021432_000033:[]
+000613_000037:[1, 4]
+007278_000003:[]
+020169_000009:[1, 3, 4, 18]
+011714_000006:[16]
+020813_000018:[6]
+018883_000031:[]
+020912_000012:[6]
+019559_000021:[]
+020215_000006:[]
+005057_000019:[3, 12, 15]
+008266_000011:[]
+000180_000027:[]
+010173_000025:[0, 3, 6, 9, 19]
+013124_000030:[10]
+023858_000009:[]
+017997_000000:[]
+018874_000018:[]
+002355_000016:[6, 16]
+001090_000014:[]
+001975_000010:[]
+010775_000012:[]
+017596_000005:[11, 14]
+001911_000004:[1, 13, 14, 16]
+004670_000031:[]
+012993_000024:[]
+002077_000026:[]
+009306_000037:[]
+001441_000008:[15, 19]
+013372_000026:[16]
+020403_000037:[17]
+014180_000021:[0, 4, 9, 12]
+008624_000036:[]
+017804_000025:[1, 4]
+023619_000034:[]
+001893_000007:[3]
+016362_000018:[]
+015465_000012:[3]
+007842_000031:[2, 3, 6, 7, 9, 11, 13, 14]
+004793_000031:[]
+014797_000026:[0, 15]
+006182_000002:[]
+024544_000035:[]
+021114_000012:[]
+010980_000004:[]
+015907_000024:[]
+003005_000018:[4]
+012498_000029:[]
+013192_000027:[]
+004327_000005:[7, 12]
+005562_000017:[10]
+011174_000023:[4]
+001152_000014:[18]
+020702_000018:[10]
+005971_000035:[2, 10]
+008806_000019:[2, 9]
+003965_000015:[4, 5, 16]
+023986_000007:[]
+024368_000015:[]
+006472_000022:[]
+000460_000002:[2, 3, 7, 14]
+024393_000020:[2, 10]
+009854_000017:[]
+017951_000000:[]
+010602_000013:[]
+002871_000014:[]
+018135_000026:[]
+015101_000035:[11, 13, 16]
+002953_000012:[]
+011772_000031:[0, 7, 8, 9, 14, 17]
+021666_000009:[]
+012837_000027:[]
+020106_000009:[]
+002131_000015:[4, 8, 16]
+002562_000001:[]
+003216_000038:[17]
+011021_000013:[]
+001740_000019:[]
+018860_000038:[]
+005009_000006:[]
+009822_000025:[4]
+014854_000004:[19]
+009206_000000:[]
+016356_000013:[]
+022579_000001:[11, 13, 16]
+001947_000030:[]
+018753_000029:[2, 7, 9, 11, 16, 18, 19]
+022740_000017:[]
+017564_000017:[0, 2, 6]
+003038_000007:[]
+005893_000036:[]
+000197_000005:[]
+000474_000017:[]
+024852_000004:[]
+007640_000001:[17]
+023292_000014:[]
+000941_000015:[]
+003245_000005:[]
+010970_000030:[]
+019261_000003:[7]
+017331_000027:[]
+005204_000033:[]
+018233_000034:[]
+020937_000023:[]
+004075_000021:[]
+023140_000009:[]
+018810_000028:[]
+015063_000015:[]
+018483_000036:[2, 6]
+016156_000003:[]
+024178_000013:[]
+014961_000023:[]
+006798_000003:[]
+018560_000008:[1, 3, 12, 16]
+005420_000019:[]
+023229_000009:[]
+020462_000007:[]
+009179_000020:[14]
+022609_000030:[0, 3, 5, 6, 11, 13, 14, 16]
+006966_000022:[]
+014151_000019:[]
+004558_000020:[3, 5, 12]
+008651_000031:[]
+009199_000031:[]
+024590_000004:[12]
+014391_000031:[]
+014457_000035:[]
+022166_000026:[]
+003151_000012:[5, 14]
+000487_000027:[]
+017491_000003:[18]
+011644_000013:[14]
+012100_000016:[]
+007054_000001:[4, 10, 14]
+010299_000004:[7]
+012179_000023:[7, 9]
+016650_000013:[19]
+019099_000037:[0]
+015988_000030:[]
+005852_000018:[]
+022039_000039:[]
+000235_000036:[]
+012393_000011:[]
+022041_000033:[3, 5, 14]
+015516_000022:[]
+009027_000026:[5, 14]
+013593_000038:[19]
+021672_000004:[]
+020503_000018:[12, 16, 17]
+020350_000016:[3, 10]
+023125_000019:[6]
+004293_000035:[4, 9, 12, 16, 19]
+024603_000029:[]
+024569_000009:[]
+007392_000038:[1, 5, 7]
+023325_000027:[6]
+021366_000010:[5, 12]
+001106_000000:[]
+013758_000039:[]
+005641_000030:[8, 9]
+013818_000007:[]
+020446_000019:[0]
+019582_000034:[]
+020559_000028:[15]
+009672_000021:[0]
+006724_000032:[11]
+014054_000025:[]
+013164_000033:[1, 9, 15, 17]
+017966_000002:[0]
+012807_000011:[]
+009116_000022:[]
+018778_000013:[13]
+003497_000014:[]
+001609_000027:[18]
+022463_000016:[]
+009201_000018:[]
+015079_000030:[]
+004687_000030:[10, 14]
+010606_000008:[5]
+020443_000031:[]
+023613_000024:[14]
+008984_000015:[]
+019510_000033:[]
+020916_000033:[]
+010687_000039:[]
+019690_000034:[]
+021192_000001:[4]
+001342_000016:[]
+024592_000012:[]
+000106_000038:[]
+016492_000026:[]
+003602_000033:[14]
+007527_000037:[7]
+007850_000008:[]
+015486_000011:[]
+000764_000027:[9, 19]
+012302_000038:[6, 12]
+022131_000012:[12]
+011382_000018:[15]
+015113_000007:[]
+022595_000016:[3, 10, 11, 19]
+003532_000028:[]
+017033_000033:[]
+001145_000021:[]
+019396_000002:[]
+024005_000018:[2]
+001032_000023:[1]
+002145_000032:[]
+021659_000008:[1, 5, 13, 16]
+017592_000018:[15, 19]
+017641_000002:[]
+024225_000006:[4]
+017927_000018:[0, 9, 13, 15, 18]
+000704_000022:[]
+002623_000025:[6, 15]
+016469_000024:[]
+008587_000010:[]
+015390_000013:[]
+012931_000009:[]
+021367_000037:[]
+004448_000000:[19]
+020596_000030:[3, 6, 14, 19]
+006813_000007:[4, 6, 17]
+014750_000004:[0, 13]
+005729_000023:[]
+015420_000029:[]
+001065_000024:[]
+010802_000031:[2]
+022085_000001:[]
+020006_000026:[7, 15]
+008194_000039:[]
+017174_000008:[]
+014078_000034:[]
+005392_000035:[]
+021689_000015:[]
+013568_000032:[]
+003228_000015:[]
+008742_000016:[]
+019275_000020:[]
+022399_000012:[10]
+006479_000034:[]
+023917_000011:[]
+019904_000002:[]
+001569_000037:[15]
+021774_000020:[8]
+013310_000015:[1, 4, 7, 16]
+020181_000023:[]
+013221_000007:[]
+006521_000037:[]
+019386_000007:[]
+007373_000031:[]
+019467_000001:[]
+022500_000029:[17]
+022706_000025:[7, 8]
+021404_000018:[]
+012374_000016:[10]
+020436_000018:[]
+011761_000015:[]
+005137_000014:[0, 2, 4, 12, 13, 14, 19]
+003680_000009:[]
+015891_000038:[8, 11, 13, 16]
+000907_000018:[]
+004635_000022:[]
+000112_000019:[7, 16]
+006685_000026:[]
+004307_000025:[]
+004672_000034:[1]
+018156_000032:[]
+009263_000009:[14]
+010605_000011:[]
+011251_000030:[]
+003282_000009:[13]
+012864_000009:[11]
+005974_000017:[]
+020985_000030:[]
+018826_000003:[0, 1, 2, 5, 14, 16]
+008388_000019:[4]
+019073_000023:[]
+016536_000024:[]
+010223_000024:[]
+019532_000013:[8]
+004231_000012:[1, 3, 12, 13]
+017413_000035:[]
+008055_000030:[18]
+007190_000035:[]
+009843_000005:[]
+017148_000003:[]
+013690_000000:[14, 17]
+021324_000016:[]
+016451_000035:[]
+000380_000001:[10, 12]
+012923_000035:[0]
+008512_000035:[]
+011029_000002:[15]
+010789_000010:[]
+005142_000039:[]
+008187_000033:[0, 2]
+023120_000011:[15]
+002684_000032:[]
+005115_000035:[]
+016548_000035:[2, 8, 9, 13, 17, 18]
+008977_000027:[14]
+016477_000014:[14, 16]
+015476_000019:[]
+019261_000037:[]
+002690_000015:[]
+020379_000028:[]
+020832_000025:[17]
+002404_000025:[5, 6, 12, 14]
+016341_000027:[17]
+001564_000017:[0, 8, 13, 15]
+023684_000028:[12]
+006984_000001:[1, 3, 4, 8, 12]
+000210_000003:[0, 7, 12, 15]
+003349_000009:[]
+013269_000018:[5, 7, 9, 10, 19]
+009305_000021:[]
+022837_000018:[]
+006264_000011:[]
+009348_000026:[9, 11, 12, 18, 19]
+022157_000009:[8, 16]
+009111_000000:[]
+019822_000025:[]
+006483_000030:[]
+015760_000020:[]
+010323_000035:[]
+006687_000019:[13]
+017829_000033:[]
+016273_000000:[]
+000644_000034:[18]
+023582_000028:[6, 11, 15]
+001800_000024:[]
+020833_000020:[]
+006592_000028:[]
+014212_000023:[]
+012903_000032:[]
+015781_000023:[]
+017985_000006:[]
+017609_000019:[0, 2, 12]
+013332_000035:[3, 6]
+003474_000020:[]
+004866_000014:[7, 17]
+008758_000022:[]
+010769_000021:[8]
+005733_000011:[]
+014295_000006:[2]
+011334_000026:[16]
+012176_000032:[4]
+011683_000001:[]
+008974_000026:[]
+017665_000029:[]
+004379_000002:[8]
+009741_000000:[6]
+018901_000038:[]
+006019_000015:[1]
+001560_000017:[]
+022951_000034:[]
+015355_000020:[7]
+023825_000013:[]
+004035_000000:[]
+023862_000009:[]
+004660_000029:[]
+024652_000017:[18]
+002233_000006:[7]
+014740_000016:[6, 11, 17, 19]
+000808_000018:[]
+009425_000015:[1, 6]
+007427_000022:[17]
+022692_000023:[1]
+004399_000006:[]
+004031_000033:[0]
+011365_000002:[]
+018150_000018:[7]
+017111_000019:[0, 14]
+016849_000013:[]
+011246_000008:[]
+008205_000017:[]
+007830_000037:[5]
+008610_000034:[]
+024723_000039:[]
+015332_000008:[]
+016576_000025:[0, 2, 3, 4, 5, 6, 7, 8, 12, 18]
+005761_000035:[]
+022300_000000:[]
+003197_000030:[19]
+024561_000000:[]
+001151_000020:[7, 17]
+003131_000007:[]
+021099_000007:[5, 14]
+013194_000018:[14, 19]
+002782_000015:[]
+016525_000035:[]
+009727_000013:[]
+021282_000014:[]
+024329_000019:[14]
+011817_000014:[]
+020370_000027:[2, 6, 17]
+001828_000013:[6, 16]
+024054_000016:[]
+024538_000039:[3, 7, 8, 11, 16, 19]
+001439_000028:[1, 10, 18]
+014746_000001:[6]
+001528_000017:[]
+014064_000026:[3, 5, 10]
+010177_000005:[]
+000663_000032:[]
+024456_000032:[]
+020564_000024:[6, 19]
+017725_000019:[]
+021480_000003:[]
+021822_000012:[]
+019172_000020:[6]
+019197_000000:[10, 15]
+015043_000006:[]
+016314_000016:[]
+024159_000014:[]
+006400_000038:[]
+011148_000038:[19]
+017298_000015:[0]
+024632_000015:[]
+003039_000016:[]
+017248_000036:[]
+010494_000000:[9, 14]
+000368_000017:[4]
+023603_000023:[]
+004274_000007:[]
+017770_000000:[]
+006353_000032:[]
+013492_000013:[]
+019874_000036:[]
+007117_000035:[6]
+017964_000015:[]
+013799_000011:[7]
+020781_000003:[]
+002390_000009:[]
+022890_000003:[]
+022590_000005:[]
+010672_000025:[]
+019178_000035:[1, 7, 14]
+008616_000000:[6]
+006590_000020:[]
+024375_000010:[]
+017078_000001:[]
+018758_000020:[19]
+003868_000029:[]
+016527_000035:[]
+002346_000010:[4, 11, 15, 17]
+002777_000008:[]
+000565_000033:[15]
+001851_000008:[]
+004780_000032:[]
+010146_000025:[]
+007119_000011:[]
+007455_000011:[]
+019023_000031:[]
+017070_000023:[17]
+024920_000021:[]
+014006_000009:[0, 1, 7, 10, 13, 19]
+018748_000013:[1, 5]
+005047_000030:[2, 10]
+009346_000004:[19]
+015651_000030:[7]
+011871_000003:[]
+010351_000000:[]
+021168_000036:[9]
+002088_000030:[]
+024934_000028:[11, 13, 14, 16]
+013930_000028:[5, 9, 18]
+012746_000018:[]
+020751_000032:[]
+017035_000017:[]
+010275_000029:[]
+020069_000008:[]
+023771_000037:[]
+014350_000004:[0, 13, 17, 19]
+014072_000009:[11]
+010493_000003:[1]
+011948_000032:[]
+017250_000036:[]
+018169_000006:[]
+004478_000020:[]
+003653_000025:[]
+011081_000027:[]
+017218_000023:[1, 9, 12]
+013331_000038:[]
+017135_000025:[2, 4, 17]
+012447_000017:[]
+007870_000001:[]
+015044_000005:[]
+010051_000016:[0, 2]
+015107_000002:[10]
+017902_000017:[11]
+003859_000004:[8]
+011578_000028:[]
+019706_000028:[]
+009924_000017:[14, 19]
+024136_000030:[]
+009239_000015:[]
+019212_000004:[]
+006079_000013:[9, 13]
+013551_000018:[]
+004270_000008:[]
+007396_000004:[]
+007910_000000:[7]
+007641_000030:[]
+015887_000001:[]
+023535_000002:[15]
+005834_000027:[2, 19]
+017072_000003:[]
+011782_000037:[19]
+014957_000024:[]
+009548_000029:[]
+023584_000033:[]
+016523_000036:[17]
+019043_000001:[0, 15]
+002756_000006:[1, 13]
+002735_000015:[]
+015339_000028:[]
+005422_000023:[]
+014531_000008:[]
+007650_000005:[]
+023225_000000:[]
+012827_000035:[]
+018630_000035:[]
+000998_000030:[19]
+017501_000012:[3]
+015017_000029:[]
+003572_000034:[14]
+023505_000018:[0, 5, 8, 11, 14, 15, 17, 19]
+004364_000027:[]
+012948_000032:[]
+023866_000031:[]
+019161_000005:[7]
+024100_000039:[1]
+000278_000016:[]
+020970_000003:[11]
+013883_000024:[]
+016060_000029:[0, 8, 9]
+006045_000030:[]
+018383_000035:[10]
+003288_000011:[8]
+002064_000021:[]
+010891_000013:[]
+015585_000012:[15]
+024106_000035:[2, 14, 15]
+013198_000013:[]
+010321_000018:[]
+014577_000025:[]
+017964_000038:[]
+021892_000029:[3]
+016978_000023:[1, 3, 4, 12]
+000631_000033:[]
+013295_000027:[]
+011190_000018:[]
+016183_000001:[6, 13]
+008549_000004:[]
+023942_000019:[]
+023193_000035:[]
+009806_000036:[12]
+006648_000009:[9]
+020036_000037:[]
+008968_000023:[]
+023874_000034:[]
+008073_000000:[]
+001155_000011:[]
+015279_000016:[]
+000348_000001:[]
+011654_000015:[]
+003281_000004:[]
+017785_000018:[]
+003808_000015:[15]
+008761_000035:[2, 5, 19]
+009314_000025:[]
+011466_000024:[]
+022784_000012:[]
+013741_000005:[]
+021446_000013:[]
+024987_000023:[]
+006059_000012:[]
+017420_000039:[]
+008489_000007:[18]
+016689_000015:[]
+022403_000005:[]
+001268_000013:[]
+016199_000003:[]
+018335_000027:[14]
+003549_000011:[6]
+015431_000012:[3, 15]
+009905_000020:[]
+004804_000000:[3]
+010922_000033:[]
+013382_000019:[]
+006821_000039:[]
+012134_000022:[]
+015349_000010:[13, 15]
+022111_000025:[]
+001236_000016:[]
+020465_000035:[]
+004291_000003:[19]
+007512_000011:[]
+014806_000011:[9]
+004302_000035:[5, 13]
+010961_000003:[14, 16]
+007895_000022:[0, 14]
+020921_000012:[16]
+010292_000013:[]
+004837_000031:[8]
+019284_000011:[]
+013443_000007:[]
+002361_000001:[]
+018621_000004:[]
+024278_000020:[]
+005894_000017:[]
+006360_000010:[]
+024722_000028:[]
+004155_000036:[]
+005880_000035:[]
+006874_000001:[]
+013628_000006:[0, 1, 4, 12]
+024437_000013:[7, 9, 15]
+018400_000026:[]
+006687_000039:[0, 3, 5, 12, 13, 15]
+001936_000008:[]
+018362_000036:[0, 2, 3, 7, 9, 16]
+009638_000013:[0, 2, 6, 7, 14, 19]
+003174_000028:[0, 5]
+005093_000001:[]
+015925_000006:[0, 6]
+013137_000024:[]
+008098_000012:[6, 7, 8]
+023009_000030:[]
+012101_000038:[]
+014245_000012:[1]
+000100_000003:[6]
+019475_000017:[]
+010369_000000:[]
+004627_000010:[]
+012285_000034:[]
+010572_000007:[0, 12, 14]
+018166_000015:[1, 10]
+012202_000033:[]
+007960_000021:[]
+021278_000024:[]
+010983_000033:[]
+017303_000004:[]
+009848_000016:[]
+021461_000019:[]
+023123_000032:[]
+009005_000035:[4]
+002609_000018:[1, 3]
+005870_000003:[13, 19]
+001144_000038:[]
+000242_000031:[]
+023434_000031:[10]
+022768_000033:[]
+016396_000008:[]
+014635_000003:[8, 9]
+001230_000015:[1, 5, 12]
+024683_000000:[]
+003321_000035:[]
+008642_000025:[1, 11, 12]
+000864_000024:[]
+004727_000009:[14]
+014925_000034:[]
+012723_000032:[7, 12, 14]
+023026_000016:[]
+018159_000017:[]
+010268_000012:[]
+024288_000000:[6, 19]
+010207_000036:[]
+023848_000015:[]
+011293_000032:[]
+018727_000000:[]
+006231_000012:[]
+010880_000016:[2, 5]
+004151_000007:[]
+017403_000025:[0, 3, 7, 11, 13, 19]
+004608_000036:[]
+015991_000035:[]
+010373_000005:[]
+003027_000038:[]
+022760_000029:[]
+019743_000029:[]
+013183_000003:[]
+018145_000019:[2, 9, 10, 11, 15]
+015418_000039:[]
+003381_000000:[]
+024532_000010:[]
+006217_000024:[]
+002120_000032:[]
+018060_000013:[]
+009511_000035:[7, 10]
+021320_000024:[1, 2, 5, 10, 15, 16]
+017068_000026:[]
+005054_000029:[]
+000827_000022:[]
+010861_000030:[]
+024663_000026:[5]
+024808_000004:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000033_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000033_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..acb3f4c311fba6e5028bddf8676f6f11842d44fc
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000033_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+011553_000002:[]
+021715_000030:[]
+018255_000028:[5, 12, 13]
+022924_000012:[]
+001666_000022:[12]
+015123_000034:[16]
+020867_000029:[]
+012719_000023:[]
+009883_000034:[2]
+002360_000015:[9, 14]
+000616_000016:[]
+023976_000016:[3, 6, 14]
+022701_000009:[1]
+011065_000015:[18]
+006028_000026:[12]
+017461_000021:[1]
+004406_000034:[]
+002225_000020:[]
+003759_000039:[3]
+007691_000000:[]
+009495_000032:[15]
+017024_000008:[]
+012843_000010:[5, 15]
+021648_000001:[]
+000292_000012:[16, 19]
+008666_000035:[]
+022861_000010:[6, 8, 14, 17]
+013242_000002:[]
+024859_000020:[]
+019892_000034:[]
+000287_000009:[]
+022122_000001:[]
+016864_000022:[]
+021308_000028:[5, 8, 9]
+024703_000009:[]
+000034_000016:[]
+023310_000009:[]
+007433_000009:[9, 18]
+003467_000020:[]
+013364_000011:[]
+003972_000002:[15]
+009435_000003:[6, 16]
+016854_000003:[5]
+011318_000016:[2]
+018290_000017:[]
+005652_000023:[]
+007739_000020:[18]
+022947_000015:[]
+006548_000033:[]
+004856_000015:[]
+013489_000003:[]
+007941_000037:[]
+016508_000014:[6, 10, 17, 18]
+019036_000028:[]
+013943_000029:[3, 4, 10, 11, 13, 17]
+004018_000006:[]
+009237_000000:[]
+007483_000027:[]
+022772_000007:[7, 16]
+022425_000032:[]
+020521_000029:[11]
+001117_000000:[]
+005024_000028:[]
+022744_000019:[]
+014559_000009:[]
+004511_000017:[9]
+007015_000038:[]
+018614_000014:[]
+021721_000032:[]
+024167_000020:[6, 15]
+022289_000019:[4, 7, 13, 14]
+017699_000029:[]
+006140_000002:[12, 15]
+013557_000008:[]
+004821_000032:[3]
+012480_000037:[3, 15]
+009767_000018:[]
+017938_000039:[]
+014682_000025:[10]
+024345_000012:[]
+010234_000000:[3]
+016265_000031:[5]
+016129_000011:[]
+003274_000014:[10]
+006023_000027:[]
+010877_000015:[]
+018291_000003:[15]
+015182_000034:[]
+023916_000016:[]
+007494_000014:[]
+004276_000017:[7, 13]
+023321_000019:[16]
+001321_000004:[1, 2, 3, 16, 18]
+013884_000019:[]
+002703_000026:[6]
+016160_000017:[]
+018321_000037:[2]
+011269_000020:[7]
+021289_000019:[7, 13]
+002631_000018:[]
+002241_000025:[5, 14]
+000275_000039:[]
+020037_000007:[]
+003877_000000:[]
+009111_000024:[10]
+022219_000013:[]
+003723_000024:[]
+016572_000037:[2]
+010165_000002:[5, 6]
+019298_000019:[]
+008980_000015:[]
+016064_000035:[]
+015657_000034:[15]
+013967_000030:[]
+023962_000011:[]
+011996_000029:[]
+011940_000029:[]
+023396_000025:[0, 11, 12]
+017101_000004:[0, 3, 10, 13]
+005692_000030:[]
+002127_000014:[2, 7]
+006633_000023:[18]
+010648_000011:[19]
+024150_000036:[2]
+000549_000012:[]
+024763_000011:[]
+000664_000003:[]
+009256_000032:[12]
+005717_000031:[]
+003313_000009:[]
+012043_000021:[]
+022921_000023:[1, 7, 16, 18, 19]
+006315_000018:[0, 16, 17, 18]
+021779_000039:[0, 1, 2, 5, 6, 7, 9, 14, 17, 18]
+007025_000011:[]
+005855_000031:[]
+021408_000025:[9]
+018999_000021:[]
+023488_000034:[]
+008063_000035:[]
+012932_000027:[]
+005338_000004:[]
+011503_000004:[]
+009901_000027:[]
+022405_000021:[3]
+011519_000012:[]
+015047_000003:[]
+020436_000026:[2, 11]
+022108_000023:[10, 15]
+015027_000000:[]
+022723_000021:[]
+005417_000034:[14]
+000390_000023:[]
+017787_000008:[]
+000613_000010:[]
+011506_000014:[0, 9, 16]
+006148_000032:[]
+003921_000038:[0]
+023870_000031:[]
+000691_000025:[]
+001344_000005:[6]
+022986_000011:[0, 3]
+023480_000003:[16]
+001640_000034:[]
+023033_000011:[3, 11]
+009982_000034:[]
+017558_000017:[17]
+003939_000013:[]
+015214_000004:[6]
+017112_000013:[]
+004867_000001:[5, 7, 8, 19]
+008543_000012:[]
+000227_000015:[]
+024058_000021:[]
+017558_000008:[5, 16]
+024750_000023:[]
+003726_000002:[]
+014693_000012:[]
+020923_000024:[]
+021621_000005:[]
+013946_000024:[]
+007611_000003:[10]
+005168_000029:[]
+001406_000027:[]
+007993_000028:[]
+024114_000024:[]
+013833_000009:[]
+000879_000026:[4]
+019539_000001:[]
+006636_000023:[]
+001403_000030:[]
+007673_000020:[]
+015442_000038:[]
+002335_000034:[]
+018839_000006:[8]
+011197_000012:[]
+005064_000020:[]
+014457_000033:[]
+009454_000030:[]
+021238_000010:[]
+003001_000029:[]
+024501_000007:[5, 14]
+008198_000025:[14]
+017076_000021:[]
+002177_000018:[8]
+007151_000003:[]
+017658_000035:[]
+007428_000020:[]
+008627_000017:[10]
+002305_000018:[]
+000910_000015:[3, 6, 7, 8]
+012540_000036:[]
+011035_000029:[]
+010618_000001:[]
+019753_000030:[3, 15]
+008979_000009:[]
+002041_000015:[]
+022549_000030:[8, 11]
+006308_000002:[]
+024204_000015:[]
+020236_000002:[10, 15]
+012437_000020:[]
+024293_000016:[]
+007343_000029:[3, 17]
+011041_000030:[0]
+004596_000020:[]
+019043_000002:[15]
+023328_000014:[]
+022622_000020:[15]
+012491_000008:[7]
+021678_000029:[]
+007091_000022:[]
+007713_000039:[0, 4, 8, 9]
+015238_000005:[]
+010029_000019:[2, 6]
+004522_000027:[]
+002511_000017:[]
+011628_000031:[]
+006990_000029:[7]
+004760_000008:[]
+013490_000029:[]
+004452_000031:[6, 14, 15]
+019682_000000:[]
+021290_000037:[]
+022221_000013:[10]
+024280_000005:[0]
+007282_000023:[]
+023192_000004:[1, 7, 15, 19]
+010111_000028:[]
+011798_000015:[]
+008851_000020:[16]
+009769_000002:[2, 11, 13, 18, 19]
+009286_000006:[]
+016109_000006:[]
+004847_000023:[]
+017801_000018:[]
+000830_000000:[]
+003560_000022:[19]
+006113_000026:[]
+005812_000019:[]
+022726_000022:[]
+001614_000017:[0, 2, 15, 16, 18]
+023407_000005:[]
+012047_000028:[]
+012118_000010:[1, 4, 12]
+018844_000011:[6, 10]
+007825_000018:[7]
+004567_000033:[5, 15]
+009595_000002:[12]
+018530_000034:[]
+020715_000039:[]
+000264_000035:[2]
+001343_000005:[]
+005362_000037:[0, 2, 10, 13, 14]
+009979_000021:[14]
+021314_000023:[]
+010338_000033:[]
+006134_000008:[7, 17]
+014736_000009:[]
+005596_000024:[]
+015245_000019:[]
+003292_000038:[]
+010546_000031:[0]
+018683_000038:[3]
+024258_000024:[]
+012228_000025:[]
+006575_000021:[16]
+024361_000031:[12]
+000269_000002:[2]
+006612_000002:[]
+000331_000034:[]
+002908_000026:[0]
+018940_000008:[]
+007720_000017:[]
+010769_000016:[]
+011546_000007:[]
+001848_000013:[3]
+022833_000004:[]
+024791_000001:[]
+021316_000030:[8]
+024736_000017:[]
+019191_000008:[]
+020292_000036:[]
+007467_000007:[0, 6, 11, 12, 13, 16, 18, 19]
+023146_000002:[]
+017912_000014:[]
+014410_000033:[]
+024230_000036:[2, 4]
+001550_000008:[]
+013189_000028:[]
+022515_000021:[6]
+011809_000001:[4, 6, 8]
+009087_000007:[0, 2, 8]
+021984_000034:[2, 7, 9, 14, 15, 17, 19]
+013064_000003:[5, 18, 19]
+016678_000011:[]
+012417_000035:[10]
+008340_000005:[6]
+015231_000028:[]
+003950_000035:[]
+005469_000023:[11]
+004987_000014:[18]
+024427_000002:[8, 19]
+014277_000010:[3]
+002719_000013:[12]
+023861_000029:[]
+018735_000021:[]
+002043_000013:[0]
+022120_000006:[0]
+011912_000017:[]
+019115_000013:[]
+023070_000030:[8, 19]
+019191_000018:[11]
+001162_000020:[3]
+024239_000024:[1, 5]
+010264_000037:[]
+018524_000036:[3, 12]
+008988_000002:[]
+018357_000000:[0, 5, 13, 17, 19]
+003156_000033:[]
+020484_000016:[]
+007292_000000:[]
+013190_000008:[2]
+016669_000038:[]
+016601_000032:[]
+014872_000005:[]
+008107_000020:[16]
+002684_000013:[]
+013352_000014:[4]
+012311_000021:[9]
+022198_000012:[0, 9, 15]
+010470_000012:[]
+014701_000035:[3, 6, 14]
+023061_000026:[]
+008363_000006:[]
+003411_000027:[]
+003776_000013:[]
+022812_000001:[]
+005727_000016:[17]
+012022_000017:[]
+017936_000022:[14, 19]
+015063_000025:[]
+023680_000014:[]
+000480_000034:[2, 7, 18]
+021997_000002:[]
+021910_000036:[]
+000150_000033:[5, 7]
+002329_000035:[0]
+012009_000027:[]
+024636_000018:[19]
+012277_000037:[]
+006587_000029:[0, 1, 2, 3, 15, 17, 18]
+014493_000025:[]
+011554_000018:[3, 14, 15]
+014892_000033:[]
+007943_000033:[]
+007802_000023:[8]
+018981_000014:[19]
+020078_000003:[]
+003069_000017:[]
+014522_000016:[]
+018730_000019:[2]
+013835_000011:[16, 17]
+001446_000030:[2, 16]
+018625_000002:[]
+011533_000029:[9]
+004582_000014:[0, 4, 6]
+010677_000018:[]
+001259_000013:[2]
+014127_000027:[]
+008769_000014:[4, 6, 9, 10]
+017060_000017:[]
+002992_000006:[]
+004511_000035:[]
+016664_000032:[]
+003030_000003:[2, 4, 6, 12]
+016757_000029:[]
+022003_000008:[]
+013985_000028:[2, 6]
+014767_000014:[8, 13]
+013541_000012:[9]
+023810_000019:[1, 4, 5, 6, 7, 12, 19]
+005563_000016:[]
+012915_000005:[]
+012294_000001:[1, 7, 18]
+007559_000008:[]
+017599_000017:[17]
+021434_000034:[]
+014197_000007:[6]
+004452_000034:[]
+001111_000037:[]
+013375_000031:[8, 19]
+005583_000026:[]
+013175_000036:[]
+010222_000034:[0, 13, 19]
+004002_000016:[]
+010276_000035:[]
+013039_000001:[1, 10]
+008299_000000:[6, 7, 13]
+004760_000012:[]
+014540_000020:[11, 12]
+019735_000020:[]
+010722_000021:[]
+011291_000011:[]
+019511_000019:[]
+011184_000015:[14]
+012354_000026:[]
+003725_000039:[1]
+014419_000012:[9]
+009402_000010:[10, 16]
+022086_000021:[]
+006824_000006:[2]
+016729_000037:[]
+019214_000038:[5, 12, 14, 19]
+009654_000037:[]
+013408_000000:[]
+004726_000004:[3, 6]
+004571_000030:[]
+024598_000019:[]
+011206_000030:[2, 18]
+012499_000009:[]
+024692_000029:[7]
+021526_000006:[1, 9, 18]
+013384_000010:[]
+002695_000005:[]
+013251_000017:[]
+019156_000006:[]
+007363_000008:[]
+024318_000024:[]
+021887_000037:[3]
+021304_000021:[5, 11]
+013557_000000:[3]
+010017_000038:[]
+009120_000031:[4, 10, 18]
+010299_000037:[7]
+008711_000024:[]
+002199_000003:[]
+010717_000015:[18]
+005094_000012:[3, 5]
+011208_000035:[]
+002559_000033:[10]
+023944_000016:[]
+011747_000004:[2]
+011050_000012:[]
+008469_000001:[]
+024157_000023:[]
+018284_000020:[]
+015806_000013:[0, 8, 11, 17, 19]
+016632_000029:[5]
+018777_000032:[]
+010368_000007:[7]
+017686_000032:[4, 5, 7, 19]
+024548_000004:[]
+002868_000012:[]
+000616_000037:[]
+008881_000012:[]
+011993_000002:[]
+005983_000012:[18]
+015697_000015:[]
+000807_000032:[]
+018969_000035:[5, 14, 16, 17]
+015631_000000:[9, 10]
+006937_000010:[3, 18]
+000988_000038:[8]
+012455_000017:[8]
+019132_000025:[5, 11]
+005252_000004:[]
+018431_000004:[3, 4, 10, 17]
+017230_000032:[]
+010345_000006:[]
+017272_000039:[]
+004760_000038:[]
+015481_000031:[3, 8, 14, 19]
+007098_000038:[18]
+005337_000018:[]
+021318_000020:[]
+023611_000006:[]
+019348_000039:[]
+023248_000006:[]
+021133_000011:[]
+018518_000002:[]
+003419_000024:[3]
+011933_000025:[13]
+011944_000039:[]
+014849_000001:[]
+004085_000000:[0, 8]
+012091_000024:[]
+009849_000030:[19]
+016351_000019:[]
+000546_000004:[]
+012321_000000:[3, 9, 15]
+019190_000018:[]
+001476_000018:[]
+024306_000001:[13]
+023345_000024:[]
+001958_000002:[8]
+007008_000007:[]
+010021_000027:[]
+014571_000027:[]
+014128_000001:[2, 13]
+023599_000014:[12, 18]
+003134_000021:[]
+014500_000012:[]
+005064_000004:[13]
+018706_000033:[]
+005417_000020:[8]
+021017_000029:[3]
+008867_000002:[]
+021575_000021:[]
+024329_000032:[]
+019988_000033:[0, 1]
+009185_000014:[]
+001688_000026:[4, 5, 10, 12, 16]
+012272_000023:[]
+012315_000034:[18]
+000302_000003:[3, 4, 10, 12, 14]
+002340_000001:[]
+010579_000016:[2, 4, 8]
+009645_000031:[0, 13]
+010150_000011:[6, 10, 18]
+014340_000003:[0, 1]
+000302_000029:[1, 3, 13]
+015011_000029:[]
+022215_000022:[]
+017274_000018:[2, 5, 15]
+024517_000000:[]
+010023_000010:[]
+003533_000028:[16]
+002369_000020:[]
+013663_000029:[9]
+023663_000035:[8]
+023294_000036:[]
+012747_000020:[]
+002945_000036:[12]
+008102_000019:[]
+017379_000034:[]
+019054_000005:[]
+024548_000022:[7]
+023870_000032:[]
+002477_000032:[14]
+014871_000004:[]
+023215_000010:[]
+006313_000034:[]
+005044_000017:[]
+005151_000038:[]
+010044_000004:[4, 13, 14, 16]
+017305_000008:[]
+000943_000001:[]
+010195_000035:[2, 7, 13]
+011127_000005:[3]
+019325_000022:[0]
+009892_000034:[]
+004316_000007:[10, 18]
+008238_000021:[]
+000896_000039:[]
+005566_000028:[]
+007715_000012:[]
+010789_000021:[]
+017652_000011:[]
+000460_000012:[2, 7]
+017407_000018:[]
+022589_000024:[1, 3, 9, 10, 13, 15]
+013373_000030:[]
+000798_000034:[18]
+020833_000034:[14]
+017142_000016:[]
+003121_000029:[]
+004853_000035:[0, 9, 19]
+004180_000038:[]
+005518_000034:[]
+008969_000024:[]
+004823_000007:[]
+015903_000034:[2]
+014397_000004:[]
+003696_000010:[]
+014205_000015:[]
+022562_000021:[]
+023701_000012:[]
+014669_000038:[]
+015145_000034:[12]
+004845_000039:[]
+016637_000015:[]
+019832_000039:[]
+015511_000031:[7, 14]
+014403_000023:[]
+012265_000017:[0, 9]
+019467_000003:[8]
+010466_000035:[]
+010904_000030:[]
+015475_000024:[]
+021473_000029:[]
+008556_000002:[]
+018624_000034:[]
+023611_000026:[1]
+004771_000010:[]
+002734_000035:[]
+016119_000035:[]
+000333_000018:[]
+002839_000018:[]
+009349_000024:[]
+005547_000000:[]
+018673_000030:[17]
+003888_000036:[17]
+015857_000003:[5, 6, 7, 14]
+003844_000021:[]
+023264_000038:[]
+001252_000010:[13]
+020711_000010:[]
+019528_000022:[]
+000326_000027:[]
+011754_000012:[]
+024870_000006:[]
+022186_000014:[]
+001941_000016:[11]
+015840_000000:[]
+020896_000007:[10]
+023430_000002:[]
+000682_000004:[4]
+019490_000000:[]
+003061_000039:[0, 6]
+003423_000001:[5]
+013677_000011:[0, 2]
+014610_000002:[0, 11]
+022591_000006:[2, 12]
+014918_000018:[2, 12]
+014989_000035:[]
+008274_000021:[]
+020090_000038:[]
+022486_000001:[4]
+021527_000010:[6]
+013874_000005:[12]
+002620_000008:[]
+018444_000024:[]
+021104_000000:[14]
+002724_000035:[5]
+005634_000008:[]
+010122_000017:[]
+010748_000039:[]
+010070_000026:[]
+019151_000035:[]
+008820_000022:[1, 7, 8, 13, 15]
+007326_000005:[]
+024601_000013:[]
+022627_000023:[1, 8]
+003650_000018:[]
+005920_000038:[]
+007197_000033:[19]
+010541_000034:[]
+020372_000039:[12, 17]
+009118_000033:[]
+019175_000014:[]
+014180_000029:[0, 2, 4, 9, 10, 12, 13, 16]
+013797_000002:[]
+006442_000021:[]
+024918_000031:[2, 5, 6, 7]
+019754_000038:[]
+004386_000028:[19]
+011303_000028:[]
+018288_000034:[]
+016154_000008:[7]
+004781_000034:[2]
+020200_000004:[]
+005542_000017:[0]
+010740_000014:[]
+007540_000032:[]
+004930_000006:[19]
+021265_000013:[5, 17]
+006183_000023:[]
+000125_000025:[]
+011167_000029:[]
+007487_000018:[12]
+013143_000000:[]
+002065_000031:[]
+009992_000014:[7]
+022969_000006:[]
+023534_000003:[]
+011285_000023:[]
+009195_000032:[]
+003836_000004:[3, 18]
+011985_000034:[18]
+005588_000023:[7, 8]
+010181_000025:[13]
+014072_000019:[]
+012543_000037:[]
+002976_000015:[]
+019953_000036:[]
+006462_000031:[]
+020320_000034:[]
+017667_000022:[]
+024981_000016:[8]
+009113_000031:[]
+016796_000038:[]
+016461_000037:[1, 3]
+018052_000004:[3, 7, 17]
+008073_000013:[]
+008431_000001:[0]
+021451_000030:[]
+009573_000009:[0, 2, 9, 13, 19]
+010398_000031:[]
+002231_000010:[3]
+005225_000013:[]
+021353_000024:[]
+006686_000028:[]
+012200_000018:[17]
+008908_000032:[]
+015538_000009:[]
+022680_000018:[]
+004005_000023:[9, 17]
+006992_000013:[4, 7, 14]
+019548_000029:[]
+023941_000017:[]
+018286_000005:[]
+011228_000005:[13, 14, 16]
+022768_000019:[1]
+022624_000031:[8, 19]
+020145_000018:[7]
+007753_000001:[14]
+010474_000026:[]
+020815_000013:[]
+010470_000026:[]
+022372_000034:[]
+023143_000005:[]
+002242_000025:[]
+001944_000011:[]
+003205_000015:[9, 10, 16]
+003689_000037:[]
+013710_000037:[]
+021615_000027:[]
+000719_000008:[7, 13]
+019419_000035:[]
+013605_000030:[]
+009424_000029:[]
+012780_000026:[]
+013345_000007:[16]
+012873_000015:[]
+015060_000022:[16]
+014519_000018:[1]
+017995_000014:[]
+012118_000008:[1, 12]
+018151_000019:[]
+002782_000030:[]
+006426_000036:[]
+014708_000030:[8, 15]
+008476_000022:[]
+018943_000007:[14]
+004994_000024:[]
+001296_000005:[]
+002872_000005:[4]
+018522_000005:[]
+011595_000020:[]
+024121_000019:[18]
+004613_000004:[]
+006194_000001:[12]
+004436_000013:[]
+011619_000006:[1, 6]
+001593_000012:[]
+009412_000029:[]
+019434_000000:[]
+012141_000027:[]
+004313_000032:[8, 11]
+023599_000023:[0]
+015570_000036:[]
+006869_000026:[]
+011185_000020:[]
+008994_000038:[]
+003833_000038:[]
+008055_000022:[]
+023558_000013:[]
+016975_000007:[12, 14, 19]
+011311_000029:[]
+009466_000039:[]
+023448_000021:[17]
+017374_000016:[]
+014387_000027:[]
+005007_000019:[]
+015494_000029:[]
+019624_000024:[]
+024494_000007:[6, 19]
+004706_000002:[]
+004102_000010:[]
+003239_000037:[]
+001067_000031:[]
+012989_000027:[]
+023426_000030:[]
+019948_000004:[]
+008573_000025:[]
+004264_000027:[9, 18]
+022100_000009:[2, 6, 9]
+021186_000019:[14, 18]
+022718_000001:[10]
+006628_000037:[]
+011886_000005:[10]
+011350_000023:[]
+011448_000009:[0, 4, 7, 8, 10]
+010676_000008:[]
+022812_000038:[]
+003730_000036:[6, 7, 15, 19]
+020146_000018:[0, 15]
+000129_000015:[]
+018397_000022:[14]
+001527_000033:[5]
+007443_000027:[15]
+009188_000002:[]
+002396_000011:[]
+024689_000023:[]
+012814_000027:[]
+003987_000007:[1]
+024615_000028:[]
+015521_000031:[]
+001569_000001:[]
+008402_000011:[]
+004089_000016:[]
+015332_000023:[]
+007267_000038:[]
+011856_000026:[7]
+006154_000017:[]
+007055_000027:[]
+005166_000026:[15]
+006761_000038:[]
+018689_000030:[3]
+014532_000039:[3, 9, 12, 14, 16, 19]
+020868_000026:[2, 14]
+019937_000037:[]
+001955_000032:[4]
+013317_000017:[0, 17]
+019979_000007:[]
+024397_000007:[10]
+019162_000036:[18]
+001480_000034:[]
+002056_000039:[]
+000458_000011:[]
+001174_000001:[1, 16, 17]
+006122_000026:[]
+018018_000020:[]
+011952_000029:[8]
+007968_000016:[14]
+013842_000016:[]
+002607_000011:[5]
+010367_000035:[16]
+023193_000028:[]
+023575_000029:[2, 3, 18]
+019913_000018:[]
+022535_000025:[7]
+011462_000013:[]
+016160_000002:[]
+001638_000012:[0, 9]
+008538_000027:[]
+000577_000026:[]
+017921_000005:[]
+000420_000005:[15, 19]
+003511_000018:[1, 3]
+021827_000037:[0]
+021129_000008:[]
+011480_000015:[5, 16]
+005301_000018:[7, 12]
+020682_000016:[]
+014371_000010:[]
+023512_000023:[]
+011957_000037:[]
+022409_000033:[1]
+000124_000012:[]
+022740_000035:[]
+011789_000020:[]
+004543_000030:[]
+019715_000036:[]
+019084_000036:[]
+022115_000017:[0, 2, 4, 6, 7, 10, 14, 16]
+008755_000015:[19]
+013419_000005:[]
+003345_000032:[8]
+006989_000019:[]
+005490_000024:[13]
+011382_000002:[]
+006808_000032:[]
+019220_000023:[1]
+006622_000002:[]
+012809_000018:[]
+014762_000031:[1]
+004299_000012:[]
+018688_000022:[]
+009997_000006:[]
+013760_000028:[]
+018523_000003:[]
+021792_000033:[]
+020499_000009:[]
+004582_000024:[0]
+002162_000018:[5]
+008762_000014:[]
+007252_000019:[]
+004003_000033:[]
+010382_000018:[]
+023708_000000:[]
+022226_000013:[]
+020298_000038:[]
+017499_000008:[0]
+012435_000009:[]
+021402_000028:[]
+013905_000026:[]
+024052_000011:[12]
+018556_000009:[]
+022663_000039:[12]
+001364_000012:[]
+006445_000014:[]
+023775_000015:[]
+009055_000036:[]
+022255_000039:[]
+003559_000006:[]
+018786_000026:[]
+014638_000033:[]
+012800_000009:[]
+005220_000003:[1, 3, 9, 11]
+020940_000016:[]
+022100_000028:[]
+019494_000010:[]
+012613_000007:[]
+018510_000035:[3, 10, 12, 13]
+012123_000034:[10]
+003200_000032:[]
+022291_000038:[]
+002269_000027:[]
+009812_000027:[12]
+016296_000029:[]
+013466_000013:[3]
+021666_000008:[]
+019507_000017:[9]
+011885_000035:[]
+023752_000016:[16]
+019082_000019:[]
+003705_000036:[3, 17]
+024476_000039:[2, 3, 4]
+010825_000017:[10]
+019961_000025:[]
+011414_000034:[8]
+023953_000039:[]
+022200_000027:[1, 19]
+007886_000020:[16]
+007420_000009:[1]
+021372_000035:[]
+024653_000022:[13]
+015723_000014:[8]
+000648_000012:[8, 16, 17, 18, 19]
+022809_000038:[5, 18, 19]
+017851_000030:[]
+020905_000006:[]
+010411_000018:[7, 11, 15]
+000804_000016:[12, 17]
+001913_000025:[4, 5, 14, 19]
+005931_000012:[]
+005259_000029:[]
+019946_000001:[]
+024158_000009:[1, 3, 7, 11, 16, 18]
+017808_000018:[4, 10, 18]
+021126_000037:[4, 12]
+004905_000002:[0, 3]
+002109_000023:[16, 18]
+010963_000016:[9, 13]
+004060_000017:[0, 1, 3, 7, 19]
+016331_000011:[5, 12]
+015410_000002:[7, 9, 11, 19]
+014532_000026:[3, 9, 12, 19]
+014959_000036:[10]
+001925_000011:[]
+023142_000033:[]
+023518_000008:[]
+001122_000015:[]
+003980_000015:[3, 4, 7]
+001865_000035:[]
+017621_000027:[5, 7, 14]
+013659_000033:[1, 5, 17, 19]
+005485_000004:[]
+003962_000007:[1, 4, 7, 10, 14, 18]
+019644_000021:[]
+006250_000002:[]
+022978_000030:[2, 12, 14]
+015396_000018:[]
+002360_000016:[0, 3, 4, 13]
+006637_000009:[]
+014284_000007:[4, 8, 13, 14, 15, 17]
+018749_000038:[]
+007506_000018:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000042_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000042_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e554b5bb587c87004c0b7c0367eebb21fb1dd5c6
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000042_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+009796_000009:[]
+021792_000032:[]
+021827_000001:[7]
+002235_000027:[]
+008834_000013:[]
+017273_000019:[8]
+002535_000029:[13]
+017434_000001:[]
+007484_000005:[0, 7]
+009874_000025:[0, 1]
+010956_000009:[]
+011776_000013:[]
+001763_000008:[8, 13, 14, 17]
+013134_000001:[4]
+008471_000031:[2, 3, 10, 18]
+013878_000020:[10]
+004706_000023:[4, 6, 10]
+006495_000003:[2]
+016984_000003:[]
+004239_000030:[2]
+018301_000018:[]
+005438_000019:[]
+011547_000030:[]
+006884_000009:[9, 12]
+001548_000002:[]
+017257_000013:[]
+009946_000025:[4, 14]
+002537_000025:[]
+006029_000001:[1, 16]
+018949_000022:[]
+017512_000025:[1]
+003777_000026:[]
+024739_000015:[]
+013683_000007:[0]
+021274_000030:[11]
+007130_000008:[16]
+003687_000039:[]
+017322_000033:[0]
+004715_000031:[5, 11]
+005133_000015:[7, 12]
+017849_000002:[]
+011869_000012:[1]
+005976_000024:[5, 10]
+024398_000022:[1, 2, 4, 14]
+020241_000001:[2]
+017340_000027:[]
+020336_000008:[]
+002335_000029:[]
+013696_000013:[0, 10]
+021372_000010:[]
+010586_000014:[5, 12]
+019502_000007:[12]
+018835_000021:[]
+010832_000012:[]
+014256_000009:[]
+018451_000015:[]
+001796_000015:[]
+017527_000038:[15]
+009977_000002:[]
+022530_000026:[]
+024225_000000:[1, 6]
+023989_000011:[7, 18]
+010994_000022:[15]
+023968_000029:[]
+012333_000030:[]
+013217_000016:[]
+023733_000039:[]
+003516_000028:[]
+001801_000035:[]
+020364_000008:[14]
+017079_000019:[]
+001057_000016:[]
+003588_000018:[19]
+012564_000018:[]
+004922_000031:[]
+013881_000038:[8]
+011389_000007:[19]
+010246_000010:[]
+010872_000039:[1]
+020722_000005:[]
+007546_000034:[10, 19]
+013082_000014:[]
+007838_000014:[17]
+011964_000004:[15]
+011584_000033:[7, 12]
+014634_000011:[14, 16, 17, 19]
+009787_000028:[5, 17, 18]
+021509_000010:[]
+009188_000035:[]
+006902_000001:[5]
+016015_000033:[]
+008277_000025:[]
+004073_000026:[0, 14]
+010676_000005:[]
+008072_000030:[1, 18]
+020063_000036:[1, 8]
+017044_000011:[]
+005748_000037:[]
+013645_000026:[10, 11]
+003427_000010:[]
+000337_000014:[9, 15]
+000760_000032:[]
+017591_000019:[]
+013778_000034:[7]
+000915_000005:[]
+000861_000039:[]
+011935_000022:[3, 4, 6, 7]
+024970_000028:[]
+013838_000012:[4, 8, 9, 10, 12]
+024515_000012:[]
+007752_000016:[]
+006313_000019:[9]
+004930_000031:[]
+018583_000018:[]
+004058_000028:[11, 12, 15, 16, 18]
+020219_000018:[]
+019071_000005:[]
+021767_000011:[5, 12]
+017939_000029:[12]
+016243_000019:[]
+002664_000014:[5]
+016950_000014:[14]
+003992_000009:[]
+011295_000000:[]
+000288_000014:[]
+012266_000014:[]
+011113_000005:[6, 19]
+020597_000014:[]
+023777_000034:[10]
+001427_000015:[]
+016365_000034:[]
+004493_000023:[]
+002859_000024:[]
+002112_000019:[]
+018534_000035:[]
+020012_000012:[8]
+012924_000000:[19]
+023409_000005:[4]
+002256_000033:[]
+004391_000028:[]
+018795_000027:[]
+008478_000021:[]
+019710_000024:[18]
+019017_000025:[]
+011706_000021:[1]
+011828_000005:[11]
+018525_000011:[]
+001083_000025:[7]
+004751_000017:[]
+015226_000035:[19]
+009460_000002:[16]
+020316_000038:[]
+013910_000015:[7, 15]
+023386_000019:[]
+016597_000038:[]
+016062_000039:[]
+004358_000003:[]
+007163_000027:[17]
+015293_000000:[]
+002574_000000:[]
+019050_000031:[0]
+013004_000025:[5]
+012500_000003:[4, 11]
+021642_000008:[]
+005117_000036:[]
+002934_000032:[]
+018828_000017:[]
+008919_000001:[13, 15, 17]
+023552_000026:[]
+007468_000019:[]
+003680_000021:[]
+024860_000030:[1, 17]
+021289_000017:[7, 13]
+005378_000030:[]
+009633_000027:[]
+004419_000016:[]
+020120_000034:[]
+007304_000036:[]
+019572_000001:[]
+005819_000037:[]
+006870_000025:[7, 19]
+024919_000026:[]
+014785_000014:[]
+016566_000035:[]
+008412_000014:[]
+016029_000000:[]
+014729_000027:[]
+010365_000000:[10]
+015147_000034:[]
+001665_000008:[1]
+014686_000010:[]
+002684_000024:[]
+005289_000025:[]
+017646_000006:[18]
+010836_000014:[2, 12, 18]
+011616_000023:[]
+000814_000037:[1, 2, 3, 4, 7, 10, 11, 14, 15]
+024850_000006:[12, 14]
+013993_000008:[1, 9, 10, 15, 19]
+020149_000025:[]
+011667_000023:[2, 17]
+005179_000005:[0, 11]
+023520_000005:[]
+012057_000037:[1, 2, 3, 4, 6, 8, 12]
+016961_000017:[]
+011258_000035:[3, 15]
+021802_000039:[12, 13]
+021708_000027:[]
+004847_000036:[]
+017648_000004:[]
+011851_000017:[]
+008648_000020:[]
+017510_000004:[]
+016114_000000:[]
+001151_000004:[]
+022627_000037:[]
+021453_000038:[]
+011803_000033:[13]
+009453_000007:[4, 16]
+009366_000030:[3, 5]
+008367_000005:[18]
+011999_000010:[2, 12, 13, 16]
+013024_000026:[]
+021558_000012:[]
+012758_000035:[6, 16]
+017765_000019:[]
+020166_000006:[]
+017727_000035:[1, 2, 5, 6, 9, 16, 18]
+022390_000019:[]
+012796_000024:[]
+023236_000009:[0]
+014289_000039:[]
+024855_000023:[2, 8]
+013283_000012:[5, 8]
+020286_000030:[3, 8]
+019168_000011:[]
+021301_000000:[]
+009502_000023:[]
+006351_000000:[]
+006212_000018:[]
+001324_000027:[0, 18]
+024222_000024:[]
+013039_000011:[]
+002378_000001:[]
+001453_000039:[]
+017663_000030:[]
+004263_000017:[]
+001171_000008:[5, 17]
+021448_000011:[]
+015097_000038:[]
+019415_000026:[]
+001930_000019:[]
+016905_000003:[6, 7, 12, 15]
+017230_000004:[]
+019670_000022:[]
+012054_000032:[]
+004799_000009:[11, 13, 18]
+021042_000007:[13]
+011186_000006:[]
+008256_000032:[8]
+006071_000039:[]
+011645_000033:[17]
+012161_000035:[]
+002583_000024:[12]
+016882_000030:[13]
+022918_000011:[15, 18]
+006558_000013:[6]
+010200_000025:[0, 1, 3, 4, 5, 12, 19]
+005231_000001:[2, 9, 10, 19]
+011188_000006:[7]
+023543_000002:[]
+024665_000006:[8, 15]
+021326_000018:[10]
+021685_000009:[]
+006082_000019:[]
+005883_000005:[15]
+005729_000025:[0, 5, 17, 19]
+004001_000003:[]
+016287_000023:[]
+003044_000006:[]
+007048_000009:[7, 12, 17]
+013376_000028:[9]
+022520_000024:[16]
+013562_000034:[11]
+003244_000013:[14]
+021950_000029:[]
+005016_000009:[17, 19]
+004876_000000:[]
+015515_000023:[]
+010429_000036:[]
+006881_000007:[]
+010357_000004:[8]
+020032_000005:[5, 6, 12, 15, 19]
+001096_000016:[]
+006667_000003:[]
+024585_000034:[]
+014137_000010:[0]
+001448_000014:[1, 2, 4, 15, 16, 19]
+017691_000015:[14]
+009134_000023:[]
+018615_000037:[]
+000250_000031:[9]
+024262_000011:[3]
+012561_000021:[]
+024893_000001:[5]
+003086_000030:[]
+019610_000024:[19]
+000328_000004:[]
+018186_000031:[3]
+000924_000026:[]
+015483_000002:[5, 11, 14, 18]
+009147_000036:[1, 13]
+012505_000032:[4, 10, 14, 19]
+024820_000033:[3, 12, 18]
+020940_000007:[]
+001596_000013:[11]
+005026_000014:[]
+021192_000025:[]
+013939_000018:[]
+003284_000007:[0, 2]
+020901_000016:[]
+018076_000006:[]
+003592_000029:[2, 4, 5, 8, 9, 12, 14, 16]
+006006_000035:[]
+017616_000010:[]
+011930_000020:[]
+013203_000015:[]
+024513_000015:[]
+000913_000035:[16]
+011846_000008:[7, 8]
+023022_000031:[]
+012526_000007:[17]
+019224_000011:[13]
+012315_000033:[]
+023293_000017:[0, 2, 14]
+011058_000023:[]
+024113_000005:[]
+007890_000033:[9, 18]
+022756_000013:[]
+017118_000038:[6, 7, 14]
+010132_000003:[]
+004888_000005:[13, 15]
+009839_000036:[3, 13]
+001771_000023:[]
+020833_000021:[16]
+019548_000031:[]
+006263_000008:[]
+003125_000008:[]
+004745_000013:[]
+023893_000023:[0, 1, 2, 8, 10]
+014335_000009:[7]
+007972_000006:[]
+023997_000030:[6, 10, 17, 19]
+004602_000014:[1, 4, 8, 10, 12, 14, 15, 17]
+012515_000024:[6, 12, 16]
+010598_000027:[]
+024485_000003:[]
+002733_000006:[]
+007646_000013:[1]
+015046_000031:[]
+016718_000020:[7]
+009224_000007:[]
+020664_000027:[5, 13]
+005307_000011:[]
+008315_000014:[2, 12]
+024394_000015:[]
+008338_000002:[7]
+013775_000034:[15]
+014660_000037:[]
+011783_000008:[]
+001460_000021:[]
+001982_000015:[3, 5, 6, 10]
+013141_000033:[9]
+015937_000010:[]
+017451_000010:[15]
+024538_000014:[13]
+001579_000016:[0, 3, 10]
+021030_000018:[10, 15]
+004648_000038:[]
+019915_000004:[]
+013397_000026:[4]
+008918_000022:[]
+010346_000037:[0, 13]
+022584_000002:[]
+012485_000005:[]
+009569_000035:[0, 6, 15, 16, 19]
+003255_000022:[]
+002615_000025:[]
+010458_000000:[]
+017621_000035:[12]
+000292_000011:[7]
+021428_000019:[13]
+000915_000012:[2, 13, 17]
+013326_000001:[]
+004460_000031:[16]
+009679_000034:[]
+015727_000022:[]
+004552_000015:[3]
+010746_000000:[]
+015098_000029:[]
+006959_000028:[1]
+011484_000029:[]
+019630_000013:[9]
+003498_000018:[]
+019662_000021:[8]
+008397_000032:[]
+011111_000023:[]
+001816_000013:[11]
+007508_000034:[14, 17]
+010740_000037:[]
+005172_000011:[]
+012365_000020:[12]
+007605_000035:[]
+019038_000030:[]
+011471_000038:[2]
+007578_000026:[]
+020715_000000:[1]
+023693_000035:[]
+017900_000008:[2, 6]
+006206_000001:[]
+006792_000022:[]
+000714_000010:[]
+024217_000007:[]
+012680_000001:[3, 9, 10]
+023367_000031:[8]
+008449_000025:[]
+017191_000038:[]
+014167_000034:[4, 6]
+009359_000037:[0, 14]
+014610_000015:[]
+000981_000004:[12]
+005946_000033:[]
+023557_000037:[]
+013471_000027:[]
+003275_000034:[]
+009896_000018:[4, 6, 15]
+012230_000015:[]
+009288_000033:[0]
+004552_000001:[3, 12]
+021582_000001:[1]
+021160_000029:[]
+006218_000016:[]
+005134_000019:[0]
+005389_000008:[]
+016534_000013:[6, 13, 18]
+010325_000004:[3]
+017137_000011:[]
+014541_000017:[]
+019229_000030:[12]
+015769_000017:[4]
+012706_000022:[]
+002510_000011:[0, 2]
+021450_000023:[]
+005644_000021:[2, 4, 6, 8, 10, 11, 19]
+023715_000004:[1]
+011646_000020:[6, 12, 14]
+021590_000017:[]
+005409_000034:[]
+020318_000035:[]
+001802_000031:[]
+000883_000020:[]
+016253_000000:[]
+008568_000019:[2]
+017901_000004:[]
+019629_000018:[]
+022830_000023:[0, 3, 8, 9, 10]
+014867_000038:[]
+007953_000006:[3, 17]
+009504_000010:[]
+015076_000001:[0, 5, 16, 18]
+013485_000006:[]
+011100_000013:[]
+000273_000012:[8]
+023207_000037:[]
+023417_000013:[]
+021939_000033:[]
+005152_000029:[]
+015247_000030:[]
+015895_000035:[]
+020284_000024:[0]
+005707_000025:[]
+002876_000016:[5]
+010743_000021:[]
+022904_000030:[6, 8, 9, 12, 17]
+004802_000008:[11]
+013575_000037:[]
+012791_000008:[]
+009760_000007:[]
+020723_000006:[]
+000405_000039:[11]
+007510_000023:[16, 19]
+005227_000022:[5]
+016492_000009:[0]
+009725_000018:[1]
+008396_000005:[]
+006167_000025:[]
+004481_000031:[]
+019433_000033:[17]
+009490_000006:[]
+017061_000003:[]
+018556_000007:[]
+003933_000008:[2, 8, 9, 12]
+021686_000035:[]
+021084_000036:[17]
+015229_000003:[13, 16]
+015686_000014:[]
+000467_000012:[]
+019501_000018:[]
+006684_000010:[0, 3]
+007867_000028:[4, 18]
+019572_000005:[]
+017049_000016:[]
+012998_000022:[]
+017762_000019:[]
+022170_000006:[]
+017213_000014:[]
+019108_000023:[]
+024881_000009:[]
+010897_000008:[]
+009534_000013:[]
+022372_000035:[]
+019101_000007:[6]
+014881_000034:[]
+005033_000022:[]
+000568_000026:[19]
+016987_000020:[9]
+015520_000025:[]
+000761_000006:[2]
+018064_000008:[]
+023572_000003:[11, 16]
+003188_000028:[]
+005566_000034:[]
+006984_000024:[1, 4, 8]
+010523_000011:[13, 16]
+006270_000016:[8]
+005800_000036:[]
+010522_000016:[2]
+010501_000008:[]
+020160_000007:[]
+013078_000029:[12, 19]
+016623_000019:[]
+019571_000031:[]
+005833_000037:[5, 7, 8]
+013836_000000:[]
+017688_000025:[6]
+015817_000025:[0]
+016770_000027:[]
+014707_000003:[1, 6, 7, 12, 15, 19]
+006680_000035:[]
+020634_000036:[2, 15, 16]
+011036_000015:[11, 13]
+004430_000038:[14]
+007232_000020:[]
+003509_000031:[14]
+006856_000012:[0, 7, 12, 14, 16]
+005803_000029:[9]
+001404_000011:[13]
+021572_000017:[]
+008901_000010:[]
+013620_000027:[]
+000011_000026:[]
+007017_000021:[]
+010341_000012:[]
+006116_000000:[]
+004589_000025:[12]
+010875_000021:[]
+024411_000014:[5]
+008235_000018:[]
+007137_000038:[10, 16]
+017943_000003:[]
+020713_000014:[]
+001404_000033:[19]
+000128_000029:[]
+016793_000027:[]
+013292_000011:[]
+023050_000013:[]
+004225_000017:[]
+002337_000026:[]
+021040_000001:[]
+021290_000005:[]
+022184_000004:[6, 8, 11, 13]
+011348_000038:[]
+018756_000022:[]
+015605_000017:[]
+014234_000032:[13]
+005962_000038:[7]
+014132_000002:[]
+005772_000006:[0, 1, 6, 11, 12]
+002120_000003:[]
+004183_000013:[]
+013708_000013:[]
+009835_000033:[]
+009865_000018:[]
+018012_000017:[3, 7, 8, 11]
+023707_000002:[12, 16, 17]
+010206_000014:[]
+020942_000020:[]
+022303_000001:[5]
+013600_000016:[]
+015301_000037:[9, 13]
+010032_000027:[]
+003531_000004:[]
+017583_000034:[0, 9]
+002342_000022:[4, 12]
+006052_000025:[5]
+015361_000019:[4, 5, 7]
+017205_000001:[7]
+018484_000026:[]
+023903_000011:[7, 19]
+005526_000029:[]
+006447_000014:[0]
+003798_000027:[6]
+019440_000008:[]
+021206_000020:[6, 12]
+003302_000020:[14]
+019230_000039:[]
+010095_000016:[]
+010702_000035:[]
+019868_000026:[]
+017705_000031:[12]
+020057_000038:[]
+007268_000010:[10]
+009763_000028:[1, 5, 11, 15, 18]
+001778_000027:[]
+015780_000029:[]
+005654_000023:[]
+002845_000024:[17]
+007436_000011:[11, 13]
+020111_000037:[8]
+005751_000024:[]
+003331_000015:[5, 8]
+001688_000024:[]
+000158_000006:[8, 19]
+015024_000010:[]
+007148_000021:[5]
+016670_000025:[]
+002000_000018:[5, 8]
+006285_000023:[9, 16]
+000948_000003:[]
+005050_000033:[19]
+000722_000029:[16, 19]
+010185_000000:[7, 17]
+002260_000031:[2, 4, 5, 8, 10, 11, 13, 14, 17, 19]
+024856_000015:[]
+006225_000026:[14]
+010627_000004:[11]
+012413_000027:[]
+016159_000017:[]
+014972_000033:[]
+017348_000005:[]
+017439_000025:[]
+004502_000019:[6]
+022878_000033:[14]
+008076_000021:[10]
+000681_000027:[]
+012021_000023:[9]
+001756_000038:[5, 17]
+009077_000028:[16]
+001952_000000:[0]
+013506_000007:[]
+008263_000011:[17]
+002183_000010:[]
+018323_000013:[0, 2, 4, 5, 9, 16]
+011208_000032:[]
+020935_000020:[1, 2, 3, 5, 19]
+013046_000016:[11]
+000983_000005:[16]
+015418_000002:[]
+017074_000035:[]
+014091_000019:[]
+017372_000036:[6, 13]
+000549_000019:[]
+004996_000016:[]
+021832_000000:[]
+020406_000008:[]
+009863_000014:[]
+023416_000009:[12]
+024084_000009:[]
+003276_000002:[]
+017148_000027:[5, 6]
+015934_000011:[]
+003517_000000:[]
+007417_000023:[15, 17]
+008906_000016:[]
+010991_000020:[]
+005748_000010:[]
+005575_000038:[]
+017210_000036:[]
+020660_000024:[]
+010909_000004:[]
+013910_000020:[7, 12]
+022652_000035:[5]
+006925_000025:[]
+021698_000029:[]
+008482_000004:[]
+003839_000033:[15]
+022201_000004:[]
+014212_000007:[]
+023004_000013:[17]
+021989_000029:[]
+021474_000034:[11, 17, 19]
+014274_000002:[15]
+014169_000008:[1, 4, 5]
+017632_000018:[]
+015452_000013:[]
+002183_000024:[]
+012579_000012:[]
+000354_000013:[7, 12]
+018855_000013:[]
+021192_000028:[4]
+022214_000001:[4, 11, 17]
+010199_000036:[1, 5, 12, 15, 16]
+017848_000037:[0]
+016759_000038:[8, 18]
+011286_000021:[]
+018037_000010:[]
+019360_000025:[16]
+024337_000004:[]
+008595_000004:[19]
+013938_000012:[]
+005344_000026:[19]
+009361_000020:[]
+003202_000008:[12]
+015046_000002:[2, 3]
+014093_000017:[]
+002757_000038:[]
+002866_000008:[]
+013722_000038:[]
+010913_000029:[]
+011309_000017:[]
+005122_000037:[5]
+017131_000000:[]
+018923_000008:[]
+012480_000038:[3]
+004602_000034:[0, 1, 4, 8, 12, 14, 15]
+011859_000039:[2, 16]
+024921_000001:[19]
+024444_000020:[7]
+000381_000003:[]
+022502_000019:[]
+004410_000001:[4, 9, 15, 17, 19]
+009059_000034:[12, 16, 19]
+001667_000033:[]
+001117_000037:[]
+013454_000013:[]
+014477_000032:[5]
+013321_000022:[2, 14, 18]
+010110_000035:[]
+001629_000020:[3, 14, 16]
+015901_000002:[0, 14]
+010422_000018:[]
+023259_000036:[2]
+014174_000029:[]
+024498_000026:[]
+006764_000030:[2]
+002241_000000:[1]
+019634_000012:[]
+016643_000037:[13]
+008881_000029:[12, 16]
+002669_000001:[5, 15]
+010743_000011:[0]
+023169_000011:[]
+019930_000020:[]
+017652_000010:[]
+010738_000004:[8]
+014513_000004:[]
+011906_000038:[]
+004246_000014:[1, 2, 4, 9, 11, 12, 17, 19]
+012096_000015:[1]
+010096_000025:[1, 5, 16]
+013200_000037:[]
+004545_000002:[0, 1, 6, 10, 11, 18]
+004291_000006:[]
+021092_000034:[7]
+010722_000038:[]
+016755_000010:[8, 9]
+016471_000026:[6]
+024176_000010:[]
+000610_000010:[]
+018661_000014:[]
+019950_000027:[5]
+017583_000018:[8]
+009435_000037:[]
+019436_000028:[]
+023557_000014:[]
+000682_000018:[]
+019508_000000:[0, 2, 10]
+010993_000018:[]
+023184_000023:[]
+014443_000031:[13, 15]
+013834_000014:[]
+024015_000027:[]
+022197_000036:[5]
+016682_000016:[0]
+024987_000016:[]
+004152_000023:[16]
+006089_000008:[15]
+012759_000037:[16]
+011592_000006:[]
+009896_000023:[]
+018515_000027:[7, 19]
+012701_000026:[1, 11]
+018313_000032:[0, 4]
+008090_000028:[2, 14]
+015458_000001:[1]
+019334_000009:[10]
+018480_000001:[6]
+022632_000004:[2, 10]
+002356_000020:[0]
+005455_000001:[3, 15]
+008415_000008:[13]
+002938_000018:[]
+018573_000006:[]
+011876_000017:[1]
+008223_000016:[]
+016106_000005:[8]
+016652_000031:[2, 4]
+006340_000000:[]
+015142_000018:[8]
+007241_000008:[]
+020273_000028:[]
+014937_000028:[]
+024350_000010:[]
+011928_000025:[]
+020282_000036:[9]
+011219_000001:[]
+003742_000019:[]
+016553_000025:[1]
+015905_000031:[7, 18]
+004604_000036:[]
+017648_000031:[]
+012828_000019:[2]
+009150_000002:[]
+009445_000022:[16]
+004379_000000:[]
+012406_000031:[]
+017185_000001:[]
+005161_000008:[]
+005519_000002:[0]
+013503_000038:[]
+007823_000034:[]
+006079_000034:[]
+002486_000019:[6, 16, 19]
+003697_000003:[]
+014832_000015:[]
+000598_000026:[8]
+006901_000013:[3]
+016578_000001:[2]
+018745_000019:[]
+016176_000009:[11]
+010920_000022:[]
+024793_000003:[10]
+003481_000020:[]
+013517_000027:[5, 14, 15]
+010107_000013:[]
+006871_000014:[]
+022030_000039:[]
+022199_000014:[17, 18]
+019303_000031:[7]
+021912_000038:[2, 5, 11, 13]
+015405_000002:[2, 11, 13, 15, 17]
+023571_000003:[]
+012871_000013:[]
+019263_000030:[13]
+016679_000023:[]
+010019_000031:[0, 12]
+013503_000003:[2, 6, 15]
+021643_000029:[6]
+018714_000039:[0]
+018891_000020:[12]
+011591_000032:[]
+024263_000013:[9, 11]
+020542_000013:[14]
+019759_000026:[]
+007597_000009:[]
+017931_000038:[0, 6, 10, 16]
+014495_000035:[1, 4, 5, 11]
+014035_000031:[]
+020247_000032:[]
+012125_000026:[]
+007188_000014:[]
+011762_000020:[16]
+018598_000002:[17]
+020916_000010:[]
+006572_000010:[7, 10, 14]
+003800_000020:[]
+014095_000025:[2, 5, 10, 13, 15, 17]
+008349_000007:[]
+011286_000028:[2, 18]
+007527_000025:[]
+020303_000010:[0, 1, 4, 5, 8, 9, 10, 11, 12, 18]
+000378_000025:[]
+020324_000001:[]
+021033_000001:[]
+014733_000023:[]
+021357_000004:[]
+008670_000004:[]
+001612_000036:[3, 6, 8, 11, 14, 19]
+002712_000005:[]
+024958_000017:[]
+001057_000013:[3, 19]
+020261_000016:[]
+013684_000023:[17]
+018943_000011:[0, 13, 14, 18]
+012040_000033:[]
+008743_000037:[]
+022055_000020:[]
+014231_000021:[]
+010361_000033:[8, 12]
+016302_000030:[3]
+019484_000003:[]
+002126_000005:[6, 7]
+011570_000015:[15, 18]
+018100_000019:[0]
+008227_000023:[]
+002171_000034:[]
+020071_000015:[]
+002753_000021:[]
+010570_000037:[]
+002263_000032:[]
+006091_000010:[]
+018164_000015:[2, 3]
+007042_000006:[7]
+006595_000039:[]
+021445_000001:[4]
+012811_000023:[]
+021948_000039:[]
+013140_000030:[]
+020453_000011:[]
+016514_000010:[7]
+001811_000029:[2]
+023016_000028:[]
+016660_000026:[]
+007816_000034:[]
+017827_000013:[12]
+021274_000006:[11]
+003678_000031:[]
+008651_000009:[1, 9, 10, 12, 13, 17]
+005222_000010:[]
+012806_000038:[]
+008130_000022:[14]
+006969_000038:[3, 6]
+006980_000035:[]
+021799_000034:[9, 14]
+009729_000012:[]
+019864_000011:[]
+001926_000016:[]
+015712_000033:[]
+012856_000026:[18]
+018597_000016:[]
+007283_000035:[]
+003949_000031:[]
+002700_000000:[]
+007950_000025:[4]
+016701_000035:[0, 15]
+013014_000010:[0, 10]
+021220_000020:[]
+016535_000025:[10]
+023035_000024:[]
+020124_000002:[]
+005965_000000:[5, 7]
+008848_000032:[]
+022936_000017:[11, 18]
+004772_000028:[]
+012293_000027:[5]
+023167_000036:[12]
+015775_000017:[]
+018921_000031:[]
+012661_000028:[]
+016060_000004:[0, 6, 9]
+015213_000000:[]
+020381_000017:[]
+018172_000014:[]
+007038_000001:[0]
+004919_000034:[6]
+005105_000020:[]
+009390_000012:[3, 15, 16]
+004240_000033:[]
+002823_000024:[]
+005723_000008:[]
+007875_000006:[17]
+003071_000001:[7, 13]
+022691_000021:[13]
+004273_000014:[0, 1, 3, 6, 7, 8, 10, 17]
+013561_000003:[]
+009900_000022:[]
+018304_000022:[]
+003880_000014:[2, 3, 8, 12, 13, 17, 19]
+022062_000035:[]
+002013_000016:[]
+013748_000008:[10]
+000844_000027:[]
+013505_000034:[3, 5, 9, 10, 12, 17]
+016745_000001:[]
+007327_000014:[]
+011299_000013:[8]
+000533_000035:[]
+005457_000015:[]
+014356_000034:[15, 17]
+005759_000033:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000058_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000058_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..55fb450fd765fba4a95281e9181dcfddd1aedea4
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000058_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+019306_000039:[16]
+001522_000012:[]
+013837_000020:[]
+012379_000031:[9]
+016858_000010:[]
+024797_000000:[8]
+006590_000027:[]
+020471_000005:[]
+000576_000009:[2]
+024682_000020:[]
+005240_000032:[6]
+007779_000031:[]
+012714_000002:[]
+014668_000012:[2]
+023809_000034:[7]
+020503_000000:[]
+020942_000017:[]
+001521_000021:[]
+013010_000011:[6, 11, 16, 18]
+017909_000011:[]
+024850_000037:[]
+002278_000030:[]
+020528_000026:[]
+008090_000037:[11]
+014494_000033:[7]
+002723_000032:[]
+015370_000039:[7, 14, 17]
+014062_000036:[8, 9, 11, 18]
+001690_000001:[]
+009776_000016:[5, 7, 10, 17]
+014372_000026:[14]
+004396_000019:[2, 6, 9, 12, 16, 17]
+022264_000027:[]
+006704_000036:[]
+017691_000027:[]
+018253_000024:[]
+013104_000006:[]
+009104_000002:[]
+016701_000036:[]
+020970_000038:[]
+012328_000010:[1, 15]
+007082_000034:[]
+018671_000021:[]
+013541_000001:[17]
+015401_000035:[]
+003281_000005:[]
+024379_000012:[]
+016056_000001:[0, 18]
+003900_000023:[3]
+005597_000005:[12, 15]
+002747_000024:[1]
+016281_000020:[]
+015093_000030:[]
+020967_000032:[]
+001494_000032:[2, 9, 10, 14, 19]
+022703_000007:[]
+012777_000016:[4, 17]
+023700_000020:[6, 13, 15, 19]
+024423_000009:[]
+007870_000038:[6, 8]
+017219_000039:[]
+007616_000009:[]
+000722_000023:[17]
+020022_000025:[1, 5]
+010921_000021:[]
+005779_000005:[]
+006045_000038:[15]
+012890_000013:[13]
+006467_000026:[0, 1, 5, 14, 19]
+012852_000007:[]
+002860_000032:[]
+010196_000001:[]
+022650_000010:[]
+004833_000023:[10, 16]
+010124_000015:[]
+011786_000008:[]
+015812_000032:[5, 17]
+010458_000036:[]
+020348_000030:[4, 15, 19]
+021631_000028:[11, 14]
+022568_000013:[5, 19]
+007657_000024:[]
+022894_000002:[]
+012219_000006:[]
+015060_000000:[]
+018693_000001:[4, 7, 15]
+013705_000026:[]
+021723_000031:[11]
+010382_000005:[]
+022343_000039:[]
+012512_000029:[]
+019067_000003:[]
+006883_000025:[]
+004152_000036:[]
+006593_000022:[]
+011982_000017:[6]
+019198_000001:[]
+004421_000007:[3]
+012079_000017:[]
+006281_000035:[4, 7, 12, 13]
+004561_000015:[0, 14]
+010274_000035:[]
+023886_000033:[]
+011620_000000:[]
+012745_000012:[]
+007302_000007:[]
+018156_000019:[]
+016043_000033:[]
+005111_000001:[]
+024366_000015:[0, 15, 18]
+014771_000027:[3, 9, 12, 16, 19]
+024207_000037:[7]
+009625_000004:[]
+006654_000017:[4, 15]
+023033_000031:[1, 10, 19]
+012148_000023:[]
+007262_000016:[5]
+006832_000033:[]
+011127_000027:[1, 3, 7, 14]
+023314_000038:[]
+006497_000032:[]
+000889_000006:[]
+023624_000017:[]
+009665_000020:[17]
+010681_000037:[]
+022946_000002:[4]
+006060_000010:[]
+024580_000005:[0]
+001308_000005:[]
+020410_000005:[]
+010811_000026:[]
+020290_000017:[13, 14, 18]
+014841_000027:[]
+024883_000012:[]
+024197_000030:[]
+003802_000016:[]
+000204_000034:[]
+020403_000035:[10]
+016383_000026:[1]
+001142_000004:[]
+010530_000005:[]
+003826_000004:[]
+004128_000012:[]
+002120_000034:[]
+024765_000015:[0, 2, 4, 10, 16]
+002934_000026:[]
+016610_000037:[6, 9, 10]
+012089_000002:[8]
+017800_000028:[10, 14, 18]
+010373_000010:[13, 16]
+011060_000034:[4]
+008103_000025:[1, 6, 16]
+009669_000006:[]
+024166_000035:[]
+011330_000039:[4, 10, 18, 19]
+003793_000006:[5]
+000297_000020:[]
+000823_000004:[9, 11, 13]
+000395_000024:[]
+001266_000037:[13]
+016145_000038:[]
+017144_000003:[11, 12, 18]
+000984_000002:[0, 16, 19]
+011680_000022:[13, 18, 19]
+023774_000027:[]
+008447_000034:[]
+018768_000023:[]
+001863_000007:[]
+009303_000012:[2, 14, 17]
+016424_000026:[]
+024021_000004:[2, 3, 12]
+005424_000034:[]
+021309_000004:[]
+006846_000020:[12, 18]
+008113_000015:[1]
+001922_000033:[]
+006694_000024:[4]
+013435_000005:[]
+005345_000023:[10]
+013101_000036:[]
+004691_000030:[4, 6]
+001693_000001:[6, 10]
+010511_000003:[]
+016009_000032:[12]
+016484_000012:[]
+010879_000009:[4]
+011807_000021:[]
+013447_000004:[]
+019855_000035:[]
+014989_000029:[]
+006721_000018:[]
+017943_000027:[11]
+006752_000003:[]
+005326_000026:[9]
+020772_000033:[18]
+021777_000032:[]
+023119_000005:[]
+006315_000024:[1]
+017403_000009:[12]
+007754_000017:[]
+017857_000013:[]
+018553_000033:[0, 1, 2, 5, 7, 10, 12, 16, 19]
+008922_000035:[4, 5, 8]
+008329_000015:[13]
+000953_000009:[]
+018356_000023:[0, 1]
+011161_000005:[]
+009799_000011:[]
+016634_000032:[]
+017352_000025:[]
+004316_000024:[14]
+018457_000001:[]
+012957_000009:[9]
+024756_000034:[6]
+006886_000015:[]
+000599_000028:[]
+021159_000009:[]
+007154_000000:[]
+007343_000019:[]
+002317_000031:[]
+012289_000005:[]
+004660_000033:[]
+008065_000006:[17]
+017249_000006:[9]
+021153_000028:[2, 10, 12, 19]
+013345_000021:[9]
+014108_000021:[5]
+007733_000031:[]
+009008_000037:[12]
+017026_000000:[]
+007559_000022:[]
+021946_000019:[]
+002975_000016:[]
+021119_000035:[]
+004086_000033:[]
+002359_000000:[]
+010463_000001:[]
+015045_000032:[]
+014821_000020:[]
+012781_000008:[]
+014924_000005:[]
+018476_000019:[]
+002967_000032:[0, 4, 11]
+021592_000025:[]
+001695_000006:[2, 7]
+020356_000014:[]
+001490_000018:[9, 14]
+002574_000011:[3, 4, 9, 11]
+005417_000039:[3]
+007365_000031:[]
+001091_000007:[17]
+017592_000011:[]
+009798_000030:[]
+020007_000010:[]
+009508_000030:[12]
+002806_000014:[]
+009482_000016:[]
+003548_000037:[]
+009271_000009:[]
+008585_000006:[]
+023501_000030:[2, 3, 11]
+011451_000034:[]
+023054_000003:[]
+010366_000011:[]
+023984_000028:[5]
+001949_000016:[8]
+018273_000037:[]
+010344_000014:[]
+015963_000027:[4, 17]
+024005_000033:[2, 3, 4, 15]
+012436_000020:[0]
+009080_000033:[4, 9]
+023172_000011:[5]
+020814_000035:[4, 13]
+023814_000036:[]
+009629_000002:[6]
+022015_000034:[]
+012464_000017:[7]
+021809_000029:[]
+007602_000037:[4]
+010099_000019:[]
+003529_000005:[13]
+017109_000001:[15]
+013932_000012:[0, 13]
+005792_000032:[]
+002616_000013:[]
+019397_000030:[]
+024684_000007:[0, 3, 4, 6, 8, 9, 11]
+023897_000023:[]
+019849_000013:[10]
+009383_000012:[]
+011758_000008:[]
+002975_000031:[]
+021178_000029:[5]
+019833_000003:[]
+000607_000031:[]
+016127_000037:[]
+015951_000032:[1]
+007881_000034:[]
+014318_000011:[]
+018804_000038:[]
+004078_000007:[1, 3, 6, 9, 11, 13]
+003234_000013:[]
+016484_000014:[]
+006778_000024:[]
+020863_000018:[]
+008279_000018:[1]
+002345_000028:[]
+011629_000011:[]
+015370_000008:[]
+016839_000025:[]
+012899_000008:[]
+003500_000033:[12]
+000112_000017:[0, 7, 16]
+009481_000031:[]
+007652_000018:[0, 5]
+013824_000025:[15, 16]
+021825_000033:[]
+002730_000005:[]
+003572_000004:[]
+009117_000014:[]
+016257_000029:[]
+008422_000039:[0, 18]
+020012_000027:[]
+010021_000004:[4, 8, 14]
+008559_000038:[8, 10, 13, 14, 15, 16, 17]
+024374_000009:[]
+005369_000000:[]
+004269_000003:[]
+017424_000012:[6]
+021517_000019:[]
+003812_000025:[]
+007628_000035:[11]
+009879_000003:[]
+009920_000033:[11]
+003688_000010:[13]
+003883_000012:[0]
+020560_000034:[]
+017480_000028:[]
+019907_000032:[1]
+014254_000035:[]
+011919_000005:[]
+003234_000039:[]
+006517_000011:[]
+003576_000019:[5]
+023349_000020:[4, 6]
+007189_000003:[0, 2, 3, 17]
+008540_000035:[]
+016095_000038:[15, 17]
+018494_000037:[14]
+019637_000019:[6]
+014830_000035:[19]
+021256_000027:[]
+004659_000024:[0]
+014688_000037:[]
+010245_000003:[]
+021804_000006:[]
+014035_000010:[]
+019901_000037:[]
+022081_000005:[]
+021363_000015:[6]
+024982_000009:[]
+015632_000014:[13]
+008857_000020:[]
+021004_000037:[9]
+020574_000021:[]
+023311_000038:[]
+016043_000020:[1]
+002773_000005:[]
+017598_000037:[18]
+024266_000035:[]
+013092_000017:[6]
+019061_000022:[13]
+008348_000036:[]
+008211_000021:[]
+024248_000036:[]
+007819_000028:[]
+021436_000028:[]
+003296_000025:[3, 6, 16, 19]
+021383_000009:[]
+007399_000029:[5, 18]
+012654_000028:[]
+009804_000019:[]
+022150_000013:[6, 16]
+023548_000007:[]
+004241_000034:[]
+015556_000011:[17, 18]
+024914_000003:[9]
+023122_000031:[12]
+012485_000038:[]
+009713_000009:[7]
+014911_000004:[]
+009042_000032:[]
+007139_000005:[]
+001128_000005:[]
+021476_000025:[7, 11]
+007552_000034:[]
+010877_000016:[3, 14, 16]
+014463_000037:[]
+011371_000031:[17]
+021818_000017:[]
+002710_000038:[5, 8, 9]
+001485_000008:[]
+019131_000010:[]
+003218_000038:[6, 19]
+022236_000014:[2, 13]
+000689_000007:[17, 19]
+024642_000027:[]
+016545_000037:[]
+013997_000024:[9, 19]
+005813_000022:[7]
+024422_000009:[]
+018072_000035:[]
+023133_000015:[]
+008695_000034:[]
+023982_000025:[]
+016626_000022:[5, 17]
+015073_000013:[]
+020884_000003:[9]
+016003_000033:[]
+019734_000033:[]
+018094_000033:[12]
+020830_000004:[]
+015513_000011:[]
+014886_000022:[]
+018957_000010:[]
+014030_000013:[5, 7]
+010904_000035:[]
+014727_000026:[1, 4, 9, 10, 13]
+024737_000004:[]
+018402_000009:[]
+016045_000027:[5]
+008709_000027:[]
+008619_000019:[7]
+001294_000037:[]
+001473_000027:[]
+016025_000011:[]
+012989_000038:[1]
+017736_000027:[11]
+004814_000028:[]
+006894_000035:[]
+023820_000029:[8]
+010099_000014:[15]
+007596_000000:[0]
+003312_000030:[2]
+016680_000038:[]
+001274_000006:[17]
+015525_000009:[]
+000019_000014:[0, 10]
+007794_000010:[]
+003433_000003:[11]
+024875_000005:[19]
+023899_000024:[4]
+019214_000016:[]
+011482_000002:[6, 11, 17]
+003809_000008:[3, 4, 18]
+013429_000038:[15, 17]
+018794_000006:[5, 8, 10, 12, 15]
+010169_000000:[]
+024172_000037:[]
+017390_000035:[14]
+023003_000023:[15]
+007189_000013:[]
+021042_000015:[]
+007461_000024:[]
+003763_000017:[]
+020896_000015:[18]
+010109_000010:[]
+014909_000033:[]
+008107_000005:[1, 4]
+022217_000035:[]
+011650_000027:[7]
+002172_000035:[]
+003271_000013:[]
+014998_000000:[]
+013893_000019:[2]
+020250_000024:[1, 2]
+006858_000038:[]
+022910_000038:[2, 12, 14, 18]
+019845_000022:[6]
+013076_000037:[]
+010861_000003:[]
+021463_000032:[]
+022158_000011:[]
+002583_000038:[1]
+000321_000001:[]
+012792_000007:[15]
+002358_000035:[0, 13]
+008341_000034:[]
+020501_000005:[13]
+000678_000020:[]
+015240_000027:[]
+007576_000006:[]
+000496_000016:[2, 7, 11, 14, 15, 18]
+017368_000034:[]
+010660_000035:[]
+002427_000007:[5, 15]
+005326_000034:[5, 9, 11]
+020449_000029:[]
+004568_000008:[2, 6, 9, 11, 12, 15, 19]
+024999_000034:[]
+014656_000012:[0]
+009229_000003:[14]
+010514_000039:[]
+022174_000027:[]
+000223_000020:[]
+011430_000003:[]
+006954_000004:[1]
+023625_000014:[]
+007422_000033:[]
+004528_000023:[]
+006561_000019:[]
+021651_000029:[2]
+015619_000015:[]
+003088_000017:[]
+019467_000029:[1, 4, 6, 8, 10, 11, 12, 18]
+014078_000038:[]
+023053_000008:[]
+002409_000033:[]
+010345_000020:[0]
+022605_000007:[]
+020893_000030:[2]
+009623_000035:[]
+007792_000011:[]
+022765_000008:[]
+010147_000034:[1]
+004024_000002:[]
+002486_000024:[]
+008683_000011:[]
+022775_000018:[]
+002479_000039:[2, 3, 6, 7, 8, 9, 10, 13, 14, 18, 19]
+022851_000022:[10]
+011115_000034:[2, 5, 10, 15, 17]
+018468_000008:[]
+002327_000000:[]
+000281_000002:[2, 9, 10]
+004728_000010:[]
+013526_000038:[]
+000774_000001:[9, 16]
+013947_000010:[8, 16]
+007518_000033:[]
+024874_000019:[]
+013209_000012:[5]
+005152_000000:[]
+003474_000036:[]
+024836_000006:[2, 3, 10, 11, 12, 15]
+018492_000015:[3]
+000519_000004:[]
+014533_000025:[12]
+015789_000002:[6, 14]
+000544_000014:[]
+022580_000033:[4, 5, 16, 19]
+000051_000022:[0, 6, 12]
+013012_000017:[18]
+017134_000036:[]
+015909_000028:[7]
+001707_000020:[14]
+003690_000011:[]
+006219_000034:[]
+016164_000022:[0, 1, 2, 10, 16]
+012557_000032:[]
+003029_000014:[13]
+001346_000002:[3]
+010770_000015:[]
+018183_000007:[5, 12, 15, 16, 17, 19]
+004542_000019:[7, 15]
+004548_000004:[10]
+015023_000016:[4]
+015711_000020:[]
+013268_000008:[]
+014496_000009:[]
+021338_000016:[]
+002386_000018:[16]
+011189_000003:[]
+023237_000005:[]
+006725_000006:[]
+001284_000030:[1, 7]
+003239_000016:[]
+022095_000019:[]
+017462_000034:[9]
+011287_000017:[]
+003902_000015:[1, 8, 15, 16, 17]
+014932_000021:[]
+002899_000013:[]
+003882_000019:[]
+020393_000006:[]
+020188_000021:[]
+003646_000006:[15]
+022724_000002:[5]
+007854_000009:[2, 18]
+023901_000032:[]
+006249_000028:[]
+005570_000024:[]
+018966_000032:[2]
+010986_000016:[]
+018233_000021:[]
+003150_000033:[4, 6, 7]
+013111_000011:[3, 5, 8, 10, 15]
+009904_000013:[]
+021403_000006:[]
+010942_000000:[]
+011423_000019:[]
+002547_000031:[5, 18]
+007898_000015:[]
+001674_000037:[]
+014562_000014:[]
+003775_000005:[]
+022188_000032:[15]
+009088_000029:[]
+017435_000003:[4, 13]
+006056_000029:[]
+008556_000039:[19]
+014987_000028:[]
+013579_000002:[6, 8, 9]
+011252_000030:[]
+011014_000027:[]
+015633_000036:[12]
+011158_000034:[]
+003249_000025:[]
+005882_000004:[5, 6]
+008872_000000:[]
+016407_000031:[]
+013994_000034:[]
+003622_000008:[]
+018903_000027:[]
+009597_000031:[]
+011216_000013:[]
+021504_000009:[16]
+007415_000028:[]
+024492_000019:[1, 2, 7, 8, 9, 11, 12, 15, 16]
+005044_000028:[3, 5, 19]
+013963_000029:[]
+004176_000021:[]
+020911_000024:[]
+004347_000021:[]
+005062_000014:[16]
+002973_000032:[6]
+014979_000024:[3, 5, 10, 16]
+000753_000007:[]
+019006_000028:[]
+009104_000009:[9]
+004500_000019:[3, 4, 11, 15]
+002056_000024:[]
+021579_000032:[]
+021588_000005:[0]
+020488_000010:[]
+002836_000006:[14]
+012216_000026:[]
+007794_000003:[]
+014337_000034:[12]
+023345_000001:[]
+007871_000018:[]
+006828_000009:[0]
+019355_000002:[]
+016001_000019:[4, 10, 15, 16]
+016164_000039:[14]
+007606_000039:[]
+001960_000037:[]
+018807_000000:[]
+013097_000014:[0]
+008056_000010:[0, 1, 6, 8]
+018517_000025:[]
+000250_000039:[9]
+005621_000013:[1]
+003366_000032:[4]
+013889_000038:[8, 12]
+008413_000017:[]
+012338_000007:[]
+006075_000020:[]
+017970_000000:[]
+024056_000025:[13, 17]
+012501_000023:[]
+008406_000020:[]
+014143_000023:[2, 8]
+023640_000013:[]
+016886_000031:[7]
+001451_000011:[2, 9, 12]
+007139_000012:[]
+013758_000035:[15]
+015069_000000:[17]
+012962_000035:[]
+018611_000029:[10]
+013756_000022:[]
+002226_000032:[]
+023642_000036:[1]
+019401_000030:[3]
+013090_000018:[]
+011332_000038:[]
+005355_000025:[2, 19]
+014289_000009:[6, 15]
+024062_000022:[3]
+005062_000020:[]
+003331_000011:[]
+001998_000027:[]
+001283_000038:[14]
+024604_000037:[13]
+014828_000017:[]
+020449_000019:[]
+009652_000019:[]
+004091_000019:[12]
+010282_000030:[11, 12]
+020276_000012:[]
+002590_000032:[]
+015976_000006:[]
+007582_000025:[1, 7]
+003405_000009:[0]
+023443_000010:[7, 8, 9]
+010607_000007:[0, 6, 12, 17, 19]
+002221_000003:[5]
+017943_000036:[]
+002142_000006:[]
+003356_000005:[9]
+006664_000005:[]
+000177_000026:[]
+010406_000018:[0]
+006981_000038:[]
+001984_000031:[6]
+024045_000034:[5]
+013902_000024:[]
+011435_000031:[3, 15]
+020407_000035:[0, 5, 12]
+000076_000005:[1, 13]
+002987_000032:[]
+017793_000001:[10]
+010010_000027:[]
+012971_000019:[]
+018549_000006:[]
+015159_000006:[]
+012482_000008:[]
+007054_000030:[18]
+012321_000003:[]
+012310_000004:[]
+015026_000006:[]
+009578_000037:[4, 6, 12]
+013578_000015:[13]
+017499_000014:[]
+005619_000004:[]
+015929_000017:[]
+009539_000032:[]
+010336_000020:[5]
+006215_000004:[]
+006523_000037:[]
+008454_000026:[]
+006355_000023:[]
+012968_000037:[]
+016203_000021:[4]
+018357_000030:[]
+002693_000021:[]
+023392_000025:[13]
+015521_000039:[]
+007332_000008:[4, 8, 12, 13, 19]
+007510_000014:[9, 13, 14, 16]
+010156_000002:[]
+015061_000025:[6]
+006540_000025:[]
+013909_000020:[12, 19]
+023985_000006:[]
+017486_000025:[1, 5, 13]
+021130_000039:[]
+009614_000032:[14]
+012064_000029:[]
+010055_000017:[]
+011209_000015:[12]
+023732_000014:[14, 16]
+000054_000034:[12]
+010266_000022:[10]
+016330_000008:[4, 6]
+020156_000002:[]
+011005_000000:[]
+006273_000033:[6]
+020331_000029:[]
+015437_000006:[]
+003519_000022:[2]
+023971_000010:[]
+001489_000039:[]
+017564_000032:[2, 6, 13]
+021279_000016:[]
+016090_000032:[16]
+020357_000035:[]
+005697_000028:[]
+003504_000020:[9, 17]
+018160_000011:[3, 9, 16]
+023136_000003:[]
+003650_000031:[]
+007088_000004:[13]
+001987_000003:[]
+004966_000008:[0, 5]
+003104_000026:[]
+006119_000016:[1, 18]
+013831_000005:[9]
+018103_000020:[]
+021793_000002:[3, 4, 9, 10]
+005341_000011:[5]
+023742_000029:[]
+007392_000031:[13]
+009350_000001:[]
+011381_000006:[]
+023586_000023:[]
+019155_000022:[]
+024950_000025:[]
+006505_000034:[]
+021643_000027:[]
+000386_000001:[]
+010249_000026:[]
+022955_000024:[17]
+021322_000029:[]
+019602_000036:[]
+008047_000015:[]
+012744_000004:[]
+011682_000017:[]
+022380_000024:[]
+005883_000030:[]
+003931_000021:[9, 10, 12]
+003667_000014:[]
+007276_000016:[7, 10]
+008489_000010:[4, 6, 9, 10, 11]
+011948_000018:[]
+003653_000017:[]
+014361_000013:[]
+003257_000024:[]
+013003_000018:[17]
+005590_000013:[10, 14]
+013213_000032:[]
+005631_000038:[18]
+013271_000036:[0]
+008565_000012:[]
+000300_000011:[]
+001971_000034:[]
+021499_000000:[]
+018061_000013:[]
+012147_000032:[]
+002755_000033:[]
+011680_000006:[]
+005559_000001:[5]
+013821_000008:[]
+024761_000033:[]
+015874_000003:[]
+019838_000030:[]
+022240_000014:[16]
+023763_000003:[]
+001783_000033:[7]
+000974_000025:[17]
+006791_000010:[]
+021185_000029:[]
+012320_000027:[15]
+014804_000016:[9]
+014518_000002:[12, 18]
+023626_000023:[9]
+003135_000015:[2]
+019256_000031:[1, 5]
+003380_000030:[5]
+009178_000014:[8, 16]
+001093_000018:[4, 19]
+005321_000032:[7, 10]
+024262_000009:[]
+008504_000022:[2, 10]
+019613_000000:[8]
+002548_000010:[]
+019925_000018:[]
+010916_000009:[]
+010367_000004:[]
+008343_000016:[]
+022746_000006:[]
+011347_000013:[]
+014321_000005:[3, 8, 12]
+001274_000032:[]
+008971_000028:[3]
+015418_000028:[]
+000908_000018:[5, 12, 13, 16]
+008372_000006:[]
+022601_000010:[]
+003887_000014:[2]
+010056_000007:[0, 2, 8, 15, 19]
+009538_000001:[]
+003951_000028:[7, 12, 19]
+012681_000009:[2]
+022898_000023:[3]
+009945_000009:[]
+013321_000015:[12]
+016796_000018:[17]
+011662_000014:[]
+006962_000032:[2, 4]
+020888_000022:[9, 14]
+015434_000034:[6]
+020600_000013:[3, 5, 14, 16, 17, 18]
+006251_000008:[]
+000238_000037:[16]
+014166_000036:[]
+012620_000000:[]
+024481_000038:[7]
+001548_000005:[1, 6]
+016517_000008:[6, 19]
+008943_000011:[]
+006887_000023:[]
+009268_000008:[]
+006686_000030:[6, 16]
+023485_000013:[]
+018131_000026:[11]
+009180_000022:[8]
+009232_000022:[]
+022436_000013:[11, 16, 19]
+014982_000015:[]
+014253_000004:[]
+002024_000005:[]
+022694_000016:[]
+001965_000017:[]
+022809_000019:[]
+007740_000026:[]
+018525_000037:[9]
+010618_000027:[]
+016587_000002:[]
+017759_000031:[6, 10]
+023060_000017:[]
+024218_000016:[]
+014833_000003:[]
+003622_000021:[7]
+013807_000029:[]
+012768_000029:[]
+013628_000025:[]
+019990_000024:[]
+006048_000034:[11]
+011867_000023:[]
+015583_000024:[8, 16]
+007116_000035:[]
+011568_000028:[13]
+024070_000017:[]
+022905_000012:[]
+005041_000039:[]
+013353_000025:[]
+021520_000032:[11]
+004537_000034:[17]
+018777_000036:[8]
+002188_000032:[1]
+004799_000016:[]
+003681_000010:[]
+008251_000007:[19]
+003135_000021:[]
+003295_000026:[0, 1, 10, 11, 14, 19]
+001188_000004:[0, 16]
+006387_000011:[7]
+016231_000025:[]
+002588_000024:[]
+019295_000006:[]
+011723_000032:[8]
+003211_000016:[]
+018345_000010:[1]
+013538_000024:[7]
+006193_000007:[15, 19]
+007502_000026:[14, 15]
+016709_000030:[]
+017525_000027:[11, 13, 16]
+022414_000037:[]
+000483_000027:[]
+011249_000031:[]
+016409_000016:[]
+006497_000002:[]
+021007_000003:[]
+008166_000011:[]
+022702_000023:[14]
+007655_000005:[]
+023108_000017:[3]
+017760_000024:[]
+023434_000010:[]
+002776_000033:[]
+014311_000020:[]
+004399_000022:[]
+012547_000023:[]
+008841_000012:[11]
+010357_000019:[0]
+000350_000026:[0]
+013483_000005:[4, 11, 18]
+010281_000015:[]
+021832_000001:[]
+000361_000006:[2, 6, 10, 15, 16]
+020785_000023:[]
+016507_000029:[]
+023885_000039:[]
+005677_000005:[]
+013344_000022:[]
+018348_000022:[5, 7, 12, 16]
+004941_000025:[]
+022737_000009:[]
+005869_000030:[]
+006498_000036:[]
+015621_000003:[]
+015649_000026:[11]
+010810_000007:[4]
+003095_000015:[]
+021281_000000:[]
+004325_000038:[2, 5, 8, 9, 10, 12, 13, 17, 18, 19]
+019402_000031:[0, 3, 11, 15]
+011842_000020:[]
+022583_000000:[]
+014851_000032:[12, 13]
+004765_000021:[]
+013574_000020:[]
+008615_000011:[]
+006193_000014:[8, 15]
+013793_000013:[]
+003163_000009:[0, 1, 12]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000071_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000071_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6554a1d64a3e2d77dd1497eb201e22ee761d4517
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000071_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+013954_000031:[]
+009421_000010:[]
+019553_000004:[11]
+003739_000012:[]
+009489_000025:[]
+007764_000012:[19]
+019001_000011:[]
+001955_000005:[]
+017059_000030:[]
+010242_000004:[10, 15]
+018120_000038:[10, 15]
+022219_000033:[]
+014238_000020:[3]
+022847_000005:[]
+000937_000026:[5]
+002649_000026:[]
+014485_000039:[7]
+015691_000003:[]
+000358_000004:[]
+010003_000016:[]
+003274_000005:[10, 13]
+024950_000037:[]
+010853_000014:[]
+012681_000001:[2, 15]
+016379_000026:[]
+002803_000011:[10]
+000621_000037:[2, 7, 13, 15, 16]
+002115_000034:[4, 13, 15]
+015248_000003:[9, 17]
+021447_000021:[]
+017673_000008:[4, 17]
+024973_000004:[10, 11, 13]
+018611_000038:[10]
+020882_000017:[]
+005283_000027:[]
+011727_000036:[]
+021182_000013:[]
+013656_000029:[18, 19]
+014785_000033:[]
+011654_000035:[]
+005227_000000:[]
+023197_000004:[]
+001672_000010:[1]
+001492_000018:[19]
+023122_000002:[]
+002872_000024:[]
+009144_000004:[16]
+000665_000025:[9]
+004421_000019:[2, 3]
+006867_000017:[6, 9, 13]
+014430_000000:[]
+001505_000019:[]
+002362_000031:[]
+022716_000018:[]
+010001_000031:[]
+020907_000007:[]
+006919_000028:[]
+013146_000025:[7]
+015952_000006:[]
+005853_000005:[]
+014893_000004:[14]
+008715_000009:[]
+021893_000027:[]
+007421_000031:[]
+005032_000024:[14]
+024433_000035:[]
+001134_000025:[]
+024527_000020:[2, 7, 8, 17]
+010840_000019:[10]
+024046_000033:[]
+010740_000039:[]
+023422_000035:[]
+019237_000010:[]
+001265_000007:[16]
+021532_000015:[]
+024332_000030:[12, 13, 14]
+020152_000005:[]
+009132_000025:[12]
+006797_000030:[]
+003433_000012:[6]
+022945_000019:[0, 1, 2, 4, 6, 7, 9, 13, 18]
+003881_000011:[5]
+013098_000017:[13]
+000206_000026:[]
+020238_000007:[]
+022977_000011:[]
+000377_000030:[]
+016562_000014:[]
+002048_000036:[5, 9]
+003882_000022:[]
+013629_000004:[]
+009349_000003:[]
+015843_000001:[]
+018820_000010:[]
+008244_000019:[]
+022093_000036:[]
+019751_000017:[]
+012766_000039:[]
+009701_000032:[]
+024948_000024:[]
+019222_000033:[11]
+020459_000026:[0]
+014226_000009:[0, 2, 4]
+016368_000017:[]
+009097_000027:[3, 7]
+018093_000033:[]
+021809_000013:[3]
+000528_000008:[2]
+009303_000007:[]
+010060_000012:[]
+012910_000000:[]
+023277_000007:[]
+018469_000027:[]
+003538_000038:[0, 3]
+019058_000004:[]
+022213_000025:[19]
+018321_000039:[]
+019165_000026:[3, 12, 15]
+023199_000034:[]
+022163_000007:[]
+017994_000033:[17]
+015941_000008:[]
+001189_000035:[]
+002851_000009:[]
+009902_000020:[1]
+004456_000015:[]
+000266_000025:[6]
+001692_000015:[]
+017273_000004:[0, 6, 12]
+024784_000023:[14]
+022595_000019:[]
+007625_000007:[]
+004339_000028:[]
+009749_000036:[]
+022811_000008:[1, 2, 4]
+006866_000007:[]
+009960_000022:[]
+013542_000030:[11, 12]
+013369_000032:[]
+006650_000014:[0, 11, 18]
+017845_000028:[3]
+015122_000017:[]
+018804_000016:[]
+012750_000034:[]
+009242_000022:[]
+017572_000011:[7]
+014618_000013:[4, 7, 9, 11, 15]
+014118_000039:[]
+021337_000003:[]
+006258_000019:[]
+005190_000007:[]
+016335_000012:[2, 5, 10, 19]
+007954_000010:[]
+008199_000032:[5]
+000156_000026:[5, 6, 10]
+020407_000008:[0, 18]
+013049_000034:[]
+008976_000019:[]
+018640_000028:[0, 13]
+004316_000033:[10]
+001752_000033:[]
+019243_000036:[]
+002332_000005:[]
+007541_000031:[]
+017630_000007:[]
+001462_000004:[]
+012480_000010:[3]
+022325_000027:[13]
+019183_000014:[8, 10]
+005563_000035:[]
+002065_000028:[7]
+009527_000010:[2, 9]
+021577_000029:[4]
+024473_000028:[]
+001619_000013:[]
+017972_000004:[]
+007053_000009:[4, 14]
+020599_000031:[]
+003464_000015:[]
+011489_000010:[17]
+015967_000001:[]
+012939_000004:[]
+023413_000029:[]
+024440_000019:[]
+004737_000015:[3, 13]
+000331_000013:[]
+004423_000009:[]
+024382_000022:[]
+002836_000000:[3, 7, 8, 13, 16, 19]
+012267_000037:[]
+024382_000018:[]
+009995_000016:[]
+001280_000031:[]
+022084_000001:[8]
+010760_000005:[3]
+014777_000002:[]
+003669_000034:[6]
+019715_000018:[13, 14]
+016500_000009:[3, 13]
+009228_000006:[]
+021084_000031:[0, 4, 6, 14]
+004496_000027:[]
+019717_000027:[]
+018505_000025:[]
+010717_000038:[]
+011453_000019:[]
+010640_000001:[]
+000765_000033:[]
+013264_000025:[]
+002407_000007:[14]
+003842_000038:[14]
+003473_000018:[1, 15, 17]
+022211_000013:[]
+000742_000002:[0, 1, 3, 6, 9, 10, 11, 13, 15, 18]
+014644_000001:[11]
+007474_000007:[4, 6, 8, 14]
+016601_000023:[5]
+016805_000014:[]
+019850_000015:[18]
+019599_000000:[]
+003408_000020:[]
+012248_000017:[]
+001840_000003:[]
+000798_000027:[1, 3, 7]
+013511_000013:[]
+020414_000023:[]
+007896_000014:[]
+011126_000010:[]
+011665_000030:[]
+000034_000029:[]
+002604_000015:[15]
+006328_000032:[7, 11, 12, 19]
+021019_000000:[]
+013771_000030:[]
+006595_000009:[]
+023956_000011:[4]
+009940_000038:[1, 3, 9, 10, 14]
+017880_000033:[6]
+007513_000013:[]
+022742_000014:[]
+019661_000028:[0, 1]
+002463_000034:[]
+005483_000025:[]
+008274_000033:[]
+022940_000019:[]
+006930_000005:[13]
+014885_000018:[]
+010673_000018:[]
+001314_000016:[]
+000857_000000:[]
+016154_000019:[]
+018425_000005:[]
+019073_000034:[]
+017719_000012:[]
+001788_000012:[1, 5, 7, 16, 18]
+002783_000021:[5, 7, 8, 14, 15]
+021336_000005:[2, 11]
+023490_000023:[]
+008743_000009:[4]
+017277_000019:[]
+003956_000000:[]
+001593_000015:[]
+021153_000005:[]
+007561_000037:[7, 19]
+019515_000027:[0, 5, 19]
+018941_000036:[]
+013373_000009:[5, 17]
+021154_000023:[19]
+010571_000034:[9]
+022127_000034:[]
+014318_000023:[10]
+021746_000006:[]
+012109_000006:[]
+017608_000022:[]
+023550_000034:[0, 1, 2, 3, 4, 8, 11, 14, 19]
+023558_000032:[1, 17]
+009385_000037:[6, 15]
+019336_000006:[]
+017756_000013:[]
+006106_000015:[18]
+012004_000019:[]
+014919_000039:[]
+007545_000000:[1]
+017800_000038:[6]
+000789_000032:[15]
+012460_000027:[5, 7, 18]
+011407_000014:[]
+010286_000039:[]
+006880_000038:[]
+006925_000026:[]
+012879_000025:[]
+003822_000034:[]
+023575_000019:[3]
+008078_000006:[9, 16, 18]
+022618_000006:[3, 13]
+018993_000002:[]
+007264_000005:[]
+013510_000017:[]
+009008_000024:[1, 4, 6, 10, 11, 12, 15]
+013526_000033:[]
+011304_000006:[]
+014260_000007:[9, 17]
+012387_000025:[]
+007061_000028:[]
+012913_000007:[0, 2, 11, 14, 16, 18]
+005195_000013:[3, 9, 11]
+002745_000012:[14]
+019469_000023:[6]
+001847_000006:[]
+020568_000037:[4, 8]
+008732_000000:[]
+023888_000013:[]
+018460_000001:[0]
+022367_000036:[]
+010978_000008:[17]
+001668_000024:[16]
+014420_000001:[7]
+009461_000014:[5]
+013552_000033:[]
+016927_000037:[]
+015412_000000:[10, 18]
+000487_000026:[2]
+003721_000037:[]
+009220_000038:[7]
+007598_000010:[5, 6, 9]
+012569_000008:[3, 17]
+001506_000015:[]
+015674_000021:[]
+005490_000029:[0, 1, 9, 13]
+014777_000010:[3]
+001415_000031:[1, 3, 14, 15]
+011537_000029:[7, 11]
+024607_000002:[]
+010733_000012:[]
+024098_000002:[]
+005241_000001:[]
+018624_000016:[]
+021302_000006:[]
+023762_000027:[]
+016280_000036:[18]
+001136_000009:[9, 18]
+023981_000029:[]
+022271_000003:[5]
+023450_000002:[]
+022522_000005:[18]
+011211_000009:[]
+016230_000015:[3]
+006828_000006:[0, 14]
+007248_000027:[5, 16]
+023966_000028:[]
+022598_000038:[]
+020553_000030:[]
+002973_000019:[]
+003615_000026:[]
+004781_000027:[]
+015845_000019:[]
+022490_000034:[15]
+015041_000035:[]
+016793_000006:[2, 5, 11]
+024006_000036:[0, 4, 5, 18]
+012881_000001:[]
+006858_000025:[]
+001430_000035:[11]
+003907_000037:[]
+001288_000006:[]
+003515_000022:[1]
+002691_000000:[14]
+018338_000039:[0, 1, 9, 11, 15]
+008460_000000:[]
+017511_000001:[]
+024673_000011:[9, 13]
+020269_000005:[16]
+005811_000013:[]
+015800_000027:[16]
+023066_000000:[]
+008685_000002:[]
+015127_000025:[]
+000340_000003:[]
+002389_000027:[]
+009771_000036:[]
+003183_000004:[2, 6, 8, 10]
+007729_000003:[]
+004775_000032:[]
+012923_000009:[5]
+019061_000016:[]
+009057_000010:[18]
+013809_000022:[1]
+019190_000033:[]
+015232_000038:[]
+004474_000002:[0, 6, 7, 10, 11, 16]
+011606_000020:[]
+007024_000020:[4, 8]
+006767_000009:[6, 7, 8, 9, 10, 17]
+008685_000011:[11, 15]
+010944_000027:[]
+007696_000002:[]
+024253_000034:[17]
+022834_000039:[]
+004277_000033:[]
+000600_000037:[7, 10, 12, 17]
+010218_000026:[]
+012569_000005:[]
+003278_000032:[]
+013993_000023:[]
+006684_000015:[17, 19]
+017874_000001:[]
+023593_000024:[]
+005251_000002:[]
+002187_000033:[]
+017338_000035:[]
+010225_000006:[1, 8]
+017999_000011:[]
+002307_000002:[]
+003033_000031:[]
+015125_000024:[]
+022686_000025:[2, 4, 11]
+018478_000018:[10]
+015006_000035:[13]
+005595_000024:[]
+017123_000037:[]
+013978_000016:[]
+019233_000021:[3, 12]
+019221_000014:[]
+002655_000012:[8]
+006386_000002:[5]
+010933_000022:[11]
+013313_000027:[]
+014751_000039:[0]
+019451_000037:[]
+010021_000008:[1, 13]
+004026_000027:[]
+012810_000000:[]
+016271_000023:[9, 11]
+001070_000025:[]
+003346_000022:[3, 16]
+024264_000018:[]
+013839_000014:[]
+023906_000014:[]
+017382_000023:[]
+019173_000036:[]
+004526_000014:[0, 10, 19]
+010757_000031:[6]
+007045_000005:[14]
+022414_000038:[]
+023833_000034:[11, 12, 14, 16]
+019371_000007:[5, 8]
+020538_000039:[]
+024896_000027:[]
+006872_000018:[]
+009851_000012:[1, 2]
+016743_000015:[]
+005724_000029:[]
+005928_000030:[4, 5]
+008403_000005:[8]
+012320_000000:[]
+011647_000027:[]
+001439_000002:[2, 3]
+014741_000008:[]
+003812_000039:[]
+017614_000027:[]
+007037_000020:[]
+024340_000005:[]
+009847_000037:[13, 19]
+019840_000012:[]
+011061_000006:[]
+008520_000021:[5]
+019825_000015:[]
+018717_000001:[19]
+020927_000021:[2]
+021598_000000:[0, 2, 6, 8, 9, 10, 11, 17]
+019516_000009:[]
+008842_000013:[1]
+022772_000000:[5]
+016761_000023:[]
+016505_000033:[7, 11, 17]
+020943_000030:[]
+005907_000003:[]
+009590_000009:[0]
+011313_000039:[]
+011144_000006:[]
+003675_000019:[6]
+000408_000008:[]
+003970_000011:[14, 15]
+019867_000001:[0]
+003269_000035:[]
+016823_000010:[]
+021361_000036:[]
+023077_000006:[14]
+012318_000036:[]
+003631_000010:[]
+009401_000038:[18]
+021534_000007:[]
+002590_000005:[]
+002664_000010:[]
+008331_000010:[1, 17]
+012110_000004:[]
+004043_000021:[3]
+008694_000000:[]
+015718_000006:[8]
+020156_000034:[4, 8, 11, 12, 14, 16]
+021138_000023:[]
+002605_000033:[7]
+017481_000032:[]
+013125_000016:[4, 17]
+016860_000010:[]
+018400_000024:[]
+011000_000013:[1, 12, 17]
+021372_000020:[]
+009675_000037:[]
+024928_000026:[]
+010883_000000:[]
+019610_000006:[]
+009647_000028:[]
+006351_000039:[0, 3, 5]
+004144_000019:[]
+017115_000023:[]
+010149_000011:[]
+007745_000024:[]
+003940_000011:[]
+012808_000030:[]
+019397_000017:[]
+012619_000003:[]
+018367_000035:[]
+017075_000028:[]
+008046_000009:[6]
+020803_000017:[]
+021469_000005:[]
+019588_000018:[12, 13, 14]
+013145_000003:[]
+024930_000013:[1, 3, 5, 16]
+017439_000024:[]
+019590_000015:[6]
+005770_000015:[]
+017674_000033:[8]
+023119_000016:[]
+024838_000001:[5]
+012986_000017:[]
+024777_000006:[]
+007838_000009:[]
+023520_000017:[]
+007655_000018:[9]
+003282_000027:[]
+014599_000035:[]
+020748_000037:[14, 15]
+017950_000028:[1, 2, 3, 4, 5, 9]
+017651_000004:[]
+007024_000032:[]
+022037_000022:[]
+015361_000009:[]
+023774_000006:[]
+008908_000009:[]
+007317_000025:[2, 7, 9, 13]
+016376_000034:[14]
+014594_000034:[]
+024238_000015:[]
+005268_000032:[]
+000680_000033:[]
+015391_000006:[]
+022357_000003:[5, 18]
+017311_000028:[17]
+015603_000038:[]
+017375_000008:[3, 13]
+023356_000010:[1, 3, 4, 8, 11, 12, 13, 15, 16, 17]
+020715_000028:[]
+001593_000037:[4]
+023582_000006:[0, 12]
+013791_000001:[9]
+007620_000009:[]
+004411_000009:[3]
+004158_000027:[0, 9, 11, 12]
+020724_000037:[]
+003524_000005:[]
+004196_000022:[]
+000450_000017:[]
+015759_000026:[7, 8]
+024967_000033:[]
+015969_000004:[]
+015560_000030:[]
+008662_000000:[7, 14, 16, 18]
+018208_000006:[14, 18]
+005137_000002:[]
+016370_000036:[]
+000034_000013:[3, 6, 13]
+011671_000038:[0]
+019032_000023:[]
+001025_000021:[]
+003042_000036:[]
+012555_000002:[]
+002111_000030:[12]
+000351_000005:[]
+006104_000003:[]
+002316_000022:[]
+006361_000023:[12]
+019452_000014:[1, 3, 4, 10, 17]
+011921_000034:[]
+011729_000024:[]
+024353_000004:[]
+023847_000034:[]
+012957_000005:[]
+011116_000024:[]
+024978_000012:[2, 3]
+002703_000036:[]
+023023_000007:[3]
+018783_000013:[]
+003920_000002:[5]
+017434_000022:[]
+022718_000039:[]
+002703_000009:[]
+022485_000028:[12]
+010409_000036:[0, 10]
+021640_000001:[]
+008010_000036:[]
+003223_000020:[3, 5]
+008433_000035:[15]
+015647_000019:[3, 4, 7, 17, 18]
+015314_000018:[]
+002955_000027:[]
+020184_000013:[]
+005617_000018:[6, 14]
+012303_000036:[0, 16]
+022009_000034:[]
+018378_000018:[]
+001664_000001:[4]
+020239_000002:[]
+001931_000021:[9, 13]
+013592_000001:[]
+018682_000010:[]
+000243_000022:[2]
+023454_000018:[0, 10]
+018676_000012:[9, 10]
+021304_000015:[]
+019407_000009:[3]
+021623_000015:[]
+022717_000016:[10]
+022301_000024:[15]
+017079_000004:[6]
+021360_000006:[]
+009014_000018:[]
+019293_000026:[]
+020769_000014:[]
+011755_000011:[]
+005295_000031:[6, 8]
+018819_000005:[]
+005659_000012:[]
+001491_000039:[]
+009069_000016:[]
+002180_000018:[5]
+000820_000010:[16, 19]
+002393_000027:[]
+005916_000021:[0, 17]
+007333_000009:[0, 16]
+019395_000037:[]
+000382_000015:[]
+017517_000036:[]
+015343_000037:[]
+021393_000017:[]
+007727_000021:[]
+009045_000028:[0, 15]
+004028_000031:[]
+013252_000010:[]
+015089_000031:[4, 12, 19]
+013563_000032:[7]
+012805_000024:[]
+011482_000019:[6, 16, 19]
+000132_000014:[]
+024953_000017:[1, 3, 19]
+010281_000033:[]
+020420_000012:[]
+014297_000032:[]
+011832_000034:[19]
+024144_000025:[]
+022362_000035:[]
+011048_000011:[]
+010742_000017:[9, 14, 18]
+012012_000025:[]
+013636_000006:[]
+016029_000016:[1, 19]
+012735_000033:[]
+009114_000005:[]
+019878_000038:[]
+012187_000012:[]
+001206_000011:[]
+000691_000037:[]
+004055_000035:[]
+020418_000026:[]
+021847_000030:[]
+019924_000036:[9]
+021745_000030:[13]
+019597_000038:[]
+006970_000031:[]
+007166_000030:[]
+012986_000009:[0]
+007965_000024:[]
+021016_000013:[0]
+024202_000002:[]
+001028_000010:[]
+007776_000002:[11]
+017356_000013:[]
+001318_000022:[]
+020224_000035:[]
+015822_000015:[]
+006933_000005:[]
+022697_000029:[]
+001017_000012:[]
+017364_000000:[]
+017654_000030:[]
+019175_000007:[]
+012247_000009:[]
+014832_000012:[]
+024429_000019:[]
+002861_000037:[]
+002505_000009:[5, 17]
+010835_000027:[7, 8]
+007225_000013:[11, 17]
+014412_000015:[]
+017492_000023:[]
+001057_000001:[]
+020710_000015:[]
+005582_000001:[]
+004482_000033:[18]
+018834_000035:[]
+002888_000002:[1, 4, 19]
+024729_000028:[3, 17]
+001195_000012:[]
+024314_000022:[]
+023052_000009:[]
+011899_000037:[]
+009679_000016:[]
+024699_000016:[]
+000663_000006:[]
+011761_000009:[]
+000659_000037:[]
+023235_000003:[]
+013548_000010:[5]
+012990_000010:[7]
+020266_000029:[12]
+016535_000026:[7, 19]
+007933_000008:[]
+017646_000030:[]
+006925_000018:[]
+000070_000030:[]
+006142_000022:[3, 11, 14, 16]
+010191_000036:[]
+020384_000038:[17]
+004043_000031:[3]
+021865_000032:[]
+019656_000015:[]
+000093_000018:[]
+024265_000025:[]
+015097_000014:[]
+013322_000007:[]
+010801_000011:[14]
+023528_000016:[17]
+008456_000017:[]
+010270_000012:[]
+004768_000033:[]
+005466_000005:[]
+000703_000034:[]
+018253_000019:[]
+024642_000007:[]
+016693_000000:[1]
+010967_000031:[8, 11, 16, 18]
+019607_000020:[]
+019255_000009:[1, 8, 9, 13]
+002240_000031:[]
+023665_000014:[]
+005157_000015:[0]
+023358_000014:[16]
+020757_000004:[]
+022643_000022:[]
+003416_000017:[19]
+011525_000016:[]
+017890_000032:[]
+019627_000021:[8, 12]
+011221_000004:[]
+002983_000019:[]
+001322_000036:[]
+023411_000028:[]
+009409_000037:[]
+022269_000009:[4, 11]
+018537_000004:[3]
+015163_000038:[0, 11]
+020447_000028:[]
+018279_000023:[9, 19]
+003733_000021:[]
+020693_000015:[]
+001383_000029:[]
+002552_000027:[]
+005494_000006:[]
+020476_000023:[]
+014252_000011:[]
+002649_000015:[]
+001308_000035:[6, 11, 13, 14]
+005943_000023:[]
+004831_000025:[]
+011159_000009:[7]
+012110_000039:[]
+011865_000012:[]
+012488_000030:[]
+022243_000035:[]
+007410_000037:[]
+014229_000038:[]
+019465_000036:[]
+017156_000034:[]
+006392_000023:[]
+010539_000016:[]
+005363_000012:[6]
+002417_000028:[]
+009660_000027:[]
+011864_000026:[]
+015042_000007:[6, 19]
+004112_000037:[4, 13, 18]
+020457_000030:[]
+010065_000005:[]
+004928_000030:[]
+010562_000006:[8]
+019851_000029:[16]
+007427_000013:[]
+004632_000022:[]
+008852_000038:[]
+000573_000031:[10, 19]
+004272_000027:[]
+019402_000020:[0, 4]
+006271_000012:[3, 6, 11, 16, 19]
+007659_000015:[]
+021810_000039:[]
+015503_000012:[]
+019205_000006:[0, 4, 6, 11, 12, 16]
+018546_000014:[]
+013707_000023:[6, 7, 13]
+017122_000034:[]
+001290_000015:[]
+012105_000001:[6, 8, 17]
+005026_000025:[]
+010694_000014:[]
+017820_000032:[0, 3, 6, 7, 18, 19]
+009754_000036:[]
+003050_000021:[]
+006301_000004:[]
+021086_000039:[]
+011113_000038:[3, 6]
+013212_000011:[1]
+021387_000037:[]
+010454_000014:[]
+002404_000012:[6]
+006723_000028:[]
+002998_000020:[]
+010899_000032:[]
+000908_000012:[16]
+022846_000020:[]
+014601_000035:[]
+001187_000020:[]
+000832_000032:[]
+016638_000010:[12]
+020467_000018:[]
+011033_000009:[7]
+019548_000039:[]
+007604_000002:[]
+012987_000016:[5]
+004700_000020:[7, 13]
+011307_000017:[]
+000067_000033:[]
+002832_000025:[1, 6]
+007302_000000:[0]
+012983_000033:[4]
+011564_000020:[10, 13]
+022133_000034:[]
+023100_000031:[]
+002956_000008:[8, 12, 19]
+003090_000031:[]
+008424_000009:[]
+009662_000006:[]
+024219_000034:[10, 11]
+008561_000032:[6, 10, 17]
+013542_000039:[]
+012613_000024:[4]
+024310_000031:[3, 9]
+023163_000012:[3, 8]
+007283_000006:[17]
+004416_000022:[]
+020614_000038:[0, 6, 10, 11, 13, 14, 15, 16]
+010773_000000:[]
+005222_000030:[1, 8]
+007642_000000:[]
+019960_000033:[]
+003940_000012:[]
+002345_000022:[]
+019831_000037:[19]
+021892_000001:[]
+002926_000022:[6, 9, 12, 14, 18]
+015615_000033:[0, 2, 4, 9, 14, 18]
+006820_000039:[3, 10]
+001948_000015:[1]
+010087_000037:[]
+000957_000021:[5]
+021898_000019:[]
+014570_000028:[0, 1, 3, 14, 15, 18]
+007168_000020:[14]
+023503_000034:[]
+013564_000027:[]
+016316_000001:[]
+014894_000025:[5, 10, 18, 19]
+021069_000036:[]
+002004_000001:[]
+010477_000021:[]
+014684_000024:[6]
+001913_000003:[]
+004925_000025:[15]
+024873_000011:[]
+017416_000026:[]
+014261_000002:[]
+004049_000026:[14]
+020771_000036:[]
+016990_000037:[4]
+000487_000008:[14]
+017318_000020:[]
+018563_000015:[0, 4, 10, 16, 19]
+018469_000018:[0, 1, 8, 11, 12, 14, 18]
+018047_000010:[]
+004643_000015:[]
+008714_000028:[2, 4, 6, 12, 13, 16]
+004210_000036:[17, 19]
+012187_000034:[]
+021708_000013:[]
+016601_000016:[]
+019648_000027:[]
+021162_000028:[]
+012536_000019:[3, 15]
+003710_000032:[]
+012159_000039:[]
+012660_000011:[]
+002626_000007:[10, 16]
+004669_000034:[]
+024272_000039:[]
+019914_000001:[17]
+012116_000030:[0]
+021971_000023:[]
+000289_000033:[14]
+001400_000002:[]
+013476_000028:[]
+013226_000016:[]
+014732_000013:[9, 15]
+021109_000007:[2, 7, 9, 14]
+002410_000026:[]
+023087_000004:[]
+012512_000009:[]
+021963_000002:[10, 16, 17]
+018952_000019:[19]
+017708_000007:[]
+001998_000028:[]
+017156_000037:[]
+019425_000017:[0, 17]
+015664_000037:[15]
+024592_000026:[]
+009276_000008:[0, 1, 2, 5, 16]
+017386_000013:[]
+009766_000012:[]
+024015_000008:[]
+000506_000039:[7, 11]
+024182_000023:[]
+006409_000003:[]
+004762_000008:[2, 3, 6, 15, 17]
+004325_000019:[2]
+022134_000028:[]
+017491_000030:[1, 16, 18]
+012205_000018:[]
+007866_000006:[]
+012167_000025:[]
+009594_000019:[6]
+010957_000008:[6, 19]
+019133_000020:[13]
+000865_000035:[2, 14, 17, 19]
+016719_000022:[]
+009195_000006:[]
+022145_000031:[]
+009161_000005:[]
+000396_000035:[]
+022715_000014:[]
+010816_000024:[]
+004253_000021:[]
+010514_000002:[]
+003144_000023:[]
+001477_000004:[]
+001326_000005:[1]
+023361_000004:[17]
+006329_000021:[]
+009294_000039:[]
+006256_000028:[13]
+001322_000010:[]
+006177_000036:[13]
+022613_000021:[]
+022466_000025:[]
+018146_000025:[6, 13]
+015206_000025:[]
+013767_000015:[]
+007093_000039:[]
+002201_000027:[11, 17]
+007592_000014:[0, 3, 4, 5, 14, 16]
+019981_000026:[]
+015406_000007:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000082_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000082_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bc3b2e187875f7ec00c7e9fd02b73d481927c22a
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000082_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+006468_000033:[]
+011547_000017:[]
+004830_000000:[10, 14]
+015358_000010:[4, 10]
+001851_000010:[1, 2]
+007225_000003:[]
+002674_000024:[]
+024776_000025:[]
+022305_000021:[5, 10]
+015328_000010:[]
+006827_000000:[]
+022367_000030:[]
+024258_000010:[]
+010755_000034:[]
+011929_000037:[4]
+013072_000030:[16, 18, 19]
+005290_000023:[0, 7]
+006518_000038:[]
+004561_000008:[0]
+013473_000012:[]
+006156_000032:[]
+007349_000032:[12]
+016738_000013:[]
+011214_000022:[18]
+019013_000039:[]
+021740_000030:[]
+024487_000019:[]
+011083_000008:[0, 8, 15, 17]
+002891_000021:[]
+016626_000033:[]
+013323_000014:[]
+000147_000000:[]
+021020_000037:[]
+013184_000025:[]
+014595_000011:[]
+007831_000002:[12]
+007184_000028:[15]
+019161_000007:[1]
+014490_000030:[15]
+011873_000020:[3]
+015719_000027:[]
+014868_000038:[12]
+010300_000002:[17, 18]
+006300_000006:[]
+003424_000009:[]
+006147_000019:[]
+009155_000038:[1]
+007451_000019:[]
+024961_000024:[3, 9, 11]
+011548_000024:[2, 5, 13, 15, 19]
+009879_000033:[5, 8, 10, 12, 19]
+008963_000011:[]
+001720_000013:[]
+007133_000038:[14]
+023811_000021:[]
+016229_000013:[3, 4]
+020394_000035:[]
+006518_000025:[]
+005872_000030:[]
+008973_000036:[0, 10, 19]
+014798_000028:[]
+017324_000039:[7]
+011536_000011:[3]
+012344_000026:[4, 6, 7, 11, 17, 18, 19]
+004771_000018:[]
+018648_000028:[]
+024786_000014:[]
+002496_000017:[15, 19]
+015992_000038:[]
+015108_000039:[9, 15]
+009965_000031:[4, 17]
+004344_000030:[]
+018131_000009:[]
+001116_000006:[9]
+020457_000026:[]
+020030_000031:[1, 6]
+006997_000022:[]
+010550_000037:[]
+010347_000038:[]
+023148_000022:[4, 8, 15]
+009020_000031:[0, 7]
+003340_000026:[]
+020224_000012:[7]
+010905_000008:[]
+023890_000005:[18]
+018474_000037:[16, 17]
+013485_000023:[]
+023985_000023:[]
+024351_000004:[]
+003003_000039:[5, 6, 10]
+015403_000018:[]
+001037_000000:[]
+013090_000013:[]
+022589_000013:[]
+017768_000005:[]
+022179_000003:[4]
+014794_000035:[]
+022856_000005:[]
+019861_000011:[]
+008929_000039:[13]
+021106_000013:[]
+018958_000037:[]
+003253_000033:[]
+010894_000007:[]
+012578_000030:[11]
+008425_000031:[]
+021939_000031:[]
+009185_000004:[]
+015990_000033:[]
+006345_000035:[4, 7]
+024554_000035:[19]
+010562_000009:[]
+024802_000016:[]
+008498_000002:[]
+020260_000023:[]
+000484_000002:[]
+023466_000030:[15]
+010192_000032:[9]
+015437_000019:[]
+011763_000036:[1, 18]
+007429_000015:[11]
+002357_000024:[6, 7, 9, 10, 12, 13]
+001585_000019:[0, 1, 3, 9, 10, 15]
+000411_000024:[]
+008834_000008:[16, 17]
+009234_000003:[]
+024342_000003:[1, 6]
+009104_000010:[9, 19]
+000412_000004:[5]
+018244_000014:[]
+022656_000035:[]
+017767_000024:[]
+015394_000004:[0, 3, 4]
+023513_000021:[]
+009871_000009:[16]
+003498_000008:[19]
+019940_000021:[]
+004506_000025:[8, 14]
+009294_000005:[]
+019775_000012:[]
+004312_000030:[]
+017761_000029:[13]
+016418_000034:[4, 13]
+024830_000001:[]
+014636_000001:[12]
+006999_000034:[]
+008525_000028:[15]
+005964_000036:[]
+018783_000023:[]
+007377_000018:[]
+005057_000005:[]
+022708_000012:[6, 11]
+024964_000004:[9, 14, 17]
+010480_000009:[]
+004356_000035:[]
+011255_000005:[]
+013288_000023:[]
+010360_000005:[7, 10, 11]
+006777_000014:[9]
+007072_000000:[]
+012784_000015:[]
+014798_000031:[]
+011889_000039:[]
+013860_000018:[]
+008059_000012:[]
+023116_000016:[]
+021366_000015:[0, 12]
+012135_000001:[3]
+000511_000005:[]
+024055_000026:[]
+007888_000023:[]
+023571_000004:[]
+018373_000005:[]
+016546_000037:[]
+014703_000009:[2, 18, 19]
+004977_000006:[]
+023981_000026:[]
+016519_000023:[]
+001609_000013:[]
+015567_000035:[]
+020663_000027:[]
+007793_000021:[]
+012866_000029:[]
+011232_000038:[]
+022346_000024:[15]
+005884_000038:[]
+014652_000022:[]
+023346_000024:[13]
+021983_000033:[]
+020891_000016:[10]
+003800_000018:[0, 6, 7, 11, 12, 13]
+020779_000033:[]
+024525_000008:[1]
+011924_000033:[]
+002096_000023:[4]
+015029_000012:[11]
+005137_000035:[]
+007488_000015:[]
+005155_000035:[14]
+000160_000034:[]
+017848_000008:[0, 3, 8]
+021005_000026:[]
+011957_000035:[]
+019441_000033:[]
+019212_000032:[]
+000905_000016:[0, 3, 11, 18, 19]
+013174_000003:[3]
+011730_000016:[]
+005513_000031:[1]
+010603_000032:[5]
+018680_000000:[0, 14]
+012993_000029:[]
+019808_000021:[]
+023411_000021:[11]
+003298_000025:[]
+002383_000034:[2]
+009568_000016:[]
+019831_000007:[8]
+022701_000024:[]
+009712_000013:[1]
+006122_000035:[]
+000050_000007:[]
+000224_000013:[3]
+013482_000039:[8, 10, 15]
+019685_000036:[15]
+000932_000021:[12]
+000655_000026:[]
+003124_000012:[]
+018164_000018:[9]
+024078_000008:[]
+008110_000026:[0, 3, 7, 15]
+018173_000024:[15, 19]
+010714_000020:[]
+005342_000025:[]
+012686_000024:[]
+005305_000009:[0]
+009158_000002:[]
+001965_000020:[]
+017964_000036:[]
+018182_000019:[]
+021429_000037:[15, 18]
+008680_000013:[]
+002696_000018:[]
+009204_000001:[0]
+015396_000034:[]
+008783_000014:[1, 18]
+011453_000034:[3]
+005081_000004:[]
+013087_000017:[]
+024481_000013:[5, 17, 18]
+024410_000031:[]
+021073_000022:[]
+011578_000034:[]
+021003_000037:[]
+006147_000026:[]
+006039_000037:[]
+005952_000001:[]
+018743_000024:[]
+002164_000014:[]
+022543_000012:[]
+012349_000027:[4]
+020695_000004:[]
+019663_000030:[]
+019692_000027:[]
+006435_000005:[]
+010758_000007:[]
+000281_000030:[10, 13]
+010781_000035:[]
+005204_000003:[]
+008141_000011:[0, 2]
+002570_000019:[]
+011237_000023:[10, 16, 18]
+013168_000013:[15]
+007278_000015:[]
+017942_000038:[]
+000062_000007:[12]
+013660_000020:[18]
+020982_000026:[2, 8, 15, 17, 19]
+018621_000012:[9]
+020154_000018:[4]
+014166_000022:[]
+011922_000024:[]
+019412_000029:[8, 16]
+001532_000020:[1, 7]
+008132_000019:[0, 15]
+001632_000034:[3]
+002329_000033:[3, 14]
+023772_000039:[2]
+002292_000035:[18]
+003478_000011:[]
+010880_000007:[]
+006147_000034:[]
+020493_000033:[0, 16]
+017480_000030:[]
+014160_000002:[]
+013737_000002:[12, 18, 19]
+004476_000038:[5]
+015389_000026:[2]
+000153_000010:[]
+022411_000018:[]
+010744_000011:[15]
+004971_000028:[0, 1, 2, 4, 5]
+017978_000000:[]
+017533_000007:[6, 13, 15, 17]
+004301_000019:[1, 7]
+001512_000034:[]
+013226_000027:[]
+021187_000013:[]
+024546_000013:[]
+006670_000011:[]
+019367_000015:[0, 4, 12]
+021188_000026:[]
+019903_000036:[]
+016790_000015:[]
+009065_000029:[]
+013685_000001:[]
+001266_000020:[]
+012293_000006:[1, 4]
+013643_000024:[]
+001207_000034:[2, 7]
+001498_000002:[4]
+000075_000037:[2, 10]
+001151_000035:[]
+017768_000000:[]
+004908_000020:[]
+009977_000034:[0]
+011225_000016:[]
+016393_000024:[]
+011581_000007:[4]
+013637_000025:[]
+012684_000008:[]
+021437_000003:[]
+010329_000020:[8, 11, 17]
+023880_000006:[11, 19]
+015263_000008:[]
+022969_000014:[6]
+014445_000019:[]
+024317_000018:[8]
+002684_000015:[]
+005501_000001:[]
+007009_000018:[]
+001045_000022:[8]
+015923_000031:[]
+013041_000000:[]
+022063_000035:[]
+004235_000034:[0, 1, 7, 14, 17]
+008905_000000:[13]
+005854_000034:[]
+009668_000026:[]
+013343_000005:[12]
+010039_000004:[0, 4, 5, 13]
+015178_000008:[7]
+015592_000005:[1, 2, 3, 7, 9, 11, 13, 17]
+019077_000032:[1]
+010940_000000:[1, 2]
+012808_000033:[]
+021469_000003:[]
+001383_000023:[]
+011668_000003:[]
+013030_000019:[]
+011806_000017:[0, 3, 4, 5, 12, 13, 17]
+013796_000000:[]
+013730_000017:[]
+023420_000018:[2, 4, 9]
+014770_000009:[]
+002918_000031:[]
+001750_000020:[18]
+022329_000014:[9]
+008143_000010:[]
+021579_000006:[]
+010354_000018:[3]
+016237_000020:[12]
+012587_000028:[]
+000217_000033:[18]
+004759_000023:[16]
+002908_000006:[]
+018013_000012:[]
+009572_000032:[]
+007308_000027:[5, 13]
+015325_000038:[19]
+006590_000001:[]
+009251_000038:[]
+011682_000011:[11]
+024996_000034:[]
+011572_000029:[]
+007825_000039:[]
+014522_000024:[]
+004885_000000:[]
+019629_000003:[11, 18]
+015931_000018:[0, 1, 5, 7, 10, 13, 18]
+018190_000019:[5]
+014671_000017:[]
+013271_000009:[]
+020409_000010:[7, 10, 12, 19]
+021313_000032:[8]
+014146_000021:[14]
+020604_000011:[]
+018922_000008:[17]
+009617_000028:[7]
+021939_000015:[11]
+017776_000019:[1]
+001577_000039:[]
+001681_000015:[2, 18]
+011045_000008:[]
+000134_000012:[]
+001660_000036:[]
+017947_000022:[]
+023995_000035:[]
+021482_000033:[14]
+010139_000037:[]
+016898_000023:[]
+004986_000029:[12]
+002587_000033:[3, 14, 18]
+000288_000008:[]
+020707_000005:[6, 9, 11]
+007588_000009:[]
+016515_000002:[8, 11]
+015920_000025:[]
+010174_000033:[3, 10]
+021805_000023:[]
+011059_000018:[2, 5]
+004688_000020:[6, 16]
+024913_000016:[19]
+022017_000013:[]
+015271_000005:[19]
+010155_000011:[]
+021828_000003:[6, 12]
+023379_000014:[7]
+006139_000034:[]
+022093_000017:[]
+009603_000036:[]
+013185_000034:[13]
+022580_000034:[]
+004424_000032:[]
+002430_000015:[2]
+013598_000014:[]
+024997_000008:[]
+002287_000015:[1, 3, 9]
+024343_000010:[]
+014932_000013:[]
+006793_000037:[10]
+019190_000010:[]
+019776_000013:[3, 6, 10]
+023373_000012:[]
+019107_000008:[]
+019363_000004:[]
+001460_000030:[]
+011634_000020:[]
+018182_000037:[11]
+005316_000015:[18]
+019597_000013:[8, 11]
+022666_000027:[]
+010653_000027:[6, 7]
+000955_000005:[]
+006714_000035:[]
+002330_000037:[13]
+022566_000007:[]
+004245_000011:[]
+020901_000018:[13]
+000211_000022:[]
+013200_000034:[]
+006083_000000:[]
+024218_000026:[4]
+002245_000031:[7, 10]
+017372_000013:[13]
+000679_000038:[17]
+002819_000010:[]
+022093_000020:[]
+006192_000010:[7]
+001487_000034:[]
+007525_000032:[]
+019324_000000:[]
+004804_000029:[3, 7]
+018551_000036:[18]
+019054_000013:[]
+013677_000022:[]
+001288_000005:[15]
+018918_000000:[6]
+017616_000006:[]
+023142_000031:[]
+014698_000010:[19]
+016727_000024:[3, 14]
+024416_000018:[]
+010324_000002:[]
+003702_000019:[4, 8]
+000302_000004:[]
+007520_000003:[0, 1, 7, 11, 12, 13, 16, 17]
+010209_000002:[12]
+024128_000023:[6]
+010443_000024:[2]
+006568_000038:[3]
+012479_000015:[]
+011087_000026:[12, 18]
+001084_000022:[13]
+012493_000030:[12]
+021884_000019:[2]
+011583_000000:[11]
+023414_000037:[]
+017021_000009:[4]
+001999_000027:[]
+004487_000011:[]
+001269_000018:[]
+011395_000028:[17]
+002133_000010:[]
+017600_000026:[18]
+004914_000038:[]
+009894_000014:[]
+002815_000023:[]
+001091_000012:[]
+007632_000031:[]
+024026_000027:[17, 19]
+008070_000012:[]
+009578_000009:[12]
+006372_000018:[3, 18, 19]
+004995_000025:[]
+018662_000015:[1, 7, 12, 13]
+019023_000009:[]
+014815_000014:[2, 12]
+021146_000007:[6]
+001732_000001:[4]
+012278_000008:[1, 3, 5]
+002368_000020:[]
+003946_000029:[]
+012433_000034:[]
+019640_000022:[]
+008659_000028:[]
+011439_000014:[]
+021656_000020:[2, 12, 17]
+007631_000020:[]
+001713_000005:[]
+017942_000027:[2, 15]
+002201_000033:[]
+016733_000002:[]
+012081_000014:[16]
+024316_000007:[1, 6]
+021959_000031:[15, 18]
+006310_000020:[]
+004118_000021:[]
+016723_000026:[]
+004333_000021:[]
+013552_000015:[4]
+014082_000031:[]
+005838_000030:[]
+002343_000011:[3, 5, 7, 9, 14, 17]
+009459_000028:[7]
+014976_000023:[]
+013422_000037:[9]
+011834_000028:[]
+014589_000035:[17]
+001724_000038:[]
+016935_000012:[2]
+014864_000015:[]
+008165_000003:[10, 16]
+008500_000006:[11]
+015851_000031:[0, 2]
+022945_000030:[]
+005005_000028:[3, 5]
+024882_000039:[]
+020872_000003:[3]
+001443_000019:[5]
+003169_000031:[]
+020432_000028:[]
+003441_000039:[]
+006861_000011:[18]
+002693_000012:[]
+018607_000033:[]
+024783_000020:[]
+005147_000017:[]
+022663_000011:[]
+020705_000011:[0]
+002842_000013:[]
+004998_000027:[]
+003543_000030:[]
+021899_000005:[]
+019778_000024:[]
+017383_000034:[3]
+022331_000005:[0, 6]
+012776_000007:[]
+011976_000002:[4]
+019297_000032:[]
+023992_000025:[]
+017537_000036:[6, 11]
+009410_000007:[]
+023623_000038:[4]
+001651_000029:[]
+004182_000016:[6, 13, 16, 18]
+009710_000032:[]
+005940_000031:[]
+021076_000008:[]
+024798_000003:[15]
+014879_000012:[]
+023674_000025:[2, 4, 6, 10, 18]
+008868_000002:[8, 12]
+021693_000014:[]
+005352_000028:[]
+019504_000002:[]
+007629_000020:[]
+000801_000034:[]
+021314_000013:[17]
+018809_000032:[]
+008746_000007:[]
+023776_000004:[]
+016752_000021:[]
+015590_000000:[]
+018291_000018:[6, 7, 15]
+011344_000037:[4]
+024965_000003:[]
+002650_000018:[]
+007872_000009:[]
+004516_000001:[5]
+006720_000012:[]
+008248_000017:[]
+022939_000017:[]
+010165_000005:[]
+022244_000025:[]
+014157_000027:[]
+007873_000006:[]
+006649_000035:[]
+002639_000033:[14]
+005729_000006:[]
+019226_000024:[]
+014923_000006:[]
+006126_000032:[]
+000005_000010:[]
+015010_000030:[3]
+004925_000008:[8]
+023783_000023:[]
+016233_000031:[]
+019575_000038:[17]
+018193_000029:[]
+019110_000005:[14]
+019460_000012:[]
+014229_000007:[]
+000204_000018:[]
+016080_000014:[]
+006664_000020:[]
+013896_000022:[]
+022982_000027:[12, 18]
+007237_000033:[6]
+003079_000019:[]
+020529_000030:[3, 9]
+000432_000015:[]
+000251_000001:[4]
+017950_000000:[7, 19]
+004558_000002:[3, 7, 9, 12, 18]
+011120_000032:[10, 15]
+001642_000022:[10, 12, 18]
+015323_000003:[]
+005550_000034:[]
+002664_000033:[]
+015346_000000:[]
+012378_000032:[]
+010680_000017:[]
+024049_000020:[]
+003619_000025:[17]
+008012_000001:[0, 14]
+016482_000013:[]
+004376_000028:[]
+005695_000023:[]
+024368_000027:[]
+023683_000032:[]
+002211_000035:[]
+021520_000004:[]
+012790_000036:[]
+003246_000002:[]
+001596_000011:[6]
+006679_000038:[9, 15]
+000531_000035:[]
+024576_000021:[0]
+019659_000027:[6, 9, 12, 13]
+005966_000002:[]
+004931_000025:[8]
+002741_000024:[12]
+014770_000017:[]
+007676_000009:[]
+007180_000013:[4, 6, 10]
+021025_000021:[]
+007424_000035:[16, 17]
+005082_000005:[]
+011438_000016:[]
+022070_000035:[3, 6]
+000639_000017:[12]
+003248_000035:[]
+023623_000007:[10]
+005156_000004:[]
+018277_000020:[]
+020946_000000:[9, 17]
+022490_000032:[]
+021511_000014:[0, 17, 18]
+004756_000035:[]
+014325_000010:[3, 4, 5, 9, 16]
+020752_000016:[]
+000530_000030:[]
+010642_000010:[]
+009727_000016:[4, 12, 14]
+015660_000033:[]
+021543_000016:[]
+016545_000025:[]
+008713_000010:[6]
+020833_000028:[]
+018546_000034:[]
+023329_000014:[3, 8, 13, 17, 19]
+020552_000005:[4, 10, 11, 15, 16, 18]
+019210_000014:[]
+017890_000027:[7]
+013859_000016:[13]
+001371_000008:[1, 2, 7, 12]
+016723_000029:[]
+022941_000035:[]
+021393_000015:[]
+020714_000003:[]
+023991_000000:[]
+008442_000027:[10]
+015052_000007:[]
+022153_000038:[]
+018819_000003:[]
+021266_000023:[10]
+023242_000039:[4, 5]
+017698_000015:[]
+024918_000027:[2, 7, 9, 10, 13]
+006414_000016:[]
+018079_000026:[0, 3, 13]
+008308_000037:[]
+014036_000007:[]
+021014_000039:[11]
+011662_000036:[2, 4, 7, 10, 13, 15]
+017816_000028:[]
+012206_000027:[]
+008143_000027:[]
+005556_000020:[]
+006946_000008:[]
+003589_000017:[]
+023099_000034:[8, 18]
+004631_000019:[17]
+001489_000005:[]
+015554_000005:[]
+023734_000018:[3]
+024732_000033:[]
+022017_000028:[]
+013861_000031:[]
+016201_000021:[]
+012326_000018:[14, 19]
+013212_000037:[19]
+023469_000016:[]
+015784_000023:[]
+023126_000034:[]
+024619_000019:[4]
+023683_000000:[]
+013550_000006:[]
+024678_000011:[16, 19]
+001129_000018:[]
+003624_000010:[17]
+020588_000007:[]
+013033_000037:[]
+016021_000036:[0]
+001331_000036:[]
+021825_000018:[]
+007662_000038:[]
+021121_000035:[0, 1, 3, 7, 18]
+017287_000017:[1, 2, 18]
+005253_000000:[2]
+011907_000017:[2, 10]
+009484_000032:[]
+006474_000036:[14]
+015107_000036:[3]
+001392_000000:[9, 15, 18]
+017682_000001:[]
+005290_000039:[]
+000612_000019:[]
+017568_000033:[5, 14, 18]
+022494_000022:[]
+005282_000006:[]
+010589_000004:[16]
+016997_000028:[0]
+021992_000014:[11]
+022809_000000:[]
+006809_000024:[6]
+007513_000018:[]
+014896_000033:[]
+005191_000030:[17]
+001156_000002:[]
+021073_000033:[]
+002383_000023:[]
+012554_000016:[]
+014853_000015:[]
+018011_000009:[]
+013529_000009:[2]
+021210_000035:[]
+013791_000034:[]
+022754_000018:[]
+004743_000038:[3]
+010558_000008:[13, 15]
+011217_000030:[2, 7]
+004440_000039:[]
+013865_000035:[0, 1, 6, 7, 15, 16, 17, 19]
+018995_000008:[14]
+001444_000000:[]
+020087_000038:[]
+022471_000018:[]
+014248_000032:[0, 7]
+011979_000002:[]
+006724_000003:[]
+006554_000015:[]
+017782_000019:[]
+018873_000018:[8]
+001193_000015:[8]
+021924_000024:[15]
+015536_000013:[10]
+007341_000029:[]
+022608_000000:[]
+009736_000032:[0, 1, 2, 6, 7, 8, 9, 10, 12, 13, 18]
+024539_000008:[]
+012522_000025:[]
+020257_000023:[]
+018367_000032:[]
+019595_000018:[]
+013474_000018:[11]
+002358_000037:[]
+012084_000025:[2, 13]
+004900_000032:[15]
+019579_000001:[]
+014805_000027:[]
+001535_000020:[]
+016033_000020:[]
+015668_000021:[7]
+022238_000032:[0, 6, 14, 17, 18, 19]
+023225_000031:[7]
+024378_000004:[]
+009722_000016:[]
+005844_000004:[]
+022956_000035:[2]
+002066_000035:[]
+023643_000022:[]
+022156_000005:[]
+007289_000003:[]
+009607_000018:[2, 4, 5, 6, 12, 19]
+000603_000021:[]
+010345_000021:[]
+019848_000006:[]
+001879_000035:[]
+008971_000035:[]
+009890_000011:[5]
+021054_000032:[6]
+010146_000028:[]
+003168_000014:[5, 13, 16]
+008058_000034:[]
+013815_000039:[0, 3, 6, 17]
+014118_000015:[0, 3, 6, 10, 13, 15, 18]
+000823_000009:[1, 7, 13, 17]
+008568_000003:[]
+005200_000037:[]
+022079_000033:[6, 10]
+003394_000007:[5, 11]
+000455_000008:[6, 15]
+000254_000027:[13, 18]
+008150_000021:[]
+016201_000016:[]
+022517_000004:[3, 5, 15]
+004096_000027:[]
+017931_000024:[1, 3]
+010294_000013:[8]
+011422_000029:[0, 12]
+022664_000019:[]
+013744_000016:[]
+024138_000034:[]
+022149_000036:[12]
+013445_000004:[]
+000203_000031:[]
+024987_000024:[]
+012967_000033:[]
+018189_000002:[4, 8, 13]
+010351_000037:[8, 15]
+022465_000028:[]
+015707_000004:[]
+022180_000017:[3]
+005385_000018:[]
+011465_000036:[]
+008975_000013:[1]
+019345_000027:[10]
+024472_000001:[]
+022474_000010:[18]
+004836_000022:[]
+014829_000023:[]
+004112_000012:[]
+019538_000035:[7]
+022827_000032:[6]
+014367_000022:[]
+000397_000028:[]
+024382_000008:[]
+019113_000005:[3, 18]
+020409_000011:[5, 7]
+000549_000022:[]
+014356_000004:[]
+002455_000027:[]
+018516_000034:[1]
+016884_000019:[]
+007410_000013:[17]
+010916_000004:[]
+012321_000006:[14, 16]
+021584_000036:[3, 15]
+006444_000035:[]
+007419_000032:[10]
+011324_000032:[19]
+000147_000008:[]
+020660_000027:[]
+008738_000035:[]
+008999_000005:[16]
+001335_000011:[]
+007864_000026:[6]
+010442_000006:[8, 15]
+014829_000026:[]
+017127_000015:[]
+017416_000025:[]
+020831_000011:[12]
+010433_000024:[]
+011884_000009:[7]
+001416_000011:[1, 4, 6, 10, 16, 18]
+008537_000014:[]
+004812_000022:[5, 15]
+013193_000003:[]
+007670_000026:[5, 16]
+011210_000015:[12]
+022902_000010:[]
+010444_000004:[4]
+006178_000021:[4, 6]
+012853_000022:[2]
+011765_000035:[5, 8, 17]
+003614_000032:[]
+017939_000011:[]
+010074_000032:[]
+012212_000011:[]
+011721_000003:[1, 19]
+002187_000002:[]
+015725_000013:[]
+018295_000019:[7]
+022122_000020:[0, 12, 14]
+015536_000017:[0, 5, 12]
+005723_000015:[12]
+005993_000020:[]
+010237_000019:[18]
+023617_000035:[]
+007574_000010:[]
+006728_000030:[]
+017994_000019:[]
+009232_000012:[]
+024541_000011:[3, 8]
+022941_000023:[2, 4, 6, 7, 18]
+000637_000030:[]
+010820_000015:[]
+008428_000018:[7]
+007455_000024:[]
+023860_000014:[17]
+017043_000036:[]
+014229_000027:[1, 13, 16]
+021279_000015:[0]
+006174_000007:[6]
+004087_000014:[]
+001115_000031:[14, 16]
+020968_000037:[]
+007513_000004:[0, 2, 8, 13, 17, 19]
+019968_000035:[11, 14]
+009298_000004:[2, 8]
+013602_000018:[]
+014508_000025:[1, 5, 9, 11, 18]
+005496_000015:[0, 7, 18]
+005379_000024:[]
+008718_000030:[]
+012176_000024:[]
+001594_000014:[0, 1, 2, 5, 10, 13, 14]
+008787_000027:[2, 3, 6, 9, 14, 18]
+004696_000005:[]
+013978_000025:[]
+012410_000028:[]
+010030_000035:[]
+015257_000014:[14]
+005930_000038:[]
+021433_000026:[]
+018175_000008:[]
+016084_000015:[]
+015604_000036:[13]
+008010_000022:[]
+008211_000002:[]
+001636_000010:[1, 3, 4, 9, 10, 15, 19]
+024073_000002:[]
+011515_000020:[7, 14]
+007494_000033:[2]
+021488_000011:[]
+001441_000021:[10]
+005266_000002:[]
+013148_000039:[1, 9]
+002144_000011:[]
+012298_000009:[9]
+015897_000023:[]
+003048_000002:[]
+017062_000002:[4, 18]
+013961_000020:[1]
+012871_000012:[]
+006703_000005:[3]
+020644_000023:[]
+010113_000003:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000098_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000098_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b124c3665d73369ffcfcea9e441ea359e066ffbf
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000098_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+007188_000036:[]
+014858_000026:[]
+009775_000002:[]
+004090_000017:[]
+014730_000006:[0]
+007061_000037:[]
+006713_000024:[]
+014530_000015:[]
+015010_000018:[]
+017289_000031:[4, 9, 15]
+000066_000015:[]
+000201_000011:[12]
+003432_000000:[0, 5, 12]
+017528_000003:[]
+017050_000039:[9, 10]
+018385_000014:[]
+002286_000011:[]
+018728_000008:[]
+009342_000018:[]
+019178_000001:[1, 5]
+018409_000005:[10]
+018816_000011:[7, 9]
+003052_000002:[0, 4, 6, 8, 9, 18]
+017369_000031:[6]
+018387_000022:[13, 18]
+002721_000007:[2, 16]
+002398_000028:[]
+006400_000012:[6, 9]
+013171_000012:[]
+024855_000008:[1, 2, 15, 19]
+007706_000006:[]
+007930_000001:[7]
+010089_000007:[18]
+021941_000004:[]
+016816_000017:[]
+006530_000039:[]
+007913_000000:[]
+008595_000009:[]
+008297_000024:[1, 3, 4, 16, 17]
+016558_000030:[0]
+010242_000034:[]
+009370_000003:[4]
+003812_000005:[]
+021454_000032:[]
+013307_000025:[]
+001519_000030:[9, 10, 12, 17]
+021054_000002:[1, 8]
+023080_000029:[]
+021653_000023:[]
+007911_000024:[14]
+004761_000006:[3, 10, 11, 19]
+003983_000007:[0, 1, 5, 17, 18]
+019068_000038:[]
+012391_000022:[]
+011533_000024:[0]
+014265_000014:[0, 1, 4, 5, 6, 11, 12, 16]
+001311_000026:[]
+009210_000022:[0]
+021684_000008:[6]
+016001_000034:[4, 7, 10, 16, 19]
+012736_000038:[0]
+013109_000036:[7]
+013927_000012:[]
+007656_000006:[9, 10, 11, 13, 19]
+005600_000002:[]
+000991_000037:[]
+022224_000026:[]
+024697_000038:[12]
+007342_000039:[]
+002900_000026:[]
+001705_000036:[]
+007479_000034:[1, 12, 16, 17, 19]
+021675_000018:[]
+015857_000027:[5, 6, 12]
+004327_000010:[]
+021411_000031:[]
+019588_000021:[]
+006435_000021:[]
+018694_000026:[]
+008324_000036:[0, 1, 19]
+020203_000017:[]
+013899_000016:[]
+019306_000003:[16]
+000060_000012:[]
+006458_000012:[17, 18]
+008459_000035:[]
+019159_000019:[]
+013956_000021:[0, 6, 14, 15, 17, 18]
+020091_000010:[]
+000469_000024:[5]
+010084_000023:[]
+021656_000009:[6, 9, 15]
+007125_000022:[8, 18]
+013788_000030:[]
+024929_000007:[]
+009398_000039:[]
+004335_000009:[]
+009773_000015:[]
+012269_000036:[]
+000275_000013:[4]
+016397_000012:[]
+018191_000036:[3, 7, 12]
+020016_000039:[]
+004676_000023:[19]
+002828_000005:[11]
+015272_000039:[16]
+013438_000012:[]
+013670_000010:[1, 3, 7, 8, 10, 13, 15, 18]
+008683_000006:[1, 3, 9]
+003044_000034:[]
+000167_000036:[14]
+020360_000019:[]
+009037_000024:[]
+009908_000017:[]
+007842_000033:[3, 11, 13, 14]
+001723_000020:[0]
+004750_000004:[]
+005226_000023:[3]
+000926_000019:[]
+024992_000022:[3, 13]
+012207_000006:[14]
+017385_000029:[]
+018495_000009:[1, 3, 9, 12]
+005499_000017:[]
+014107_000024:[]
+009129_000013:[19]
+013714_000039:[1]
+016120_000021:[1, 17]
+009474_000018:[]
+024540_000024:[]
+000436_000037:[]
+010423_000028:[2, 3, 5, 7, 9, 16]
+015199_000025:[4, 17]
+021019_000007:[]
+004093_000027:[]
+012199_000015:[]
+013989_000012:[]
+022764_000029:[]
+017238_000023:[]
+003554_000033:[]
+003506_000006:[]
+014822_000012:[]
+008069_000011:[]
+023295_000004:[14, 16]
+003907_000017:[]
+018460_000037:[]
+003859_000023:[8]
+003679_000039:[]
+019299_000008:[]
+023113_000000:[8, 13]
+012435_000019:[]
+004774_000026:[5, 14]
+023696_000025:[]
+020591_000022:[]
+005369_000018:[]
+008776_000003:[]
+019709_000009:[3, 10]
+018047_000027:[]
+018761_000010:[]
+021495_000033:[]
+024355_000036:[]
+017105_000019:[]
+014808_000027:[9, 17]
+015127_000029:[]
+000311_000011:[19]
+009391_000002:[]
+011409_000023:[6]
+006329_000009:[]
+021320_000020:[1]
+014230_000025:[]
+005209_000000:[]
+008358_000000:[]
+023385_000008:[]
+012454_000032:[8]
+008550_000012:[]
+000322_000015:[0, 5]
+020123_000030:[12]
+022078_000019:[]
+001511_000003:[]
+009385_000000:[0, 3, 4, 5, 13]
+007349_000021:[]
+014802_000025:[]
+020669_000006:[]
+024568_000037:[]
+008390_000025:[]
+013991_000003:[9]
+000456_000032:[1]
+017182_000006:[]
+006885_000006:[]
+011092_000000:[]
+008908_000010:[]
+020302_000037:[]
+000249_000019:[1]
+018805_000030:[]
+001495_000018:[]
+017147_000008:[0, 4, 7]
+005116_000027:[9]
+002704_000019:[]
+005096_000027:[]
+014418_000033:[19]
+021029_000025:[15]
+005931_000024:[]
+006698_000017:[19]
+013020_000030:[]
+016989_000039:[]
+018897_000036:[19]
+019424_000019:[9]
+005723_000033:[]
+001471_000016:[]
+012937_000001:[]
+010682_000004:[8, 14]
+010360_000034:[8]
+006605_000001:[7, 11, 17]
+013877_000016:[]
+004525_000015:[]
+021392_000023:[8, 11]
+006907_000025:[]
+009029_000020:[]
+022085_000039:[11]
+006822_000037:[]
+000458_000035:[]
+023741_000030:[]
+002380_000006:[]
+021453_000021:[3]
+008317_000038:[11, 12]
+015448_000011:[]
+016040_000037:[]
+024685_000030:[]
+012288_000006:[]
+007677_000001:[7, 10, 14]
+014611_000003:[]
+018213_000000:[]
+021073_000030:[0, 2, 6, 10, 11, 14]
+009949_000014:[]
+018609_000024:[]
+007847_000021:[]
+022268_000036:[15]
+023324_000003:[]
+000171_000022:[]
+017113_000033:[]
+012622_000001:[]
+011061_000011:[0, 1, 2, 14]
+008720_000018:[]
+004494_000015:[]
+010475_000025:[9]
+013182_000035:[]
+016337_000024:[5, 8]
+023039_000011:[0]
+001099_000003:[]
+003791_000010:[0, 4]
+023098_000010:[7]
+008195_000001:[]
+009928_000002:[]
+005874_000019:[4, 6]
+022122_000006:[0, 10, 18]
+010078_000034:[15]
+003908_000002:[]
+021460_000025:[]
+023194_000030:[]
+010391_000015:[]
+008411_000012:[2, 10, 17, 19]
+001656_000004:[]
+018046_000013:[]
+023208_000016:[8, 18]
+001238_000002:[]
+003509_000001:[9]
+004508_000023:[3, 6, 7, 15]
+006498_000023:[]
+013451_000028:[6, 9, 13]
+011573_000029:[]
+019097_000015:[10, 11, 15, 17]
+002116_000007:[4, 5, 6, 13, 14]
+013495_000001:[]
+004122_000022:[19]
+019213_000028:[16]
+004395_000003:[]
+024401_000026:[9, 17]
+005631_000032:[13]
+015400_000024:[]
+023052_000021:[2, 3, 9, 13]
+017673_000024:[19]
+019055_000008:[7]
+004266_000013:[]
+019438_000032:[]
+021487_000031:[]
+001695_000026:[]
+020453_000017:[0, 5, 10]
+011343_000035:[2, 9, 11]
+021969_000039:[]
+000943_000015:[]
+012358_000024:[]
+015192_000035:[]
+011035_000038:[]
+009461_000016:[]
+012981_000017:[14]
+012798_000037:[]
+005979_000038:[0, 1, 4, 5, 10, 19]
+019177_000008:[6]
+011417_000020:[]
+011325_000032:[]
+007201_000034:[0, 2, 16]
+000390_000034:[]
+007697_000033:[5]
+017629_000030:[]
+012142_000006:[12]
+007071_000004:[]
+007282_000009:[]
+013608_000023:[]
+002742_000019:[6]
+008670_000038:[14]
+023829_000001:[]
+016877_000028:[]
+022564_000008:[18]
+011427_000023:[1, 15]
+006211_000035:[10]
+019515_000022:[]
+007483_000005:[]
+022639_000003:[7]
+024505_000025:[15]
+021674_000018:[0, 3, 5, 6, 11, 13, 16]
+017161_000021:[15]
+007826_000024:[19]
+000794_000028:[]
+003451_000032:[0, 9]
+006393_000006:[]
+011345_000007:[]
+009634_000012:[]
+006616_000023:[]
+008498_000023:[]
+005057_000006:[5, 19]
+012783_000011:[]
+013936_000029:[]
+012567_000028:[]
+008961_000028:[8]
+012646_000032:[]
+010128_000001:[17]
+002447_000010:[]
+010467_000009:[]
+004395_000017:[4]
+014191_000029:[0, 5]
+008467_000005:[7]
+016793_000029:[]
+000326_000022:[]
+023317_000010:[]
+008235_000031:[]
+003984_000021:[15]
+022467_000028:[]
+023446_000028:[4]
+023970_000006:[]
+012180_000028:[13]
+017537_000021:[]
+011438_000014:[]
+017983_000007:[]
+001873_000008:[6, 11]
+001824_000005:[1, 4, 9, 10]
+000655_000003:[]
+001154_000008:[4, 19]
+019812_000026:[]
+000513_000038:[1, 2, 4, 10, 14, 16, 19]
+010521_000003:[]
+002976_000010:[0, 6]
+010680_000000:[]
+008552_000023:[]
+021921_000032:[0, 1, 4, 5, 7, 8, 11, 15, 17]
+002646_000011:[]
+008214_000020:[6, 8, 11, 14, 15, 19]
+004481_000014:[]
+023636_000004:[1, 5, 9, 12]
+000254_000013:[13]
+019044_000038:[]
+005607_000020:[]
+016371_000023:[8, 11, 12]
+021585_000023:[]
+009241_000025:[14]
+004116_000029:[]
+013418_000007:[]
+008416_000035:[0, 15, 16]
+007676_000038:[12, 17]
+014133_000032:[]
+018950_000029:[16]
+014206_000030:[]
+000429_000036:[14]
+015305_000021:[]
+020045_000012:[6]
+003786_000024:[11]
+022887_000000:[]
+022311_000017:[]
+006326_000009:[]
+001176_000005:[]
+004962_000025:[]
+004204_000035:[0, 4, 5, 10, 15, 18]
+023463_000020:[0]
+013955_000005:[8]
+014489_000018:[]
+016956_000001:[0]
+004586_000010:[14]
+024596_000004:[]
+016518_000038:[10]
+001288_000020:[]
+001620_000009:[]
+024292_000035:[]
+010671_000039:[9, 15]
+017315_000033:[]
+021293_000039:[1]
+024901_000019:[]
+004610_000013:[3]
+001120_000039:[]
+012654_000035:[]
+012133_000030:[5]
+001172_000000:[]
+010638_000026:[]
+023055_000026:[]
+011624_000012:[]
+000008_000001:[]
+015649_000029:[]
+014431_000008:[]
+008063_000032:[]
+018061_000005:[]
+021032_000002:[]
+002172_000001:[]
+002092_000023:[]
+020298_000011:[18]
+021397_000003:[3, 14, 19]
+017952_000018:[]
+013841_000010:[9]
+022984_000027:[4]
+019986_000008:[]
+020180_000018:[]
+010792_000022:[]
+017456_000030:[]
+014071_000023:[]
+009473_000037:[]
+001957_000006:[]
+012466_000008:[]
+019609_000004:[]
+019863_000028:[]
+014155_000038:[10]
+016815_000012:[]
+016810_000031:[]
+023671_000017:[11]
+019189_000018:[]
+009819_000013:[]
+016907_000026:[]
+014802_000002:[]
+002587_000005:[7, 14]
+013136_000008:[]
+024870_000035:[]
+010120_000030:[]
+016814_000023:[3, 17]
+015538_000022:[]
+004861_000021:[14]
+005170_000037:[10, 17]
+017135_000003:[]
+022877_000038:[2]
+020194_000033:[1, 4, 5, 6, 10, 12, 14, 15, 18, 19]
+024174_000007:[1, 6, 19]
+005788_000037:[]
+008197_000005:[]
+007307_000030:[12]
+013102_000037:[2]
+012985_000020:[12]
+003773_000006:[0, 2, 9, 13]
+023234_000001:[]
+020133_000008:[8]
+003510_000022:[]
+015329_000035:[6]
+000991_000030:[]
+011830_000015:[]
+021178_000010:[5]
+003631_000013:[1, 6, 8]
+019614_000023:[]
+007974_000025:[9]
+017960_000010:[]
+008790_000011:[]
+009071_000029:[]
+012591_000034:[4]
+004915_000003:[18]
+000651_000016:[]
+000554_000021:[7]
+021732_000003:[]
+022743_000017:[]
+006868_000031:[]
+016297_000019:[2, 12, 14, 15]
+022434_000006:[]
+022508_000023:[]
+001802_000037:[]
+018722_000024:[]
+005655_000004:[6]
+024796_000033:[4, 17]
+024614_000009:[]
+021606_000018:[]
+007078_000023:[]
+009523_000012:[]
+002596_000004:[]
+013479_000016:[2, 3, 14]
+012653_000014:[]
+017740_000027:[]
+018942_000004:[5, 19]
+022116_000002:[9]
+022704_000001:[5, 8, 9, 10]
+016507_000023:[10]
+003704_000010:[0, 3, 19]
+019716_000001:[4]
+000182_000011:[9]
+005113_000026:[]
+003616_000020:[16]
+000180_000018:[15]
+017401_000020:[]
+018888_000034:[]
+010673_000025:[]
+000049_000031:[]
+018119_000002:[]
+022984_000026:[]
+003046_000019:[]
+018427_000037:[10]
+011932_000016:[]
+021159_000004:[]
+016139_000025:[8, 12]
+015399_000032:[]
+021230_000036:[19]
+013455_000017:[]
+023708_000025:[3]
+005212_000023:[]
+023881_000017:[9, 10]
+016169_000037:[]
+002261_000038:[]
+020089_000039:[]
+013589_000035:[]
+019470_000019:[7, 14]
+008710_000026:[]
+020723_000002:[]
+007872_000001:[]
+008585_000005:[]
+020948_000036:[]
+015366_000020:[]
+005485_000039:[0, 15]
+011542_000007:[]
+004573_000035:[]
+013118_000025:[]
+007907_000019:[8]
+005616_000002:[]
+017358_000036:[10, 15]
+005281_000037:[3, 9, 11, 15, 16]
+021818_000032:[5]
+015428_000028:[]
+002462_000006:[]
+008914_000010:[]
+020357_000036:[]
+016743_000014:[15]
+008575_000004:[]
+014330_000036:[4, 6]
+003695_000016:[4]
+007358_000036:[]
+020839_000039:[]
+015471_000014:[19]
+018296_000012:[7, 9, 11, 17, 19]
+005677_000039:[]
+024976_000017:[16]
+009670_000022:[10]
+002351_000034:[4, 6, 10, 14]
+007111_000034:[]
+005343_000014:[]
+002315_000030:[]
+021357_000011:[]
+018075_000016:[]
+013934_000015:[]
+023973_000015:[]
+005914_000016:[]
+004551_000010:[]
+005699_000032:[]
+005408_000012:[8]
+007661_000022:[]
+022090_000019:[]
+007295_000004:[]
+004564_000001:[0, 18]
+012245_000013:[1]
+015471_000016:[]
+006448_000001:[]
+020097_000022:[1, 5, 9, 13, 15, 16, 18]
+012515_000004:[]
+005734_000015:[]
+018390_000037:[0, 13]
+021252_000013:[2, 7, 19]
+003796_000007:[]
+005001_000037:[0, 10]
+002790_000022:[]
+011217_000013:[2]
+000605_000002:[]
+018671_000030:[]
+017601_000003:[9]
+012301_000011:[]
+010960_000000:[]
+018332_000024:[]
+006914_000025:[]
+011438_000027:[]
+008797_000014:[8, 9]
+000631_000032:[1]
+021511_000001:[0, 5, 7, 10, 17]
+022111_000037:[13]
+020387_000031:[9, 17]
+016021_000010:[10]
+008650_000010:[5]
+003264_000035:[18]
+008574_000023:[17]
+009028_000019:[]
+022516_000031:[]
+013872_000009:[]
+005319_000019:[12]
+016197_000034:[]
+016891_000006:[17]
+013402_000007:[]
+006291_000026:[]
+018826_000021:[2, 5, 7, 16]
+021061_000033:[13]
+000363_000027:[8]
+023811_000022:[]
+015021_000002:[]
+004341_000031:[]
+003390_000016:[8, 11, 16]
+020938_000039:[0, 2, 14, 15]
+016002_000038:[]
+021950_000006:[]
+021569_000011:[]
+006277_000031:[]
+000918_000023:[]
+015284_000022:[]
+009014_000014:[]
+022271_000018:[]
+009652_000007:[]
+022221_000002:[13]
+016851_000020:[16]
+004554_000029:[]
+010506_000010:[]
+003661_000003:[2]
+012741_000036:[]
+002412_000012:[]
+001242_000005:[]
+000616_000011:[]
+008024_000007:[]
+010246_000012:[16]
+013214_000020:[17]
+005716_000030:[]
+002984_000008:[]
+003220_000015:[8, 10]
+010465_000037:[0, 4]
+012553_000034:[1, 2, 4, 8, 9, 13, 15, 19]
+008989_000017:[13]
+004685_000030:[17]
+003826_000018:[]
+023373_000026:[]
+001592_000020:[]
+017205_000017:[]
+018089_000025:[]
+019548_000007:[]
+021009_000036:[]
+013342_000021:[]
+006342_000026:[]
+010084_000031:[5]
+005984_000007:[]
+022063_000030:[]
+002173_000026:[2, 10, 15, 17, 19]
+011465_000032:[0, 10]
+021313_000024:[5, 8]
+012574_000020:[]
+012441_000012:[9, 15, 18]
+014171_000022:[]
+006959_000008:[]
+010362_000019:[]
+012262_000024:[17]
+020459_000022:[13]
+014809_000038:[]
+009045_000008:[]
+019744_000012:[]
+010074_000005:[]
+016797_000004:[1, 3, 17]
+009239_000031:[1, 10, 14]
+020424_000030:[9]
+017219_000018:[]
+004960_000023:[]
+014680_000015:[]
+012023_000028:[0, 3, 9, 11, 12, 16, 18]
+007516_000023:[]
+010355_000017:[8]
+009299_000025:[3, 5, 15]
+020611_000020:[0, 4, 6, 7, 14, 17]
+021330_000012:[3, 5, 7, 14]
+020817_000028:[9, 13, 14]
+016922_000030:[]
+001275_000029:[]
+000108_000038:[]
+020404_000004:[3]
+012803_000008:[]
+010815_000029:[]
+007151_000029:[]
+012146_000027:[]
+015694_000000:[]
+013935_000013:[]
+010409_000006:[10, 12, 18]
+016808_000019:[]
+008258_000034:[0, 12, 17]
+018833_000038:[]
+005822_000038:[7]
+006103_000030:[1, 14]
+020621_000013:[8]
+018806_000033:[11]
+012676_000037:[4, 7, 19]
+011463_000011:[]
+011306_000034:[9]
+015337_000014:[5]
+013258_000002:[]
+020545_000015:[]
+004912_000022:[]
+015365_000015:[]
+010674_000022:[5]
+016620_000039:[13]
+020851_000003:[]
+011095_000006:[]
+013513_000020:[]
+004962_000003:[9]
+013377_000015:[]
+014009_000021:[]
+004278_000020:[16]
+020020_000031:[11]
+007382_000019:[]
+021394_000001:[]
+015451_000023:[]
+024271_000021:[1, 4]
+010201_000011:[]
+015784_000021:[]
+009955_000015:[6, 8]
+011097_000005:[]
+006799_000009:[]
+009968_000034:[]
+020299_000024:[]
+024435_000031:[]
+017235_000001:[2]
+019971_000028:[0, 16]
+004935_000002:[]
+016931_000004:[]
+015604_000025:[13]
+013062_000018:[]
+020069_000012:[]
+019366_000012:[]
+004813_000019:[]
+024090_000006:[]
+003578_000027:[]
+009742_000015:[8]
+024243_000037:[5, 6]
+007690_000020:[12, 14]
+010503_000034:[1, 5, 6, 12, 15]
+022795_000013:[2, 5, 7, 12, 19]
+022120_000025:[0]
+006406_000028:[]
+011629_000014:[]
+023957_000027:[]
+007388_000004:[1, 17]
+005160_000025:[12]
+020519_000025:[6]
+016402_000020:[]
+013207_000012:[10, 11, 12, 13]
+017539_000025:[0, 3, 6, 15, 16]
+005034_000017:[2, 8, 15, 19]
+004410_000007:[9]
+003118_000015:[3, 4, 5, 11, 15]
+015286_000015:[]
+017367_000023:[8]
+019120_000027:[1]
+004106_000006:[0, 7, 17]
+001366_000032:[]
+011387_000037:[]
+022897_000037:[1, 13]
+024594_000021:[5]
+007494_000022:[]
+019397_000010:[]
+012494_000021:[]
+015608_000006:[0, 7, 13, 15, 17]
+000058_000018:[]
+022653_000006:[]
+005358_000013:[]
+020581_000011:[]
+011791_000032:[]
+019942_000012:[4]
+004540_000021:[1]
+007741_000001:[]
+000728_000014:[]
+007317_000009:[7, 9]
+017590_000013:[1, 10]
+011432_000007:[0, 4, 8, 12, 17]
+024165_000005:[]
+012638_000019:[2, 10, 11, 15, 17]
+009135_000030:[1, 5, 17]
+011456_000022:[9]
+005371_000005:[0, 2, 4, 5, 6, 9, 10, 11, 16, 17, 18, 19]
+021428_000032:[9, 16, 17]
+002766_000007:[2]
+014081_000034:[]
+013819_000000:[]
+012307_000006:[2, 17]
+005794_000011:[]
+013368_000021:[]
+001670_000030:[18]
+024766_000033:[]
+002543_000027:[]
+020717_000031:[7]
+023872_000000:[]
+023055_000023:[]
+019594_000025:[1, 7, 16, 17]
+023351_000004:[0, 2, 14, 17]
+024613_000016:[]
+003166_000000:[]
+009797_000025:[0, 5, 16]
+007895_000029:[]
+006809_000028:[]
+018849_000039:[]
+011948_000034:[]
+012793_000028:[]
+004927_000001:[]
+005445_000019:[0]
+001144_000024:[]
+004371_000017:[]
+017257_000033:[]
+011479_000031:[]
+001664_000018:[13]
+012371_000012:[2, 10]
+007922_000027:[]
+011498_000019:[]
+024850_000030:[]
+002865_000020:[]
+017878_000036:[7]
+020714_000036:[]
+015271_000032:[1, 9]
+024020_000031:[11]
+011708_000032:[0]
+012343_000036:[]
+002025_000039:[7, 11, 14]
+019078_000015:[]
+000910_000018:[7, 8, 16]
+012061_000014:[16]
+020795_000008:[5, 14, 15]
+010825_000025:[10]
+004708_000005:[6, 8, 16]
+006516_000026:[]
+002551_000022:[]
+022390_000023:[0, 1]
+022856_000021:[15]
+011033_000008:[7]
+000289_000029:[16]
+004097_000027:[]
+017602_000000:[]
+019530_000010:[]
+022699_000015:[14]
+020525_000032:[]
+023719_000022:[]
+019872_000004:[]
+000379_000004:[3]
+017391_000005:[]
+016434_000028:[7]
+013322_000035:[]
+012179_000028:[]
+010858_000037:[]
+020456_000024:[]
+014258_000030:[]
+008776_000038:[]
+007658_000033:[2]
+023303_000014:[]
+018788_000025:[1, 10, 13, 19]
+022146_000032:[8]
+022607_000021:[18]
+010984_000021:[]
+011555_000005:[]
+016752_000013:[]
+002566_000019:[]
+001859_000028:[13]
+017341_000032:[]
+000349_000024:[]
+001528_000027:[]
+015811_000034:[]
+006700_000034:[]
+012753_000008:[]
+023860_000008:[2, 17, 18]
+024219_000020:[11]
+009119_000020:[16]
+019956_000001:[]
+013553_000023:[10]
+022001_000022:[]
+019199_000038:[]
+015107_000005:[]
+008390_000030:[]
+012990_000003:[7]
+012093_000006:[]
+023656_000035:[]
+017834_000004:[12]
+023074_000024:[]
+008557_000034:[0, 16]
+014979_000039:[0, 5, 10]
+010449_000003:[5, 9, 10, 11, 14]
+005062_000009:[18]
+001749_000025:[]
+004148_000014:[]
+004835_000006:[]
+018213_000029:[]
+015115_000014:[9]
+000364_000006:[]
+008317_000028:[]
+000451_000032:[1]
+015202_000004:[9]
+022265_000026:[10, 15]
+000333_000037:[]
+017032_000033:[]
+019501_000005:[]
+014042_000012:[8]
+008509_000016:[]
+021782_000000:[2, 10]
+006981_000011:[]
+002167_000008:[2, 3, 7, 9, 12, 13, 14, 18]
+013349_000001:[]
+003957_000018:[]
+008538_000035:[5, 9, 15]
+012633_000001:[2, 16]
+004702_000038:[]
+012588_000012:[1, 13, 14]
+004084_000019:[]
+017495_000023:[]
+022342_000015:[]
+023977_000006:[9, 16]
+012553_000010:[2]
+002055_000029:[]
+001816_000017:[4, 10]
+020732_000026:[4]
+008302_000026:[]
+002467_000026:[]
+003543_000037:[]
+017111_000024:[]
+013421_000004:[]
+006830_000004:[]
+000563_000019:[2, 3, 15]
+011604_000028:[]
+020883_000039:[0, 3, 7, 14]
+002792_000010:[2, 10, 15]
+006788_000014:[]
+007820_000031:[10]
+004404_000000:[]
+007383_000031:[6]
+012364_000032:[]
+017424_000025:[]
+003352_000018:[6, 10]
+014100_000007:[]
+024349_000034:[]
+013357_000009:[2, 5, 16]
+016110_000000:[]
+022691_000022:[13]
+022964_000008:[8]
+004443_000013:[]
+002398_000016:[]
+017184_000021:[]
+024339_000020:[]
+021328_000039:[]
+012840_000035:[4, 5, 17]
+023216_000024:[9]
+009258_000026:[3, 13]
+008239_000017:[]
+013691_000019:[]
+020710_000039:[5, 15]
+004294_000008:[]
+004765_000023:[]
+011769_000021:[]
+003037_000013:[7, 8]
+023650_000014:[0, 2, 7, 8, 11, 15, 18]
+023814_000010:[]
+006390_000002:[]
+024727_000003:[]
+016143_000032:[]
+010860_000018:[]
+016352_000038:[]
+015693_000012:[5, 9, 15]
+018960_000034:[]
+007291_000024:[]
+021127_000023:[5]
+009128_000016:[0, 11]
+011892_000010:[3, 15]
+023611_000014:[10]
+022845_000038:[8, 9, 11, 14, 18]
+024399_000004:[]
+021857_000008:[2, 18]
+011125_000020:[]
+014159_000007:[0]
+007412_000027:[]
+009303_000010:[2]
+017645_000036:[]
+008856_000028:[8, 12]
+011090_000023:[0]
+021420_000027:[17]
+021891_000023:[]
+020736_000021:[5]
+014474_000031:[]
+024866_000019:[]
+002375_000029:[2, 17]
+013024_000007:[]
+004981_000022:[9]
+011729_000013:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000106_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000106_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..839c08b5daf8e9d5e5356a51f7b61793bcfe6789
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000106_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+002216_000019:[1, 4, 6, 7, 9, 12, 16, 19]
+014030_000006:[]
+015783_000028:[5]
+003219_000029:[9, 19]
+001218_000032:[5]
+020582_000025:[]
+005628_000014:[]
+023758_000016:[7, 12]
+000246_000036:[]
+004909_000031:[]
+019975_000003:[]
+001872_000006:[1, 7, 8, 19]
+004268_000016:[]
+023174_000005:[]
+006904_000002:[]
+003992_000022:[13]
+016865_000024:[]
+021444_000006:[12]
+001055_000028:[]
+024645_000002:[]
+017397_000035:[]
+023259_000034:[9, 11, 16, 17]
+013367_000012:[]
+012030_000012:[]
+012464_000039:[15]
+010498_000033:[12]
+003597_000022:[2, 3, 4]
+003320_000024:[11]
+017158_000032:[]
+006905_000029:[]
+005250_000028:[12, 18]
+008551_000031:[2, 15, 18]
+011485_000008:[]
+001182_000035:[2]
+014262_000003:[0, 14]
+002104_000000:[2, 12]
+009310_000033:[18]
+024262_000010:[]
+018890_000035:[]
+012939_000039:[]
+014844_000031:[]
+017563_000003:[11, 18]
+023962_000037:[]
+018511_000037:[]
+017508_000006:[]
+020307_000036:[19]
+019394_000008:[]
+009023_000012:[]
+001905_000021:[]
+012305_000035:[]
+005680_000030:[]
+000747_000039:[8, 14, 19]
+012558_000037:[]
+006728_000034:[]
+007162_000034:[6, 19]
+015888_000020:[7, 11, 14]
+003902_000005:[15, 16, 17]
+002965_000024:[]
+000468_000015:[7]
+011402_000036:[]
+001060_000003:[]
+016030_000006:[]
+002553_000030:[]
+006262_000033:[12, 15]
+008572_000013:[8, 13]
+005098_000002:[19]
+016407_000016:[0, 6, 10]
+003664_000029:[15]
+014131_000029:[2, 3, 11, 14]
+018496_000035:[11]
+000181_000022:[]
+015142_000021:[]
+021297_000032:[]
+006903_000006:[]
+021324_000021:[]
+010536_000005:[1]
+014584_000030:[17]
+002959_000008:[]
+013412_000030:[3, 6]
+013043_000034:[18, 19]
+012591_000002:[12, 15]
+008040_000001:[]
+009079_000000:[]
+020082_000000:[]
+017812_000025:[]
+004059_000031:[8]
+017676_000035:[5, 13]
+010626_000024:[]
+002388_000002:[2]
+006067_000012:[]
+012435_000024:[]
+002182_000035:[]
+011506_000035:[]
+018894_000039:[9]
+005417_000032:[]
+012616_000035:[0, 3, 4, 11, 13, 17, 19]
+022101_000035:[]
+001243_000037:[]
+018935_000000:[1, 2, 18]
+008483_000035:[6]
+011100_000030:[]
+021646_000001:[]
+011749_000032:[3, 17, 19]
+010904_000008:[2, 3, 6, 8, 13, 15]
+012679_000007:[16]
+021609_000028:[]
+020530_000016:[10, 12, 14, 15]
+007121_000039:[]
+021797_000014:[]
+004243_000018:[2]
+009925_000005:[]
+008032_000034:[]
+006861_000015:[]
+017843_000028:[11, 12, 14, 17]
+000551_000024:[]
+017960_000000:[3]
+004733_000025:[]
+016150_000011:[]
+015036_000023:[]
+020735_000016:[]
+001062_000020:[]
+024255_000009:[]
+017270_000005:[]
+024610_000012:[1, 13]
+018600_000004:[]
+005509_000002:[14]
+007628_000021:[]
+013888_000037:[]
+019074_000036:[]
+006652_000034:[]
+006471_000024:[1]
+022858_000038:[11, 15]
+021533_000019:[]
+002075_000035:[1]
+023145_000000:[6, 10]
+013127_000032:[]
+014420_000018:[]
+001567_000039:[1]
+012746_000016:[]
+017728_000020:[]
+000259_000007:[]
+006290_000001:[10, 18]
+008425_000027:[3]
+006434_000007:[]
+013519_000003:[13]
+007801_000032:[]
+004944_000027:[]
+023164_000017:[2, 9]
+015315_000019:[]
+022318_000038:[1]
+015637_000024:[]
+000953_000036:[]
+006901_000011:[4]
+018218_000014:[3]
+014043_000032:[]
+020894_000013:[8]
+003500_000001:[]
+008650_000004:[4, 13]
+023335_000036:[16]
+014187_000036:[]
+024429_000039:[]
+013350_000006:[1, 5, 17, 18, 19]
+002086_000013:[]
+005483_000011:[3, 6, 7, 8]
+006308_000031:[1, 2, 7]
+018418_000006:[]
+002685_000015:[18]
+010355_000013:[]
+022685_000011:[]
+018962_000016:[]
+022085_000021:[]
+023991_000030:[5]
+016796_000031:[]
+001635_000014:[]
+003085_000003:[]
+023200_000039:[]
+003297_000001:[]
+003373_000025:[3]
+013423_000007:[]
+024602_000039:[]
+002714_000006:[]
+007696_000023:[]
+008000_000011:[]
+007458_000004:[18]
+013521_000030:[]
+023374_000030:[15, 18]
+016214_000005:[]
+003455_000039:[]
+021202_000039:[]
+012156_000003:[3]
+019650_000014:[]
+007098_000011:[]
+003013_000005:[5, 19]
+008517_000021:[]
+022222_000012:[5]
+014677_000014:[]
+019512_000005:[14]
+023538_000014:[10, 14, 17]
+016151_000028:[]
+015499_000036:[2]
+009220_000035:[]
+004372_000009:[4, 8, 12]
+002669_000006:[]
+021042_000033:[]
+007799_000022:[]
+013935_000004:[14]
+007429_000020:[0, 2, 3, 10, 13, 14]
+003888_000026:[4, 10, 17]
+009192_000003:[0, 5]
+009739_000010:[1, 6, 10]
+009800_000014:[17]
+000490_000029:[]
+006323_000002:[]
+015576_000014:[]
+016236_000039:[9]
+004959_000035:[5]
+018557_000004:[5]
+001580_000005:[1]
+020095_000034:[7]
+010908_000020:[0, 15]
+001662_000011:[]
+022311_000032:[]
+018926_000006:[5, 10, 17]
+017421_000017:[]
+014529_000019:[1, 9]
+004398_000024:[17]
+014788_000007:[]
+002289_000002:[]
+018800_000012:[]
+002586_000015:[]
+004584_000011:[4, 7, 11, 16]
+021831_000027:[4, 14]
+003832_000010:[]
+009984_000031:[]
+024500_000018:[]
+011458_000013:[]
+011468_000023:[]
+007890_000028:[9]
+002894_000039:[]
+005946_000030:[]
+000172_000019:[]
+023592_000023:[]
+013149_000003:[]
+010510_000005:[]
+015238_000038:[]
+002879_000021:[3, 11, 12, 16, 18, 19]
+015076_000035:[]
+020452_000030:[9, 11]
+001661_000036:[2, 6, 8, 11]
+000893_000038:[]
+017051_000020:[0, 7, 11, 13, 14, 15]
+020919_000021:[7]
+005839_000028:[]
+021920_000017:[]
+016959_000002:[]
+018773_000005:[1, 13]
+001609_000011:[6, 13]
+009211_000007:[]
+023327_000035:[]
+006744_000035:[4, 5, 9, 10, 14, 15, 17]
+007465_000012:[1, 3, 7, 12, 19]
+003867_000011:[0]
+007752_000015:[]
+024718_000036:[13]
+000826_000013:[]
+024860_000036:[]
+013964_000022:[14]
+011519_000002:[]
+002069_000032:[]
+002163_000011:[]
+000152_000009:[]
+008753_000037:[]
+003652_000036:[]
+009497_000010:[]
+002533_000003:[]
+020166_000036:[10]
+000373_000010:[5, 16, 17, 19]
+004540_000007:[]
+020229_000000:[2]
+021557_000036:[3, 13]
+010238_000008:[]
+009052_000022:[18]
+020244_000032:[10]
+004832_000027:[16]
+018121_000014:[]
+024351_000032:[]
+003885_000033:[]
+012815_000032:[9, 15]
+015153_000021:[]
+008470_000034:[]
+017648_000005:[]
+021468_000025:[]
+016924_000000:[]
+005655_000032:[1]
+004135_000029:[16]
+008767_000004:[]
+021249_000017:[]
+018588_000013:[]
+005413_000031:[]
+008102_000002:[12]
+007057_000037:[]
+020316_000015:[]
+018878_000035:[8, 15]
+017359_000004:[]
+009306_000026:[]
+006881_000031:[]
+023936_000017:[1, 4, 17]
+007041_000002:[]
+018334_000022:[]
+015038_000036:[]
+012863_000023:[2, 8, 9, 14, 19]
+008328_000011:[]
+016010_000023:[0, 1, 8]
+012963_000038:[]
+023454_000011:[15]
+000791_000001:[]
+023087_000017:[]
+003283_000036:[18]
+004759_000006:[4, 11, 18]
+023704_000038:[]
+003439_000007:[11]
+008575_000005:[]
+011737_000031:[]
+016222_000037:[5]
+012709_000019:[]
+005091_000013:[15]
+006996_000022:[3]
+024761_000023:[3, 9]
+015893_000031:[]
+005239_000032:[9]
+013493_000023:[0]
+001242_000001:[]
+020485_000005:[3]
+009232_000005:[]
+018214_000017:[]
+023363_000027:[11]
+015606_000009:[]
+008125_000013:[]
+014412_000035:[]
+015044_000034:[]
+011528_000003:[6]
+018013_000009:[0, 17]
+024263_000035:[]
+001728_000021:[]
+001188_000000:[0, 1, 16]
+005914_000007:[4, 8]
+012194_000034:[6, 8, 9]
+017246_000006:[19]
+021788_000014:[6, 10]
+005000_000026:[4, 6]
+010552_000026:[13]
+021137_000027:[10]
+013275_000004:[]
+014749_000029:[8, 14]
+009044_000016:[8]
+017612_000004:[]
+012740_000009:[19]
+009272_000032:[4, 11, 16]
+000775_000019:[]
+000765_000039:[4]
+002297_000037:[3]
+014038_000022:[]
+020495_000034:[1, 5, 10]
+019147_000024:[]
+017612_000030:[]
+010275_000008:[6, 16]
+002044_000028:[18, 19]
+010212_000019:[]
+011921_000017:[10, 13, 18]
+009270_000001:[]
+003134_000001:[]
+016934_000000:[]
+017771_000027:[13]
+015933_000024:[]
+023557_000007:[8, 19]
+019574_000021:[]
+023613_000029:[5]
+022962_000003:[]
+001268_000006:[0, 9]
+006352_000010:[2, 3, 5, 6, 8, 9, 14, 18]
+001939_000037:[]
+005947_000004:[5]
+021140_000023:[15]
+015179_000015:[]
+010262_000029:[]
+012771_000005:[]
+009459_000026:[]
+007736_000005:[5, 8]
+006292_000030:[]
+015958_000006:[11]
+023578_000037:[6]
+010510_000016:[]
+016354_000013:[4, 16]
+007466_000036:[8]
+003697_000026:[]
+006906_000014:[4]
+010202_000009:[14, 16]
+001932_000020:[]
+014583_000024:[]
+007377_000035:[0, 7, 18]
+015916_000021:[4]
+004446_000019:[10, 18]
+004021_000004:[14]
+017819_000008:[]
+009805_000038:[]
+006095_000004:[]
+012955_000024:[]
+023076_000019:[4]
+015914_000034:[]
+001250_000021:[]
+003425_000001:[]
+020387_000006:[]
+014005_000029:[0, 10, 11, 16, 17]
+022849_000002:[]
+004055_000006:[]
+008091_000036:[]
+001190_000027:[2, 5, 10, 13]
+007147_000022:[2]
+022753_000013:[3]
+020311_000000:[]
+002143_000008:[11]
+012684_000020:[]
+008455_000008:[]
+021977_000035:[]
+001052_000024:[]
+001315_000011:[]
+011227_000033:[]
+003706_000027:[]
+018085_000030:[10]
+023951_000004:[0, 9, 15]
+014324_000034:[7]
+014806_000019:[3, 9]
+013557_000028:[]
+002154_000024:[0, 12, 16, 19]
+000453_000025:[]
+003794_000015:[11]
+009278_000031:[]
+001986_000025:[]
+003437_000035:[8]
+002038_000036:[]
+010029_000027:[]
+024355_000022:[]
+005668_000003:[4]
+006907_000004:[]
+020658_000017:[1, 6, 8, 9, 10, 17]
+006723_000011:[7]
+024611_000028:[6, 11, 14]
+019364_000029:[]
+017481_000025:[]
+004183_000029:[]
+000569_000013:[]
+021130_000031:[]
+009526_000000:[7]
+008642_000006:[1]
+009087_000030:[]
+012617_000029:[1]
+000779_000024:[]
+013828_000007:[12]
+011871_000023:[9]
+023223_000007:[]
+007600_000005:[6]
+003559_000029:[]
+008224_000011:[]
+017028_000010:[7, 11]
+021183_000008:[0]
+000848_000016:[]
+013986_000027:[3]
+024766_000017:[8, 13, 15]
+019570_000018:[]
+005207_000017:[]
+012181_000003:[0, 3, 4, 9, 10, 16]
+006711_000031:[1, 16]
+019834_000024:[]
+013855_000037:[]
+024064_000025:[]
+012565_000006:[5, 12]
+021267_000029:[]
+024506_000039:[]
+012948_000038:[6]
+000660_000015:[]
+011639_000019:[]
+024543_000011:[]
+011721_000022:[1]
+017672_000015:[]
+023815_000017:[14]
+018621_000019:[]
+019617_000008:[14]
+022013_000013:[17]
+003157_000027:[18]
+009113_000027:[4]
+024959_000029:[]
+013866_000018:[]
+004022_000025:[]
+017894_000002:[7]
+022722_000007:[]
+008542_000008:[]
+007087_000035:[]
+012822_000028:[]
+008140_000016:[6]
+021409_000016:[0, 13, 16, 17]
+013034_000026:[]
+002784_000039:[2, 10]
+009757_000012:[]
+022746_000028:[]
+013962_000027:[]
+020163_000033:[13]
+002644_000026:[4, 9]
+023839_000033:[2]
+018960_000013:[]
+016464_000033:[0, 3, 7, 8, 10, 15]
+012669_000027:[]
+000980_000026:[8, 12]
+020283_000032:[]
+017164_000031:[6, 19]
+001299_000032:[2, 12]
+016800_000038:[4, 8]
+019380_000002:[]
+022710_000038:[]
+013254_000021:[]
+005557_000026:[1, 5, 9, 10, 19]
+021785_000016:[]
+006987_000015:[2, 3, 12, 15, 17, 18]
+024359_000010:[0]
+019174_000021:[2]
+024731_000031:[]
+010702_000020:[]
+020635_000012:[]
+006281_000036:[4, 12, 13]
+020832_000011:[0, 6, 10, 13, 18]
+006393_000037:[17]
+022280_000004:[]
+021133_000025:[]
+015936_000036:[]
+014129_000000:[]
+024578_000029:[]
+008287_000011:[]
+024762_000023:[]
+005869_000036:[19]
+016384_000010:[]
+010577_000016:[4]
+014767_000006:[8]
+011127_000020:[6]
+019082_000018:[]
+004519_000036:[7, 10]
+021352_000026:[0, 2, 8, 11, 12, 19]
+024895_000015:[0, 4, 14]
+001648_000000:[]
+004833_000021:[0, 12, 17]
+003581_000006:[]
+002625_000004:[]
+015267_000013:[6, 15, 19]
+011052_000026:[5, 18]
+001408_000035:[1, 16, 17]
+023352_000005:[]
+008760_000010:[]
+010269_000024:[1, 5, 14]
+009997_000015:[]
+001397_000028:[4, 11]
+000053_000018:[11]
+017743_000034:[4, 5]
+021614_000033:[5]
+010217_000037:[]
+006964_000032:[]
+011733_000010:[]
+005050_000010:[]
+016462_000027:[12]
+011413_000023:[18]
+014150_000001:[]
+008769_000015:[3, 8, 9, 14]
+011357_000029:[0, 17]
+000927_000028:[0]
+014210_000029:[]
+000786_000031:[]
+008761_000030:[]
+004853_000018:[]
+000176_000024:[]
+020994_000029:[7, 8, 12, 14]
+020084_000025:[14]
+021766_000030:[]
+019928_000013:[]
+002977_000013:[3, 14]
+024822_000024:[]
+009551_000028:[3]
+023675_000025:[]
+016452_000037:[12]
+023563_000023:[8]
+016838_000011:[]
+009649_000004:[19]
+010152_000024:[0, 2, 4]
+024148_000013:[]
+000113_000038:[]
+010127_000005:[5, 10, 18]
+023483_000033:[]
+024548_000000:[]
+006378_000017:[11]
+018268_000024:[9, 14]
+004816_000019:[]
+000139_000030:[4]
+023745_000031:[]
+004887_000031:[5]
+013191_000023:[10, 15]
+005906_000020:[]
+015866_000003:[5, 18]
+018595_000034:[0]
+003690_000003:[]
+011961_000017:[]
+005985_000030:[9]
+014668_000006:[]
+022163_000022:[8]
+002011_000015:[]
+010411_000016:[]
+023553_000003:[3, 10]
+002886_000039:[]
+005602_000021:[]
+019613_000014:[3, 13, 14, 17]
+011923_000014:[]
+014415_000018:[]
+013490_000014:[19]
+015162_000031:[]
+014255_000007:[3, 7]
+017808_000011:[4, 5, 8, 11, 12, 15]
+017256_000028:[]
+000075_000000:[2]
+005165_000038:[]
+002071_000013:[6]
+013131_000034:[]
+003891_000038:[1]
+007354_000033:[]
+013976_000035:[8]
+000161_000027:[]
+017550_000022:[]
+001141_000028:[0, 7, 9, 19]
+018578_000001:[1, 5]
+001582_000026:[7, 12]
+022460_000035:[6]
+002750_000025:[5, 11]
+024593_000036:[]
+023490_000017:[]
+024304_000014:[]
+010788_000003:[1]
+015603_000016:[]
+021626_000033:[7, 9]
+023392_000035:[]
+010813_000021:[4, 6]
+022288_000010:[]
+016084_000018:[]
+008215_000010:[]
+006949_000014:[]
+014066_000007:[]
+006167_000015:[]
+019229_000039:[1, 2]
+022158_000027:[11, 18]
+010670_000030:[]
+018880_000034:[1, 4]
+015794_000011:[]
+013590_000026:[]
+019345_000017:[]
+011611_000032:[12]
+008800_000007:[]
+008330_000037:[]
+021459_000007:[]
+009452_000019:[3, 4, 13]
+009052_000024:[]
+020333_000007:[]
+009992_000025:[]
+020231_000031:[19]
+009704_000031:[19]
+015515_000035:[]
+012785_000000:[]
+022720_000030:[8, 10, 17, 18]
+006943_000011:[18]
+002464_000022:[16]
+024423_000022:[]
+022315_000025:[]
+023960_000038:[]
+016347_000014:[]
+013088_000038:[2, 6, 19]
+016782_000011:[14, 15]
+002880_000023:[12, 16]
+013001_000016:[11]
+020323_000015:[5, 18]
+007216_000018:[0, 3, 16, 17]
+016080_000017:[0, 2]
+007011_000012:[]
+019413_000008:[0]
+006599_000008:[6, 9]
+014581_000012:[0, 3, 14, 15]
+004952_000000:[7]
+024867_000008:[9]
+002145_000009:[0, 8, 17]
+007314_000036:[2, 3, 6]
+005588_000021:[5]
+017728_000014:[8]
+020808_000015:[]
+002986_000002:[5, 8]
+018793_000006:[16, 17]
+012477_000021:[13]
+017455_000017:[3, 8]
+011791_000012:[2, 5]
+008024_000019:[]
+006464_000024:[]
+003545_000030:[16]
+013670_000030:[]
+016991_000000:[]
+007022_000029:[]
+013868_000020:[]
+023232_000034:[]
+022284_000012:[4, 13, 18]
+011270_000002:[4, 16]
+006404_000019:[10]
+018077_000020:[8]
+003947_000019:[]
+006921_000008:[]
+007218_000024:[3]
+014155_000009:[7, 8, 11]
+020974_000022:[19]
+022216_000003:[10]
+014902_000027:[]
+005052_000003:[]
+006166_000038:[0, 8, 10, 18]
+006683_000030:[0, 14, 15]
+014899_000001:[]
+014479_000008:[]
+000158_000025:[17]
+002419_000016:[]
+017491_000016:[1, 16, 18]
+011377_000015:[]
+017134_000023:[18]
+024305_000034:[]
+001221_000037:[]
+015570_000021:[]
+021945_000036:[]
+006155_000022:[]
+013171_000024:[]
+006204_000024:[4]
+007454_000024:[2]
+009819_000014:[]
+015834_000030:[]
+011192_000033:[]
+016389_000033:[8]
+017106_000000:[0, 3]
+005912_000011:[3, 7]
+014913_000032:[]
+015335_000026:[18]
+011017_000016:[]
+019371_000000:[16]
+024003_000027:[5, 7, 11, 15, 18]
+017885_000014:[]
+004642_000004:[2]
+024320_000000:[4, 5, 16]
+014574_000034:[]
+015496_000033:[3, 4, 13]
+016587_000033:[]
+000154_000033:[]
+006918_000027:[]
+024940_000017:[2]
+010501_000001:[19]
+004410_000035:[]
+018258_000032:[]
+008017_000014:[11, 18]
+022562_000032:[]
+019581_000003:[]
+002647_000038:[]
+006297_000001:[]
+000901_000035:[]
+023672_000037:[9]
+008698_000030:[]
+023134_000039:[]
+011959_000008:[1, 3, 10, 12, 19]
+019044_000027:[8]
+015426_000009:[0]
+022638_000032:[]
+007782_000038:[3, 15, 19]
+006084_000036:[]
+020109_000031:[0, 1, 5, 11, 13]
+022549_000034:[]
+005441_000010:[]
+014453_000024:[1, 8, 17]
+015079_000039:[0]
+009855_000039:[]
+001089_000016:[]
+022795_000000:[]
+001123_000012:[5]
+020044_000003:[]
+003800_000007:[]
+015840_000029:[]
+004576_000018:[]
+020635_000003:[]
+007512_000015:[4, 6]
+022011_000004:[]
+019891_000023:[]
+009750_000019:[3, 8]
+009051_000003:[12]
+000144_000023:[8, 13, 18]
+004622_000038:[]
+011693_000036:[]
+023548_000016:[]
+019689_000003:[1, 4, 11, 12]
+021191_000015:[]
+015314_000036:[12]
+003136_000008:[]
+003630_000025:[12, 15]
+023535_000016:[6]
+005744_000024:[7, 18]
+001348_000016:[]
+021070_000028:[]
+004676_000013:[5, 19]
+018440_000005:[]
+019177_000025:[8]
+018172_000028:[]
+008245_000032:[0, 6, 19]
+003769_000035:[]
+009436_000019:[1, 13, 16, 18]
+015127_000020:[12]
+021938_000018:[]
+003060_000030:[]
+021389_000003:[3, 4, 8, 9, 10, 17, 18]
+019116_000009:[]
+020785_000031:[8]
+010775_000021:[5]
+004868_000011:[0, 4, 6, 13]
+016425_000031:[]
+015562_000034:[7, 11]
+022996_000039:[]
+004891_000029:[8, 19]
+015930_000001:[8]
+020561_000015:[]
+020915_000009:[]
+007033_000039:[9]
+009830_000015:[0, 4]
+014572_000023:[5]
+024729_000034:[12]
+012777_000005:[2, 4, 17]
+019886_000011:[13]
+002667_000008:[10]
+022882_000003:[3, 11]
+024985_000038:[]
+000643_000027:[]
+009200_000029:[4, 16, 19]
+011266_000019:[8]
+024560_000003:[13, 16, 19]
+012030_000010:[2, 14]
+023876_000007:[14]
+018777_000024:[]
+018476_000023:[]
+022063_000007:[19]
+011554_000015:[4, 14, 15]
+012061_000003:[2, 6]
+008403_000035:[]
+006581_000032:[]
+002575_000010:[]
+012519_000023:[]
+006246_000010:[4, 12]
+023060_000028:[]
+004507_000023:[]
+004577_000039:[]
+003821_000021:[]
+024803_000031:[]
+004981_000004:[9]
+012542_000011:[3]
+005676_000011:[]
+009636_000017:[8]
+016637_000024:[9]
+015521_000034:[]
+016182_000019:[]
+005931_000037:[]
+019774_000028:[4]
+014786_000014:[]
+006940_000033:[4, 8, 10, 18]
+001544_000016:[13]
+020910_000020:[]
+005807_000038:[8]
+003540_000004:[]
+020366_000017:[]
+024790_000009:[1, 7, 9, 11, 12]
+024027_000037:[3, 13]
+022190_000025:[]
+016274_000007:[]
+024902_000022:[]
+002584_000007:[12]
+002854_000002:[5, 6, 9, 13, 15]
+019818_000002:[]
+002361_000031:[11]
+004352_000032:[6, 10]
+006803_000007:[]
+023850_000031:[0, 7, 16]
+023319_000038:[]
+020074_000005:[7]
+008339_000013:[]
+011709_000025:[]
+010291_000022:[]
+012120_000034:[]
+012231_000033:[]
+024861_000020:[]
+016250_000026:[]
+017091_000025:[11, 13, 17]
+000929_000038:[]
+012937_000003:[]
+014578_000031:[11]
+024483_000015:[]
+021427_000001:[4]
+019004_000026:[0, 5]
+019700_000003:[]
+018568_000009:[]
+010744_000035:[]
+017993_000020:[]
+020200_000022:[]
+024619_000003:[2, 12]
+021906_000016:[8]
+009287_000018:[15]
+000461_000029:[3]
+010111_000029:[]
+006978_000026:[1, 10]
+006897_000002:[]
+003101_000008:[]
+021340_000002:[3, 11, 19]
+012954_000011:[2, 10]
+016807_000030:[]
+024478_000000:[]
+004023_000007:[]
+005485_000019:[]
+014427_000038:[]
+010880_000032:[19]
+019354_000002:[6]
+020269_000009:[2]
+009079_000012:[]
+012756_000012:[2, 6, 15]
+013900_000011:[]
+008208_000007:[]
+002531_000012:[1, 3]
+009848_000024:[]
+000908_000026:[]
+018033_000023:[2]
+017389_000003:[]
+000125_000010:[]
+022100_000004:[1, 2, 5, 15]
+015467_000003:[]
+011214_000016:[]
+002457_000006:[]
+024293_000001:[7]
+005039_000010:[5]
+019128_000029:[]
+008921_000022:[]
+006331_000032:[3, 15]
+007823_000000:[]
+017552_000038:[1, 7, 11, 15, 19]
+021860_000028:[]
+016462_000028:[]
+010313_000002:[]
+008931_000017:[0]
+002689_000027:[]
+014541_000003:[6]
+015793_000013:[]
+022385_000024:[9]
+020763_000012:[]
+018651_000008:[12]
+024644_000032:[1, 16, 18]
+020625_000010:[]
+006439_000037:[]
+015887_000030:[]
+000961_000035:[8]
+019721_000015:[]
+017879_000001:[17]
+016669_000026:[16]
+016032_000026:[]
+008298_000010:[]
+010601_000003:[19]
+024159_000015:[]
+002002_000039:[]
+010167_000028:[]
+018658_000005:[]
+001214_000019:[]
+014047_000011:[]
+001642_000034:[]
+011817_000007:[11]
+010230_000015:[]
+017198_000008:[11]
+017373_000016:[]
+004108_000019:[]
+017127_000020:[]
+010166_000021:[]
+013623_000024:[2]
+005373_000035:[]
+007404_000030:[]
+020595_000014:[5, 13]
+016561_000038:[]
+015753_000022:[]
+002849_000025:[0, 1, 9, 19]
+010940_000030:[2, 15]
+004450_000003:[]
+021448_000034:[14]
+023260_000012:[]
+001262_000028:[17]
+000650_000025:[]
+007948_000026:[0]
+016420_000026:[]
+017485_000027:[]
+019625_000012:[]
+003823_000036:[]
+024059_000024:[8, 14]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000135_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000135_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b1206147cb7fd5a0c5dd08345648efa6e031997e
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000135_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+009553_000021:[12]
+022299_000029:[18]
+022271_000011:[]
+016133_000029:[0, 13]
+009159_000027:[]
+005809_000004:[0, 4, 19]
+017171_000026:[]
+007772_000021:[14]
+022711_000012:[0]
+019625_000032:[]
+019895_000000:[]
+020837_000006:[]
+011936_000034:[]
+004903_000012:[0, 4, 5, 10, 11, 18]
+004356_000036:[3, 5, 8, 9, 17, 18]
+013552_000014:[]
+024004_000039:[7, 11]
+018054_000024:[]
+008706_000028:[]
+020587_000014:[]
+001168_000023:[12]
+002514_000014:[]
+023744_000017:[19]
+008086_000013:[13, 14]
+013093_000033:[2, 18]
+019329_000007:[]
+021604_000006:[4, 13]
+011927_000034:[0, 3, 7, 11, 12, 16]
+013570_000021:[]
+001115_000000:[2, 4, 14]
+022868_000033:[]
+020847_000022:[]
+013158_000037:[9, 13]
+001381_000001:[]
+000181_000019:[]
+000674_000026:[]
+008861_000027:[]
+012811_000005:[]
+019917_000007:[]
+024447_000023:[6]
+006982_000002:[]
+023050_000005:[]
+012775_000000:[13]
+014983_000022:[]
+005135_000016:[19]
+010688_000022:[]
+022031_000022:[5, 7, 17]
+002893_000020:[2, 4, 18]
+001898_000005:[8]
+019008_000009:[]
+016997_000031:[14]
+021347_000005:[]
+001267_000036:[]
+019498_000010:[3, 10, 14, 17]
+020372_000006:[17]
+015834_000005:[]
+022083_000013:[]
+017008_000037:[15]
+016092_000024:[]
+014912_000012:[]
+002597_000024:[]
+022938_000003:[]
+014172_000014:[]
+006066_000017:[]
+003440_000008:[]
+020110_000010:[5]
+006928_000007:[]
+006821_000031:[14]
+023267_000013:[]
+012042_000010:[11]
+022810_000039:[]
+002357_000026:[]
+002889_000005:[2]
+022255_000026:[4, 10]
+013644_000001:[]
+008441_000032:[]
+009783_000028:[3, 17]
+016280_000030:[]
+018233_000026:[1, 3, 7, 10, 12, 14, 16]
+022920_000014:[]
+014175_000014:[]
+003278_000029:[11]
+014212_000009:[17]
+015853_000002:[]
+020761_000013:[7, 13, 14]
+009276_000038:[]
+016800_000014:[]
+010520_000007:[]
+006930_000029:[]
+000624_000028:[]
+010765_000019:[]
+000074_000029:[]
+002761_000023:[]
+016986_000032:[]
+006381_000028:[]
+016717_000029:[]
+019689_000019:[0, 4, 9, 12]
+000645_000004:[11, 13]
+012967_000029:[]
+012317_000029:[]
+015019_000025:[]
+023480_000037:[5]
+019420_000011:[2]
+014241_000004:[]
+012332_000013:[0, 1, 5, 15]
+024734_000020:[2, 7, 11, 12, 14]
+009319_000003:[5, 8, 18, 19]
+008256_000033:[]
+017990_000015:[]
+022144_000037:[]
+005917_000002:[6, 17]
+021751_000010:[]
+014262_000028:[]
+016606_000020:[15]
+004930_000008:[]
+013414_000000:[1]
+005246_000007:[]
+018610_000009:[8, 16, 19]
+013024_000018:[]
+005276_000022:[9, 17]
+001581_000031:[3]
+002058_000011:[]
+022073_000007:[1, 11, 12]
+006571_000032:[16]
+015774_000029:[6]
+021616_000032:[]
+000829_000025:[]
+004538_000011:[]
+004541_000007:[]
+009717_000016:[]
+016261_000038:[]
+015696_000014:[1, 5, 12, 14, 16, 18]
+006634_000015:[]
+011057_000026:[]
+024821_000000:[3]
+004699_000001:[0, 1, 7, 10, 18]
+022330_000016:[]
+024076_000036:[]
+011051_000024:[]
+017390_000021:[]
+002338_000019:[]
+000427_000021:[]
+000114_000016:[]
+014380_000033:[15]
+012747_000006:[10]
+000965_000018:[10, 11]
+010257_000003:[6]
+006660_000005:[]
+002840_000004:[11]
+001500_000032:[]
+018186_000003:[]
+005246_000001:[0, 6, 11, 18, 19]
+011990_000008:[5, 7, 14, 15, 19]
+001671_000015:[]
+007579_000031:[]
+015459_000002:[5]
+012351_000028:[]
+014224_000015:[4, 7]
+011721_000011:[5, 17]
+007616_000019:[]
+000607_000009:[15]
+013964_000030:[]
+009128_000002:[]
+018414_000034:[10, 16]
+010705_000006:[3]
+008262_000033:[0]
+003057_000004:[]
+001097_000033:[9]
+018173_000014:[]
+022920_000039:[16]
+002387_000013:[]
+018966_000008:[]
+000870_000017:[0]
+021590_000034:[]
+010873_000002:[0, 12, 17]
+011589_000025:[]
+012912_000022:[]
+006031_000034:[0, 1]
+018162_000007:[19]
+002644_000013:[4, 7, 13]
+009085_000026:[]
+013456_000029:[0, 3, 4, 5, 8, 9, 12, 14, 15, 19]
+001360_000024:[8]
+023067_000011:[]
+011682_000026:[12]
+019805_000036:[]
+024312_000003:[]
+018632_000021:[]
+010346_000006:[]
+012529_000024:[]
+024572_000018:[]
+022063_000027:[1, 7, 11, 14, 15, 19]
+019901_000030:[]
+014954_000001:[16, 17]
+017001_000036:[1]
+004945_000039:[3]
+002681_000000:[]
+007323_000020:[15]
+020599_000015:[]
+007597_000008:[0]
+016483_000033:[]
+010740_000024:[]
+005779_000034:[5, 19]
+019763_000014:[]
+014994_000005:[]
+023130_000035:[]
+004375_000031:[]
+015352_000029:[14]
+023301_000029:[9, 17, 19]
+001079_000020:[]
+001733_000002:[]
+010316_000018:[]
+005323_000000:[]
+007991_000013:[]
+009218_000004:[]
+004469_000028:[0, 3, 11, 13, 16, 17]
+011041_000024:[6, 9, 13, 15, 19]
+005563_000022:[]
+014173_000016:[]
+007611_000022:[8]
+015577_000030:[1, 17]
+004158_000022:[0]
+012016_000006:[]
+018907_000014:[]
+005918_000033:[3, 5]
+005421_000012:[15]
+004477_000022:[]
+015770_000020:[]
+016388_000021:[]
+016174_000007:[8, 11, 12, 14, 15]
+002730_000030:[]
+008741_000036:[19]
+001341_000036:[]
+012075_000028:[]
+017487_000039:[0]
+019164_000035:[]
+012285_000016:[6]
+021426_000018:[]
+013407_000026:[]
+012069_000021:[19]
+021416_000023:[3, 5, 9, 14]
+008582_000039:[]
+013902_000036:[15]
+010143_000015:[2]
+017570_000033:[]
+009697_000036:[10]
+012579_000032:[8, 11, 12]
+020589_000035:[2, 10]
+010095_000033:[12]
+012803_000027:[]
+012488_000035:[]
+015386_000039:[]
+004571_000023:[]
+000767_000026:[]
+008767_000015:[]
+018020_000020:[2, 12, 13]
+009447_000013:[8, 11]
+016395_000037:[]
+024169_000012:[]
+004341_000000:[]
+008744_000022:[11, 13]
+014162_000016:[]
+016167_000027:[]
+009778_000003:[11]
+021878_000010:[]
+002074_000032:[4, 12]
+007626_000022:[]
+018960_000018:[]
+005596_000018:[]
+008409_000028:[1, 13]
+003744_000026:[6]
+009651_000031:[17]
+003878_000018:[]
+017882_000008:[2, 19]
+023264_000001:[3]
+004473_000019:[]
+001680_000010:[]
+013618_000021:[]
+010417_000026:[9, 11]
+000645_000029:[]
+000553_000020:[]
+010271_000014:[]
+007031_000014:[2, 17]
+012464_000022:[]
+004730_000019:[0]
+018955_000013:[]
+010152_000017:[2]
+002414_000025:[6]
+009606_000039:[]
+019884_000029:[]
+016539_000026:[11, 12]
+011481_000038:[1, 16]
+011753_000031:[]
+004357_000029:[11, 19]
+001041_000015:[14]
+022548_000003:[]
+002930_000021:[]
+021666_000018:[]
+018468_000002:[6]
+006562_000007:[2, 6, 12]
+022525_000021:[]
+021889_000005:[14]
+011928_000029:[]
+013370_000039:[]
+007267_000000:[]
+006435_000023:[]
+007583_000001:[]
+009752_000031:[]
+000368_000025:[8]
+009633_000006:[]
+016266_000031:[]
+000456_000016:[]
+017332_000006:[18]
+003321_000001:[5, 9, 10, 19]
+023756_000008:[16]
+007486_000012:[]
+014377_000009:[]
+012227_000005:[]
+006017_000026:[]
+002391_000030:[]
+016352_000031:[]
+014682_000028:[]
+011049_000031:[]
+007890_000036:[]
+012900_000018:[]
+006002_000013:[]
+010489_000014:[]
+002127_000017:[0, 2, 6, 7, 9, 16]
+013941_000032:[]
+013836_000033:[]
+005965_000031:[6, 9]
+008599_000014:[13]
+003381_000002:[]
+008216_000023:[]
+012227_000028:[]
+019239_000032:[9]
+009172_000024:[9]
+024961_000027:[4]
+022249_000019:[]
+001884_000026:[0]
+001300_000027:[]
+015651_000017:[]
+012573_000007:[]
+018713_000005:[]
+000510_000002:[]
+017274_000002:[13]
+006300_000012:[]
+015879_000021:[]
+022434_000001:[0]
+019781_000004:[]
+010942_000012:[]
+014731_000003:[2, 6, 10, 12, 14, 15, 16, 18]
+020771_000038:[0, 1, 9, 10, 11, 16, 17]
+010004_000036:[]
+001191_000008:[12]
+016677_000004:[]
+013851_000003:[12]
+024572_000029:[]
+015794_000037:[1, 8, 16, 17]
+001191_000035:[]
+015387_000001:[]
+006188_000032:[16]
+021210_000007:[10, 11, 14, 15, 16, 17, 18]
+018636_000016:[9]
+014625_000019:[12]
+022662_000021:[]
+004301_000034:[15]
+022535_000038:[1]
+023134_000019:[]
+001665_000031:[6, 13]
+000372_000014:[]
+008323_000032:[3]
+000417_000039:[5, 12, 14, 15]
+000658_000023:[]
+009974_000039:[]
+012812_000008:[]
+014072_000037:[10, 11, 15, 18]
+010442_000007:[]
+004347_000018:[]
+015266_000009:[]
+001365_000018:[0, 1, 6, 15, 17]
+001508_000037:[]
+018745_000038:[11]
+003845_000034:[]
+005636_000026:[13]
+017154_000028:[1]
+004739_000008:[]
+019995_000005:[7, 8, 11, 12]
+011095_000032:[]
+005367_000036:[]
+004629_000004:[]
+019423_000038:[2]
+018126_000013:[]
+019907_000000:[]
+010019_000020:[0]
+020704_000010:[8]
+019996_000037:[]
+007415_000030:[1, 2, 4, 5, 7, 15, 16]
+024282_000012:[]
+018327_000020:[]
+021776_000031:[12]
+018088_000008:[4, 11, 14]
+024974_000008:[11]
+016166_000038:[14]
+000164_000031:[13]
+010356_000011:[]
+002421_000035:[]
+008962_000011:[]
+002920_000033:[0]
+001426_000031:[18]
+024344_000004:[11]
+021122_000035:[]
+013624_000016:[8, 12]
+011141_000004:[]
+020339_000036:[0, 1, 4, 5, 7, 10, 12, 14, 18]
+016108_000020:[]
+018234_000030:[]
+001249_000039:[]
+002879_000037:[7, 15]
+015895_000019:[3]
+002959_000016:[]
+009891_000012:[]
+016616_000034:[]
+015307_000023:[]
+005963_000010:[]
+003519_000036:[15]
+009414_000008:[7, 10]
+016373_000021:[]
+013261_000031:[]
+012126_000006:[4]
+000969_000023:[4]
+016383_000031:[]
+001326_000029:[]
+009762_000030:[]
+008292_000010:[7, 8, 17, 18]
+024995_000030:[]
+011497_000032:[19]
+008134_000025:[]
+000470_000009:[]
+015395_000024:[16]
+005905_000022:[]
+019830_000008:[]
+000973_000014:[]
+023996_000000:[2]
+006988_000035:[]
+016222_000019:[10]
+005113_000036:[]
+011026_000025:[19]
+003098_000026:[]
+024237_000035:[10]
+023140_000012:[]
+018688_000016:[]
+017664_000038:[19]
+004866_000024:[]
+005103_000000:[]
+017102_000011:[3, 8, 10, 13]
+013811_000014:[]
+010520_000001:[]
+018904_000026:[7]
+012024_000014:[]
+008782_000036:[8]
+009765_000018:[14]
+021761_000011:[8]
+001527_000004:[2]
+012156_000012:[]
+020433_000020:[]
+020493_000005:[]
+011086_000003:[]
+017798_000031:[]
+017824_000020:[3, 6]
+010700_000009:[11]
+016538_000038:[0, 2, 5, 6, 7, 19]
+016850_000017:[0]
+006159_000031:[]
+011106_000003:[]
+002422_000033:[]
+013346_000032:[]
+004091_000013:[]
+016244_000034:[]
+021225_000020:[15]
+017292_000030:[]
+010906_000006:[]
+010772_000015:[14]
+004424_000018:[]
+022554_000012:[]
+022212_000030:[]
+014773_000039:[4, 10, 11, 14, 18]
+017871_000014:[]
+009859_000037:[14, 17]
+023422_000005:[]
+018488_000018:[7, 11, 18]
+020020_000005:[10]
+013385_000018:[]
+018064_000005:[]
+007840_000008:[0, 5, 17]
+018128_000029:[]
+022926_000024:[]
+018097_000013:[]
+007329_000027:[6]
+022959_000025:[14]
+012845_000018:[]
+011219_000035:[]
+019350_000032:[3, 5, 12]
+018766_000026:[5, 11, 18]
+007331_000012:[]
+001232_000020:[19]
+022453_000014:[1]
+021481_000026:[12]
+016754_000028:[]
+009328_000033:[]
+011944_000013:[1, 15]
+011347_000031:[1]
+023115_000029:[]
+024499_000034:[0, 5, 7, 10]
+006976_000003:[]
+012058_000021:[7]
+005548_000025:[7, 10, 14, 15, 17]
+024610_000022:[1]
+001763_000022:[9]
+011014_000009:[]
+005003_000019:[]
+007205_000031:[19]
+014737_000020:[6]
+006488_000022:[0]
+008166_000031:[0, 13]
+017605_000007:[19]
+010641_000021:[]
+011326_000031:[12]
+022720_000024:[2]
+008408_000004:[]
+019900_000013:[13]
+024924_000009:[]
+011072_000029:[]
+004543_000026:[1, 2, 10, 13, 19]
+005071_000002:[]
+018516_000028:[]
+012451_000032:[]
+012343_000025:[]
+004887_000016:[5]
+003982_000037:[]
+013254_000011:[]
+000023_000036:[]
+005747_000015:[11, 14]
+002724_000023:[]
+024742_000030:[]
+003374_000037:[]
+024696_000013:[3]
+009681_000006:[]
+018755_000005:[8]
+017999_000034:[]
+004658_000015:[]
+005602_000035:[]
+000612_000035:[12, 13]
+013139_000030:[]
+000833_000020:[7]
+004953_000031:[]
+017852_000009:[10]
+002224_000016:[]
+003207_000039:[7]
+002804_000005:[]
+001268_000022:[14]
+021414_000026:[]
+005345_000018:[]
+006170_000020:[]
+021788_000038:[6, 8, 11, 18]
+016621_000037:[]
+017888_000036:[8]
+022412_000027:[]
+016306_000015:[]
+014454_000011:[2, 10]
+013739_000039:[9]
+006823_000029:[]
+004372_000007:[]
+017584_000009:[]
+018864_000013:[]
+008236_000024:[5]
+004365_000038:[8]
+005930_000007:[]
+006621_000004:[]
+023282_000034:[12, 14]
+022056_000011:[1, 11, 12, 13]
+020266_000031:[2, 13, 14]
+008901_000008:[]
+017086_000009:[]
+000335_000003:[0, 4, 6, 10]
+006310_000032:[]
+005973_000001:[]
+020840_000005:[]
+002446_000014:[]
+009503_000005:[]
+018258_000015:[0, 2, 3, 5, 8, 17, 18]
+021071_000005:[]
+019453_000031:[]
+011952_000007:[0, 1, 8, 10, 19]
+005718_000026:[]
+000118_000020:[]
+013179_000006:[]
+016710_000028:[]
+013534_000008:[]
+005150_000003:[2, 3, 7, 10, 14, 15]
+005525_000010:[]
+000220_000028:[]
+022920_000035:[]
+016065_000012:[4]
+014561_000025:[7]
+008320_000006:[]
+013144_000030:[2, 3, 5, 13, 14, 18]
+001827_000009:[]
+009745_000028:[6, 11]
+002522_000014:[]
+024335_000002:[3]
+002380_000026:[]
+012049_000012:[11]
+000417_000002:[6, 12, 19]
+023698_000009:[]
+011068_000004:[]
+022013_000011:[17]
+005587_000010:[5]
+011227_000027:[]
+024440_000003:[]
+022113_000026:[]
+003636_000028:[]
+020909_000038:[]
+000084_000034:[]
+001395_000002:[]
+022707_000002:[8, 17]
+009388_000011:[]
+016449_000017:[0, 8]
+003348_000016:[]
+017343_000037:[]
+020537_000018:[16]
+020336_000024:[4]
+020316_000030:[10]
+021359_000026:[16]
+010157_000029:[]
+019343_000006:[]
+020795_000025:[11, 19]
+014099_000026:[6]
+016052_000011:[10]
+006571_000005:[13]
+007477_000017:[2, 13]
+014892_000014:[]
+007665_000021:[8]
+013019_000037:[18]
+014025_000027:[4]
+000804_000005:[12, 17]
+002215_000020:[]
+017639_000001:[]
+022315_000004:[9, 13, 17]
+000715_000007:[18]
+010495_000025:[]
+019477_000035:[]
+002645_000025:[1, 2, 5]
+005572_000003:[]
+023669_000001:[]
+002132_000012:[]
+020048_000031:[]
+015106_000005:[0, 1, 7, 11, 17]
+024607_000020:[1, 7, 13]
+006056_000015:[]
+023121_000001:[1, 15]
+006270_000038:[]
+000997_000037:[13, 15, 17]
+007057_000010:[9, 13]
+019566_000035:[]
+003431_000006:[4]
+021295_000023:[2, 19]
+003851_000021:[]
+013511_000033:[]
+016228_000039:[]
+014819_000025:[]
+012150_000015:[]
+023897_000025:[]
+000876_000010:[]
+015558_000003:[5]
+002125_000004:[0]
+009300_000019:[8, 11, 12, 19]
+003227_000015:[]
+017574_000036:[1, 15]
+003359_000030:[4, 6]
+018175_000007:[14, 19]
+000030_000011:[]
+007185_000010:[0, 7, 15, 18]
+003349_000021:[]
+002233_000025:[7]
+021930_000022:[]
+012379_000021:[]
+017227_000023:[19]
+023938_000038:[]
+018206_000027:[]
+017286_000038:[1, 7]
+018702_000007:[]
+013040_000024:[]
+018517_000027:[10, 12, 13, 14]
+010153_000034:[]
+012358_000037:[0, 11, 14]
+017615_000012:[]
+017321_000039:[5, 12]
+016778_000020:[13]
+023076_000037:[]
+015782_000020:[]
+017315_000016:[]
+018130_000021:[]
+002505_000002:[]
+022281_000017:[11, 17]
+002870_000027:[]
+015648_000000:[4, 11]
+019036_000036:[3]
+021354_000011:[]
+006261_000035:[9, 17]
+019295_000026:[]
+001089_000008:[4]
+023946_000014:[]
+024536_000021:[0, 17]
+011862_000007:[]
+024187_000013:[]
+005498_000018:[]
+000778_000033:[]
+004288_000020:[]
+010686_000035:[3]
+006888_000019:[]
+004879_000005:[]
+012745_000010:[5, 8, 10, 11]
+008940_000002:[]
+012364_000033:[]
+007497_000020:[1, 4, 6, 10, 11, 13, 15]
+016592_000033:[]
+016406_000017:[]
+022685_000030:[]
+023648_000006:[]
+014069_000002:[1, 9, 13]
+005183_000035:[]
+018927_000025:[]
+007089_000039:[1, 3, 13]
+024443_000034:[]
+014292_000027:[5]
+008341_000012:[]
+024460_000031:[]
+011660_000036:[]
+014710_000003:[10, 13, 15, 16]
+000109_000025:[]
+001664_000036:[]
+004704_000027:[]
+000857_000031:[]
+020649_000007:[0, 1, 10]
+024324_000004:[]
+015651_000007:[]
+013721_000004:[7, 9, 10]
+010738_000020:[]
+007888_000019:[0, 9, 19]
+010406_000025:[]
+014806_000001:[]
+003555_000012:[11, 18]
+005385_000009:[]
+024777_000007:[]
+021688_000036:[]
+004359_000018:[11]
+018643_000034:[]
+020275_000018:[10]
+003719_000031:[5, 14, 15]
+023419_000006:[]
+006474_000014:[]
+018921_000019:[]
+002619_000001:[]
+001679_000007:[]
+007269_000001:[]
+005816_000033:[1, 13]
+007066_000016:[1, 4, 6, 12]
+020638_000036:[17, 19]
+015017_000001:[]
+014364_000015:[]
+006580_000032:[]
+017815_000031:[]
+010961_000024:[]
+005211_000015:[7]
+016168_000010:[2]
+018948_000026:[14]
+014974_000026:[13]
+007792_000032:[]
+020817_000005:[0, 3, 5, 14]
+017593_000007:[]
+021312_000017:[]
+019058_000012:[]
+020000_000027:[9, 11]
+004575_000003:[3, 10, 13]
+011053_000020:[14, 16]
+022310_000026:[1, 3, 5, 6, 7, 8, 12, 16]
+011845_000019:[17]
+013622_000019:[]
+008354_000032:[1, 2, 6, 7, 11, 13, 14, 16, 17]
+019123_000003:[]
+003223_000018:[]
+019502_000016:[]
+019945_000004:[1, 2, 7, 14, 16]
+012535_000019:[]
+009760_000030:[]
+018300_000011:[0, 2, 4, 9]
+014249_000003:[0, 9, 12]
+009650_000000:[2, 4, 16, 19]
+019982_000002:[]
+021172_000023:[]
+014371_000022:[]
+001445_000025:[14, 18, 19]
+013270_000037:[10]
+013241_000007:[]
+004853_000003:[3]
+008828_000039:[5]
+011523_000039:[0, 9, 19]
+011169_000001:[2]
+011774_000010:[4]
+019850_000031:[]
+023085_000032:[]
+023089_000026:[]
+024036_000000:[2, 3, 7, 8, 18]
+016345_000021:[]
+004492_000029:[]
+019845_000038:[6, 16]
+015841_000032:[]
+008613_000023:[]
+005101_000008:[]
+008387_000023:[]
+010671_000025:[]
+002641_000030:[]
+015841_000035:[]
+012560_000023:[4, 16]
+021144_000022:[]
+004999_000035:[]
+004233_000032:[]
+024095_000037:[]
+006972_000024:[]
+002766_000019:[]
+012400_000008:[3, 7, 8, 9, 12, 14, 18, 19]
+022458_000034:[]
+008709_000026:[1, 6]
+023762_000022:[2, 5, 16]
+023438_000015:[]
+010731_000018:[2, 14, 18]
+018479_000003:[6, 14, 16]
+024197_000000:[1, 13, 16]
+015204_000016:[13]
+009212_000034:[6]
+012043_000004:[9, 11]
+012062_000016:[]
+013481_000036:[7]
+008028_000002:[18]
+002425_000027:[4, 5]
+008093_000031:[2, 8]
+000664_000033:[]
+017179_000017:[0, 2, 8, 15, 18]
+013729_000031:[]
+018483_000000:[17]
+013284_000038:[]
+022306_000037:[15]
+001616_000016:[]
+006214_000008:[11]
+010863_000035:[]
+010151_000013:[]
+008348_000038:[]
+021881_000021:[]
+009104_000011:[6]
+008918_000025:[]
+015665_000037:[]
+000802_000029:[4, 9]
+003147_000037:[3, 4, 6, 11, 16]
+003005_000038:[]
+007301_000015:[]
+011577_000038:[3, 7, 17]
+012471_000025:[0, 4, 8, 16]
+012122_000038:[]
+000164_000012:[17]
+007606_000026:[]
+017855_000033:[]
+008806_000022:[]
+012268_000009:[]
+007305_000031:[9, 10]
+013297_000007:[15]
+024288_000012:[1, 4, 6, 8, 19]
+014203_000006:[2, 15]
+005553_000013:[15]
+019264_000003:[]
+011982_000010:[]
+003828_000012:[1]
+003791_000008:[4, 16]
+005547_000003:[]
+018916_000037:[17]
+014087_000025:[13]
+004708_000026:[5, 6, 8, 14]
+020029_000016:[]
+002709_000032:[0, 1, 5, 7, 10]
+014171_000038:[]
+013130_000036:[]
+006663_000011:[]
+024577_000030:[3]
+022000_000022:[13]
+001555_000021:[]
+013762_000026:[12]
+006470_000022:[7, 19]
+010554_000034:[]
+003572_000006:[]
+024844_000032:[8]
+014092_000024:[]
+006624_000008:[]
+011745_000006:[]
+019228_000021:[]
+011177_000000:[]
+007759_000030:[6, 8]
+012601_000014:[]
+014475_000005:[]
+023407_000021:[]
+021713_000003:[]
+013867_000032:[]
+012013_000012:[0]
+024608_000022:[]
+010456_000021:[19]
+016421_000028:[]
+015973_000027:[]
+009643_000013:[0, 12, 17, 19]
+003278_000036:[1, 8]
+008811_000032:[5]
+003367_000021:[]
+018717_000015:[10, 19]
+024986_000015:[2, 14]
+008688_000034:[13]
+016660_000004:[2]
+013718_000019:[]
+015400_000006:[]
+023459_000003:[]
+005216_000001:[]
+024308_000027:[]
+011095_000021:[]
+005038_000036:[]
+008058_000035:[18]
+001707_000025:[]
+016543_000017:[]
+008521_000021:[]
+013679_000001:[1, 5, 8, 16]
+004539_000018:[0, 5]
+024585_000007:[8, 12]
+011748_000026:[]
+008119_000037:[18]
+007000_000024:[2, 4, 5, 8, 13, 14, 18, 19]
+002908_000018:[2]
+015024_000024:[7]
+022755_000000:[]
+015889_000010:[0, 3, 8, 14]
+008238_000019:[]
+003223_000008:[]
+002207_000034:[]
+024860_000025:[1]
+024975_000031:[15, 17]
+003220_000028:[]
+018304_000000:[]
+002806_000032:[1, 14, 19]
+024961_000015:[4, 15]
+006465_000031:[4, 7, 13, 14, 15, 17]
+016126_000014:[]
+006041_000033:[]
+002700_000002:[]
+021524_000027:[]
+021216_000038:[]
+005364_000022:[]
+000433_000024:[11]
+018784_000023:[]
+021762_000034:[]
+006225_000021:[2, 11]
+023617_000033:[]
+013918_000001:[]
+010330_000033:[12, 14]
+001981_000020:[]
+008414_000025:[1]
+013527_000039:[]
+022539_000015:[4, 9]
+017372_000011:[]
+024911_000033:[4]
+001626_000016:[]
+005019_000024:[]
+005730_000037:[]
+020976_000034:[]
+010937_000014:[8, 18]
+015522_000031:[14, 19]
+014529_000020:[0, 6]
+020978_000002:[11, 13]
+023810_000038:[]
+021646_000030:[]
+017321_000009:[]
+024467_000013:[]
+003299_000026:[2, 6]
+021722_000011:[]
+000482_000004:[4]
+001600_000023:[]
+006479_000010:[]
+018630_000024:[]
+008940_000031:[]
+011388_000004:[]
+014358_000035:[0, 3, 16, 18]
+022274_000007:[]
+010839_000011:[6]
+012982_000018:[]
+016598_000011:[]
+011110_000019:[4, 5]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000144_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000144_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2d7c9bf3a8e743302ba49fd6f75e628a9b12fe9d
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000144_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+015425_000000:[]
+020151_000020:[9, 18]
+016364_000012:[]
+003106_000029:[11]
+011556_000008:[15]
+007798_000020:[8, 14]
+013930_000012:[6, 17]
+019140_000021:[]
+008342_000015:[]
+007049_000021:[]
+020482_000032:[]
+001546_000021:[]
+001546_000018:[0, 10]
+009243_000034:[]
+017733_000002:[]
+024538_000005:[14]
+019572_000017:[18]
+015380_000013:[]
+022034_000007:[]
+010165_000011:[]
+004460_000019:[10]
+022081_000014:[5, 19]
+000746_000027:[14, 15]
+006562_000023:[2, 12]
+020721_000030:[]
+002703_000010:[]
+022683_000001:[8]
+015234_000026:[0, 6, 9]
+002340_000018:[5]
+005007_000007:[]
+000597_000028:[]
+016732_000031:[]
+016256_000018:[6]
+008050_000033:[]
+008409_000025:[]
+023181_000011:[1, 5, 7, 8, 9, 10, 11, 13, 15, 17]
+009368_000009:[6, 16, 18]
+011275_000015:[]
+001652_000032:[]
+024239_000004:[]
+012436_000037:[]
+023271_000001:[1, 4, 12, 15]
+013912_000010:[]
+011158_000010:[]
+021944_000011:[]
+022854_000029:[4, 14]
+021173_000024:[0]
+018164_000016:[5, 16]
+002330_000029:[]
+019816_000020:[]
+020360_000035:[15]
+014527_000027:[8]
+009752_000009:[]
+021553_000008:[6, 11, 16]
+005124_000037:[13, 14]
+022571_000005:[]
+010018_000010:[]
+020417_000015:[9]
+013571_000003:[]
+022946_000015:[]
+010154_000032:[19]
+004683_000013:[]
+024643_000003:[1, 3, 8, 12, 14, 18]
+005964_000022:[4]
+024513_000014:[]
+023524_000017:[]
+003793_000032:[0, 5]
+000524_000034:[]
+002940_000036:[]
+013700_000005:[]
+007571_000034:[7]
+019677_000038:[]
+011601_000004:[19]
+012800_000021:[8]
+024123_000010:[]
+006669_000030:[12]
+020773_000000:[7, 14]
+020802_000030:[]
+014322_000011:[7]
+004744_000003:[1]
+014213_000010:[]
+002133_000019:[5]
+020398_000014:[13]
+003589_000032:[]
+008784_000012:[4, 5, 9, 10, 12]
+010438_000001:[0, 14]
+008610_000023:[1, 4, 6, 8, 10, 14, 18, 19]
+018942_000018:[0, 2]
+012262_000035:[]
+022692_000024:[]
+017675_000020:[1]
+021562_000039:[3]
+019502_000008:[16]
+004003_000012:[]
+002207_000011:[5, 10, 19]
+008476_000000:[]
+013304_000029:[15]
+016207_000014:[6]
+018199_000031:[]
+005071_000037:[]
+024151_000030:[]
+014248_000036:[7, 19]
+005515_000034:[]
+023648_000008:[]
+024914_000000:[1, 3, 9, 10, 12]
+021371_000000:[7]
+004632_000033:[9]
+011778_000027:[]
+007796_000013:[0, 1, 2, 3, 4, 9, 11, 13]
+020519_000001:[]
+013154_000011:[12, 13]
+016198_000003:[]
+015889_000031:[]
+021524_000003:[]
+008192_000015:[10]
+006863_000025:[]
+021917_000027:[5]
+022298_000029:[2, 9]
+013584_000013:[]
+005922_000033:[2, 10]
+011076_000024:[]
+023041_000002:[0, 8]
+001107_000019:[2]
+020483_000034:[1]
+000743_000039:[]
+005213_000021:[]
+009692_000007:[12]
+018596_000035:[]
+014660_000036:[]
+002768_000003:[]
+018423_000039:[5]
+024634_000034:[]
+010799_000014:[2, 5, 7]
+008785_000013:[0, 2, 11, 12, 13, 18]
+002878_000019:[1, 6, 19]
+004359_000035:[]
+012829_000026:[]
+016983_000039:[]
+017467_000026:[9, 10, 12]
+014617_000039:[]
+009455_000035:[8]
+009584_000036:[]
+021190_000021:[15]
+005885_000027:[]
+014806_000015:[]
+015645_000032:[]
+015553_000011:[0]
+007671_000015:[]
+017560_000011:[4]
+016921_000038:[11]
+001845_000024:[3]
+013029_000011:[12]
+008578_000039:[]
+011246_000000:[]
+012796_000023:[]
+015553_000039:[]
+003622_000002:[]
+005263_000029:[0, 8]
+002582_000008:[]
+000796_000013:[5, 10, 12, 14, 17, 19]
+013737_000023:[3]
+014067_000035:[]
+006769_000027:[]
+018770_000019:[]
+024122_000012:[]
+014060_000019:[10, 12]
+012465_000026:[]
+003442_000036:[]
+004522_000036:[1]
+006864_000007:[2, 4, 18]
+016640_000020:[]
+004529_000019:[5, 7]
+002600_000039:[]
+000863_000022:[]
+017902_000005:[2]
+010755_000026:[]
+023858_000022:[]
+003069_000000:[]
+001245_000004:[7, 16]
+001267_000030:[]
+009969_000013:[]
+023594_000022:[]
+010511_000029:[]
+011195_000016:[7, 13]
+013315_000033:[1]
+023150_000000:[]
+015910_000014:[]
+008635_000020:[13]
+019377_000011:[]
+002311_000015:[]
+001708_000010:[9]
+001627_000004:[]
+023049_000027:[]
+000779_000010:[7, 12, 16, 17]
+024324_000000:[15]
+006673_000018:[16]
+016490_000003:[]
+002547_000011:[]
+013188_000006:[2, 5, 7, 8, 10, 11, 16]
+000772_000005:[]
+023129_000023:[]
+015007_000014:[]
+015837_000025:[2, 10]
+011334_000005:[16]
+002712_000002:[6]
+006404_000032:[]
+000294_000008:[12, 17, 19]
+007800_000030:[]
+018753_000021:[16]
+009671_000038:[]
+010930_000029:[3, 8, 9, 11, 17]
+017920_000024:[3, 10, 13]
+019172_000011:[6]
+013622_000010:[]
+009173_000019:[]
+019441_000023:[]
+004836_000020:[]
+013881_000001:[4]
+016473_000000:[]
+003931_000039:[]
+008037_000017:[]
+021886_000034:[9, 10, 18]
+017601_000015:[3, 9]
+016643_000028:[13]
+005240_000005:[15]
+014681_000009:[]
+002519_000009:[]
+009853_000035:[2, 6, 14, 18]
+016041_000033:[]
+010120_000034:[17]
+001652_000023:[]
+018976_000007:[]
+017156_000010:[0, 1, 4, 7, 10]
+023135_000019:[]
+021068_000031:[]
+023625_000017:[10]
+018779_000021:[1]
+022231_000037:[]
+007451_000023:[2, 4, 5, 10, 14, 19]
+015050_000007:[]
+014284_000002:[1, 4, 13]
+001798_000021:[14]
+021814_000014:[15]
+012982_000037:[]
+011169_000004:[2]
+007005_000028:[]
+019420_000033:[]
+004648_000034:[19]
+001503_000018:[9, 17]
+016986_000017:[]
+004897_000012:[]
+006896_000004:[]
+000935_000015:[]
+012302_000012:[5, 10]
+024963_000014:[]
+021021_000002:[8, 9]
+005390_000017:[]
+015704_000004:[]
+011803_000000:[5]
+006803_000031:[16]
+015334_000005:[1, 18]
+007498_000030:[]
+020506_000005:[]
+013794_000004:[3, 10, 12, 13, 18, 19]
+016623_000021:[0]
+020624_000006:[]
+019867_000020:[]
+018958_000024:[]
+011251_000012:[]
+020393_000029:[]
+022348_000005:[1, 4, 6, 7, 12, 14, 15]
+016735_000010:[]
+006060_000000:[2, 11]
+011425_000019:[]
+005949_000035:[]
+022195_000005:[]
+007222_000004:[12]
+007097_000018:[]
+003108_000011:[]
+012673_000021:[]
+018351_000023:[3, 16]
+004584_000038:[17]
+018294_000005:[14]
+003207_000008:[1, 7]
+017509_000030:[13]
+011404_000017:[]
+003573_000001:[]
+018366_000025:[]
+018516_000035:[]
+019523_000004:[]
+016336_000016:[]
+003138_000010:[]
+008171_000039:[]
+004489_000003:[]
+010490_000032:[]
+008995_000034:[0]
+021499_000001:[10, 14, 15]
+007043_000015:[0, 5, 6, 10, 13, 14, 18]
+015517_000023:[6]
+017326_000013:[0, 5, 6, 7, 8, 9, 10, 13, 15, 16]
+008298_000016:[]
+001749_000011:[2]
+020544_000005:[1, 14, 15]
+015929_000015:[16]
+011256_000012:[]
+010694_000031:[]
+004882_000015:[5]
+015109_000026:[]
+013572_000026:[10, 14]
+014134_000030:[]
+007318_000031:[10, 19]
+018013_000017:[0, 17]
+005596_000013:[]
+003367_000019:[1]
+012683_000029:[]
+008191_000006:[]
+013462_000020:[4, 9, 13]
+010678_000009:[]
+007379_000032:[13, 14, 15, 18]
+013755_000019:[]
+018929_000013:[]
+008567_000019:[]
+004332_000011:[0, 3, 4, 6, 7, 9, 12, 13, 14]
+008001_000000:[]
+000187_000003:[2, 17]
+013314_000001:[]
+015040_000033:[]
+015459_000004:[]
+024299_000033:[]
+000872_000018:[3]
+002305_000022:[]
+024089_000022:[]
+006777_000008:[10, 17]
+015818_000000:[]
+002345_000029:[]
+009228_000000:[]
+009768_000008:[]
+013197_000032:[]
+002304_000023:[]
+023685_000013:[]
+010978_000014:[3, 17]
+008825_000038:[]
+019637_000009:[6, 7, 8, 12, 15, 18]
+014710_000000:[0, 1, 10]
+008342_000004:[]
+009644_000022:[]
+017297_000027:[8]
+008949_000001:[12, 18]
+007083_000028:[]
+022782_000034:[1, 8, 16]
+019300_000029:[2]
+012596_000026:[2, 3, 10]
+005542_000018:[0]
+021241_000021:[10, 16]
+019883_000033:[4, 13]
+012402_000033:[4]
+023234_000014:[]
+015757_000024:[15]
+005196_000032:[]
+000625_000014:[]
+001047_000012:[17]
+013628_000009:[12, 16, 19]
+017155_000026:[]
+014985_000016:[]
+001449_000026:[6]
+000797_000001:[3, 6]
+021426_000014:[]
+020260_000001:[]
+017500_000025:[]
+020336_000030:[]
+013211_000005:[]
+008992_000024:[14, 15]
+010161_000013:[]
+000644_000035:[0, 2]
+011900_000030:[]
+003250_000024:[3, 13, 14, 16]
+014284_000033:[1]
+006966_000027:[]
+001982_000020:[4]
+023397_000000:[6, 13, 16]
+000056_000026:[10, 11]
+007115_000010:[5]
+012370_000018:[3]
+010213_000038:[4, 11]
+009830_000010:[]
+014401_000020:[3, 4, 10]
+009016_000037:[]
+007209_000036:[1]
+007405_000033:[1, 5, 10]
+006030_000031:[]
+013739_000011:[9]
+015784_000017:[3]
+002195_000011:[7, 10, 11, 12]
+012231_000000:[]
+013290_000019:[]
+019580_000006:[5, 6]
+022628_000026:[]
+010253_000016:[4]
+015325_000004:[]
+002659_000012:[3, 6]
+014974_000038:[]
+004232_000017:[14, 15, 18]
+017565_000014:[6]
+022493_000006:[2, 7]
+006994_000027:[13]
+020109_000034:[]
+015372_000003:[]
+010101_000011:[]
+009350_000010:[]
+021024_000026:[19]
+019219_000010:[]
+005003_000021:[]
+011532_000031:[]
+001201_000020:[]
+001910_000020:[]
+022661_000012:[10]
+019204_000006:[0, 15]
+018813_000034:[]
+016405_000009:[14]
+021633_000020:[3]
+020990_000019:[15]
+015523_000000:[]
+004786_000003:[2]
+000303_000012:[]
+012098_000013:[7, 8, 9, 19]
+001879_000018:[]
+016504_000029:[]
+011926_000022:[1, 2, 5, 11, 16, 17]
+003079_000035:[]
+022698_000003:[]
+012026_000018:[]
+022557_000013:[]
+014170_000030:[]
+005142_000012:[]
+022039_000027:[0, 1, 3, 4, 7, 8, 13, 15, 18]
+019633_000020:[7]
+005353_000013:[19]
+008876_000028:[1, 2, 19]
+007881_000023:[]
+020714_000033:[3, 11, 15]
+013838_000005:[10, 15]
+009945_000023:[16]
+022413_000010:[8]
+004219_000018:[]
+013982_000003:[18]
+018740_000021:[6, 11, 14]
+007973_000012:[]
+024017_000008:[4, 5, 7, 8, 15, 19]
+006008_000024:[]
+021495_000036:[18]
+016026_000030:[0, 6]
+009003_000033:[]
+001094_000003:[]
+008745_000029:[]
+022289_000007:[4, 5, 7, 14]
+007465_000036:[]
+011260_000013:[]
+022999_000038:[10]
+010827_000039:[]
+006655_000018:[13, 18]
+009706_000037:[14, 17]
+003605_000023:[6]
+010162_000028:[3]
+019415_000008:[]
+018008_000002:[]
+017381_000025:[0]
+021686_000039:[3]
+003218_000037:[5]
+013449_000017:[]
+007529_000003:[]
+008643_000001:[]
+010016_000036:[1]
+004844_000012:[7, 8, 9, 10, 12, 14, 15, 17]
+001538_000022:[]
+009424_000002:[1]
+007688_000018:[]
+023403_000012:[]
+016138_000028:[14, 18]
+020271_000025:[17]
+011022_000006:[3, 7, 15, 16]
+009866_000019:[]
+021927_000029:[]
+019043_000026:[]
+013371_000000:[10, 12]
+008596_000017:[]
+010271_000006:[0]
+007626_000016:[]
+015658_000003:[]
+010814_000020:[]
+010672_000023:[1, 11, 14, 19]
+018930_000032:[19]
+000578_000011:[]
+023647_000014:[]
+006921_000006:[]
+014279_000010:[]
+016230_000028:[3]
+007772_000010:[2, 14]
+002515_000023:[1, 3, 8, 9, 10, 13]
+007533_000030:[]
+021100_000000:[]
+021423_000012:[5, 14]
+011105_000020:[14]
+009068_000029:[]
+010207_000000:[]
+011451_000033:[]
+024875_000020:[]
+004610_000002:[2, 15]
+014560_000014:[]
+007999_000011:[3, 12]
+000221_000013:[]
+003675_000032:[]
+001007_000038:[]
+019629_000021:[]
+019973_000007:[]
+008589_000022:[16, 17]
+005921_000006:[12, 16]
+012568_000009:[]
+000765_000018:[5, 14, 16]
+013889_000031:[1, 8, 12]
+024061_000003:[]
+002114_000033:[11]
+011058_000038:[13, 16]
+021426_000009:[]
+000782_000002:[3]
+012194_000010:[3, 18]
+020733_000020:[]
+006938_000005:[]
+024130_000032:[0, 19]
+015135_000009:[]
+009734_000014:[7]
+004071_000025:[5, 6]
+018538_000029:[18]
+021918_000024:[4, 6, 9, 10, 18, 19]
+011756_000014:[]
+016456_000003:[3, 8]
+017142_000035:[14]
+002020_000011:[]
+003156_000014:[]
+015545_000004:[13]
+017196_000021:[]
+000288_000007:[7]
+015047_000010:[]
+021792_000026:[]
+014778_000037:[]
+005242_000033:[6, 18]
+014618_000035:[]
+017413_000020:[11]
+006773_000033:[]
+012101_000022:[]
+024759_000033:[]
+007293_000013:[]
+001524_000038:[2, 8]
+004296_000012:[12]
+001111_000031:[5, 11, 16, 19]
+011504_000003:[]
+015648_000029:[]
+008874_000003:[]
+021374_000021:[]
+002696_000006:[]
+009596_000004:[1]
+005272_000006:[14, 17]
+019419_000022:[]
+015461_000019:[5]
+022812_000025:[]
+007513_000009:[8]
+003829_000035:[]
+023786_000026:[]
+008379_000021:[3, 8]
+007387_000011:[]
+021402_000019:[3, 9, 16]
+020072_000016:[]
+002103_000030:[17]
+008271_000033:[]
+011673_000010:[]
+010120_000035:[12]
+019463_000022:[4]
+018449_000010:[3]
+011372_000029:[]
+003456_000012:[]
+021739_000023:[]
+007841_000019:[4]
+014281_000016:[]
+002239_000020:[]
+000150_000035:[]
+001839_000039:[]
+000317_000038:[]
+000027_000030:[]
+017125_000001:[8]
+015453_000036:[]
+018473_000028:[]
+003162_000008:[]
+018188_000039:[0]
+015686_000033:[1, 9, 11, 12, 16, 18]
+012276_000009:[]
+007922_000003:[]
+018266_000010:[]
+024395_000030:[11, 14]
+005471_000026:[]
+013127_000038:[3, 5, 18]
+010705_000036:[]
+024035_000020:[]
+008328_000007:[]
+023885_000017:[]
+008446_000015:[]
+019065_000007:[]
+003124_000024:[8, 14]
+022578_000021:[]
+008663_000024:[]
+014241_000014:[]
+005917_000003:[3]
+021658_000011:[]
+002389_000010:[]
+019073_000033:[]
+011981_000021:[18]
+010470_000005:[0]
+024205_000033:[7, 16, 18]
+019852_000035:[]
+016200_000000:[18]
+007104_000033:[]
+019570_000014:[]
+013856_000005:[]
+005877_000003:[]
+023205_000023:[0, 3]
+004067_000011:[3, 4, 5, 9, 10, 12, 14, 16, 17, 18]
+014752_000013:[]
+007127_000020:[]
+022202_000038:[5, 7, 10, 12, 17]
+016430_000029:[]
+005634_000031:[]
+008467_000023:[0, 7]
+017977_000038:[0, 2, 3, 12, 15, 17]
+011679_000025:[]
+023717_000016:[]
+003828_000001:[6]
+016859_000019:[7, 14]
+014344_000033:[10, 13]
+020176_000035:[5, 18]
+023443_000017:[]
+024852_000008:[]
+014860_000038:[1, 5, 10, 11, 18]
+000372_000019:[14]
+010347_000005:[]
+013010_000029:[5, 6, 10, 11, 13]
+019583_000010:[]
+016144_000015:[]
+015352_000027:[1, 3, 14, 15]
+006336_000026:[]
+002143_000012:[]
+018611_000021:[]
+007893_000003:[6, 16]
+023137_000006:[]
+005196_000001:[4]
+021670_000003:[0, 17]
+018013_000039:[6]
+007654_000023:[]
+019446_000013:[]
+019318_000039:[]
+000019_000009:[9, 14]
+000243_000038:[]
+010690_000017:[]
+024454_000006:[0, 3]
+013604_000013:[0]
+010210_000028:[]
+000747_000001:[2, 5, 6]
+010937_000034:[0]
+016246_000001:[0, 2, 6, 13, 15, 18]
+023216_000002:[]
+000994_000002:[]
+002628_000015:[17]
+020216_000002:[]
+009850_000009:[]
+016633_000011:[]
+001779_000030:[]
+001702_000015:[]
+002865_000038:[1]
+020211_000039:[]
+007086_000002:[]
+001927_000028:[]
+012864_000003:[13]
+013354_000029:[]
+019456_000002:[]
+010320_000007:[17]
+016111_000028:[]
+015328_000006:[18]
+006558_000039:[]
+013077_000013:[5, 9]
+000802_000023:[]
+024752_000025:[9]
+004016_000036:[]
+001587_000009:[2, 6, 7, 8, 10, 16, 17]
+002139_000017:[5, 15, 16]
+000582_000008:[]
+006458_000018:[17]
+014906_000030:[3, 7, 19]
+017414_000009:[13]
+009862_000015:[9, 16, 17]
+019668_000038:[]
+017854_000001:[]
+021197_000029:[2, 15]
+001358_000027:[9, 12, 16, 19]
+015066_000028:[3, 5, 10, 13, 15]
+020647_000001:[2, 18]
+021149_000029:[]
+024271_000009:[6, 7, 18]
+016213_000022:[0, 4, 6, 7, 9, 13, 17, 18]
+008404_000031:[]
+023284_000030:[1, 14]
+010653_000008:[]
+024425_000005:[12, 18]
+019907_000001:[]
+019467_000037:[]
+013083_000006:[]
+021274_000031:[5, 13]
+022869_000006:[]
+005599_000014:[]
+018770_000029:[]
+020986_000005:[]
+008813_000016:[]
+016130_000037:[1, 2, 8, 10]
+010838_000015:[12]
+006606_000029:[11]
+017607_000000:[]
+000372_000003:[]
+013727_000005:[]
+006915_000038:[]
+012591_000013:[3]
+013237_000014:[8]
+017008_000023:[11]
+019209_000026:[6, 9]
+018062_000027:[]
+008433_000000:[2]
+015416_000019:[]
+000372_000015:[]
+005016_000010:[]
+021331_000011:[2, 16, 18]
+006141_000035:[15]
+022928_000003:[3]
+022605_000035:[9]
+002587_000039:[3]
+014679_000016:[16]
+000296_000001:[]
+017995_000026:[]
+010836_000031:[]
+014544_000015:[]
+015870_000016:[]
+009660_000029:[12]
+016636_000037:[]
+022648_000000:[1, 16]
+015906_000013:[]
+016349_000010:[17, 18]
+000569_000004:[]
+021930_000003:[]
+002220_000006:[]
+024602_000001:[2, 9, 16]
+007866_000000:[7]
+013279_000026:[10]
+013255_000035:[]
+018390_000034:[3, 5, 8, 12]
+017139_000006:[]
+024402_000027:[]
+023722_000021:[12]
+002320_000009:[1, 3, 4, 6, 8, 10, 13, 14, 16, 17]
+003084_000030:[12, 18]
+012524_000002:[15]
+024109_000033:[]
+024615_000020:[12]
+000928_000028:[17]
+018273_000022:[0, 6, 7, 12]
+023662_000029:[]
+001799_000024:[]
+013418_000004:[7]
+018045_000003:[]
+008956_000004:[]
+002865_000007:[3]
+009238_000024:[]
+012724_000016:[1, 3, 5, 7, 15, 16, 19]
+022300_000039:[11]
+001591_000027:[11, 19]
+012199_000010:[]
+019544_000033:[6, 9, 11]
+001549_000019:[0, 1, 3, 4, 5, 7]
+017688_000017:[]
+021771_000036:[16]
+009240_000008:[]
+009943_000006:[2, 4, 5]
+013137_000013:[]
+020805_000008:[0, 1, 10, 13, 14, 19]
+015626_000024:[3]
+006568_000003:[]
+010377_000021:[]
+020272_000036:[11]
+018815_000027:[]
+010764_000037:[]
+017115_000026:[]
+013618_000026:[]
+008241_000017:[0]
+001741_000011:[]
+020376_000009:[]
+008922_000022:[6, 8, 13]
+010466_000023:[]
+001043_000028:[]
+013359_000024:[1, 5, 14]
+001694_000005:[]
+015072_000018:[13]
+007098_000035:[0]
+014340_000006:[]
+002068_000021:[1, 12]
+014441_000013:[]
+017323_000020:[]
+011005_000031:[9, 10]
+017072_000039:[2]
+009608_000036:[]
+003593_000019:[]
+023734_000037:[]
+015723_000020:[]
+004438_000026:[3]
+006631_000021:[7]
+017371_000034:[0, 1, 4, 10, 11, 15, 18, 19]
+018052_000003:[]
+003742_000026:[2]
+010792_000028:[13]
+000675_000035:[]
+011273_000029:[]
+014807_000001:[]
+008970_000032:[12]
+000904_000015:[]
+005669_000030:[]
+003245_000001:[7, 13]
+000741_000029:[]
+014554_000033:[]
+012259_000002:[11]
+012960_000022:[]
+007952_000020:[6, 8, 10]
+010883_000009:[3]
+024972_000003:[12]
+024970_000025:[]
+016032_000027:[]
+003458_000019:[]
+020657_000005:[5]
+022908_000018:[]
+007441_000006:[]
+013820_000015:[]
+023809_000023:[]
+009075_000008:[15]
+008710_000003:[]
+007288_000019:[]
+018171_000020:[4, 16, 17]
+015496_000035:[]
+016631_000000:[]
+019797_000024:[]
+003167_000000:[]
+017232_000001:[8, 15]
+016823_000005:[0]
+017128_000036:[7, 8, 13, 19]
+010405_000005:[]
+016674_000036:[]
+016001_000024:[]
+008057_000025:[6, 14]
+010254_000023:[]
+001439_000008:[]
+010571_000011:[8]
+011012_000037:[11, 19]
+017494_000020:[5, 13]
+009496_000006:[14]
+007522_000018:[]
+021168_000000:[]
+007482_000006:[8, 14]
+000521_000012:[10]
+004245_000022:[]
+011016_000033:[]
+005224_000027:[]
+015546_000021:[]
+017313_000016:[1]
+010534_000038:[11]
+019196_000017:[]
+011339_000027:[]
+016892_000032:[]
+024031_000038:[]
+022899_000003:[]
+016128_000032:[2, 12]
+004224_000039:[11]
+001409_000004:[17]
+008777_000035:[]
+020402_000004:[]
+019758_000009:[]
+019817_000004:[]
+003938_000011:[]
+003142_000016:[]
+024092_000036:[17]
+014736_000036:[]
+000177_000014:[]
+003964_000004:[19]
+003442_000031:[3]
+004933_000022:[]
+024332_000026:[]
+018534_000023:[1]
+019115_000014:[1, 3]
+007954_000016:[]
+001753_000011:[]
+006089_000027:[0]
+016302_000004:[3]
+000501_000011:[]
+008938_000005:[4]
+015377_000026:[6]
+013222_000036:[12, 15, 17]
+008877_000006:[]
+003813_000002:[]
+018758_000038:[]
+006068_000020:[10]
+017034_000026:[]
+021199_000004:[]
+004714_000027:[]
+019666_000013:[]
+004276_000022:[]
+009215_000036:[]
+007614_000004:[]
+009745_000034:[]
+019716_000003:[]
+014393_000029:[]
+018731_000015:[8]
+000654_000008:[]
+005406_000033:[]
+016290_000002:[]
+021039_000016:[]
+002323_000022:[]
+016593_000004:[3, 6]
+003206_000020:[2]
+000105_000036:[3, 8]
+017018_000001:[]
+001938_000005:[]
+003335_000003:[]
+000587_000033:[]
+009466_000032:[]
+003053_000018:[]
+006454_000039:[]
+012245_000023:[]
+018475_000010:[3, 5, 6, 11, 13, 17]
+014533_000036:[]
+017507_000019:[]
+009519_000006:[7]
+005141_000031:[]
+017191_000001:[]
+019381_000007:[]
+013515_000029:[]
+019162_000002:[7, 10]
+009861_000033:[2]
+021729_000023:[19]
+018990_000035:[1]
+006058_000012:[9, 18]
+010166_000029:[]
+011003_000030:[]
+006822_000038:[]
+020004_000002:[]
+015183_000014:[]
+017811_000017:[9, 14]
+011371_000035:[11, 14]
+011218_000020:[]
+012372_000000:[]
+021875_000013:[3]
+023332_000017:[]
+002033_000022:[1]
+015561_000016:[0, 9, 13]
+018912_000001:[]
+003703_000035:[]
+018885_000012:[]
+020237_000034:[]
+019416_000002:[]
+020714_000037:[]
+005004_000020:[]
+003135_000009:[]
+006417_000028:[]
+001515_000022:[]
+024378_000024:[]
+015855_000015:[]
+008630_000039:[7, 18]
+004520_000039:[]
+004430_000019:[17, 18]
+022615_000033:[]
+024778_000001:[]
+013605_000000:[]
+005508_000012:[19]
+010880_000026:[]
+015850_000039:[14]
+016505_000031:[5]
+017024_000017:[6, 12, 17]
+015428_000004:[]
+002699_000023:[7]
+005622_000012:[]
+000992_000004:[]
+017677_000007:[6]
+014007_000004:[12]
+018733_000022:[4, 12]
+009514_000009:[]
+023598_000018:[]
+019282_000005:[3, 5]
+003317_000004:[]
+012445_000005:[13]
+009719_000007:[15, 19]
+001306_000031:[]
+020348_000025:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000155_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000155_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6bd75a8d0e9c31c1ff1d65d0253dfc7a039b4c4c
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000155_corrupted_depths.txt
@@ -0,0 +1,500 @@
+002049_000032:[]
+021295_000035:[1]
+009425_000027:[]
+004456_000028:[]
+022025_000031:[]
+004478_000006:[]
+018213_000001:[]
+003946_000005:[]
+012271_000022:[1]
+022375_000003:[]
+010211_000025:[]
+009746_000015:[]
+010922_000025:[0]
+014444_000003:[]
+022453_000025:[]
+018235_000009:[12]
+020122_000025:[]
+009406_000031:[4]
+024859_000033:[]
+017169_000005:[]
+012168_000029:[]
+000876_000012:[6]
+024909_000037:[]
+005318_000027:[14]
+011471_000028:[]
+022348_000035:[6, 7]
+015474_000020:[18]
+004876_000030:[6, 14]
+005164_000019:[]
+015475_000017:[]
+013463_000009:[]
+018781_000021:[]
+009918_000038:[0, 10]
+021522_000021:[8]
+005752_000018:[]
+016617_000003:[]
+004491_000017:[]
+007354_000035:[9, 10, 19]
+011379_000024:[4, 5, 7, 8, 11, 16]
+008230_000026:[]
+011954_000012:[3]
+005009_000039:[]
+009266_000035:[]
+009218_000020:[4]
+022393_000024:[]
+008120_000003:[15]
+016264_000029:[]
+011553_000012:[]
+007564_000005:[]
+009560_000016:[]
+013883_000029:[]
+010232_000022:[14]
+001387_000017:[3]
+022716_000005:[1, 5, 6, 11, 18]
+007165_000018:[]
+004030_000004:[]
+005078_000003:[]
+015626_000000:[]
+016002_000007:[]
+004373_000035:[]
+023366_000019:[]
+013107_000025:[17]
+000708_000009:[0, 1, 2, 5, 11, 12]
+012630_000023:[]
+022789_000025:[4, 7]
+006434_000025:[3, 11]
+008420_000019:[]
+016076_000033:[]
+024714_000037:[]
+008710_000015:[]
+004078_000028:[]
+016594_000037:[]
+008089_000010:[7, 10]
+010788_000007:[]
+010361_000017:[]
+014513_000027:[]
+017037_000017:[]
+002892_000024:[]
+010287_000022:[2, 6, 14]
+017262_000033:[11]
+003266_000029:[17]
+011555_000037:[]
+021636_000024:[6, 7]
+003327_000031:[12]
+001968_000030:[11]
+018676_000027:[]
+013638_000035:[7]
+014316_000008:[]
+002304_000014:[4]
+021354_000035:[]
+013141_000021:[10, 17]
+004011_000036:[1, 13]
+022054_000037:[4, 16]
+015701_000006:[]
+023905_000020:[]
+015404_000004:[]
+002114_000000:[]
+006628_000030:[]
+005817_000010:[0, 6, 12, 14]
+008453_000026:[11]
+016842_000021:[14]
+021347_000025:[]
+012937_000032:[]
+016643_000005:[0, 2, 3, 4]
+019869_000035:[5]
+015972_000014:[]
+003381_000006:[1, 8, 10]
+010106_000000:[2, 4]
+011017_000029:[1, 18]
+009909_000039:[7, 11, 18]
+007237_000022:[]
+004440_000037:[]
+022190_000005:[5, 6, 19]
+009214_000035:[]
+018208_000025:[18]
+022590_000008:[]
+010120_000006:[12]
+013843_000020:[]
+018226_000006:[3, 16, 18]
+016031_000033:[0, 6, 7, 10]
+005248_000036:[]
+006250_000039:[]
+021014_000026:[1, 11, 18]
+022465_000030:[12]
+005909_000013:[]
+011373_000015:[]
+023915_000035:[1, 12]
+003797_000021:[4]
+007195_000008:[0, 1, 3, 17]
+011963_000019:[2]
+019926_000033:[]
+010269_000036:[]
+015440_000036:[]
+021781_000002:[]
+013434_000005:[]
+013245_000009:[]
+007191_000018:[1]
+024916_000021:[]
+009487_000002:[2, 6]
+024701_000000:[]
+013750_000036:[]
+016364_000027:[]
+009187_000036:[]
+019529_000012:[2, 9]
+016408_000007:[]
+024777_000036:[]
+014557_000030:[]
+020446_000028:[6, 9, 13, 16]
+019752_000002:[5, 8, 19]
+021200_000026:[]
+024072_000002:[3, 5, 6, 19]
+018739_000033:[]
+023005_000030:[]
+019267_000039:[]
+017152_000002:[]
+018909_000012:[]
+009415_000023:[]
+011796_000038:[1, 10, 12]
+016180_000018:[]
+019006_000019:[]
+010107_000023:[]
+016665_000021:[3]
+023197_000006:[7]
+005455_000012:[]
+011403_000039:[]
+014376_000020:[10]
+000199_000021:[7]
+004571_000026:[]
+022540_000001:[4]
+006104_000030:[]
+020596_000005:[]
+002243_000004:[]
+000374_000035:[]
+009727_000011:[9, 12]
+003125_000002:[11]
+015655_000031:[8]
+002238_000034:[2]
+005233_000003:[0]
+002790_000026:[3]
+016866_000022:[2]
+013268_000037:[]
+017927_000021:[11]
+009550_000024:[]
+022470_000016:[2, 3]
+021811_000011:[0, 9, 12, 16]
+006886_000005:[]
+007037_000032:[13, 19]
+004370_000013:[]
+023110_000000:[]
+003926_000010:[]
+019677_000033:[]
+023565_000025:[]
+016486_000019:[12, 16]
+023534_000037:[]
+024989_000009:[]
+011363_000004:[]
+024901_000001:[]
+022520_000033:[]
+014728_000025:[]
+004871_000034:[7]
+013950_000010:[]
+017597_000005:[]
+016297_000024:[]
+001750_000025:[]
+005503_000031:[]
+020461_000015:[8, 16]
+012589_000009:[]
+020822_000011:[4]
+017925_000027:[]
+015753_000008:[19]
+000208_000038:[]
+009664_000007:[]
+019318_000004:[]
+008933_000027:[3, 19]
+016376_000003:[]
+007162_000018:[]
+013266_000018:[13, 18]
+024456_000018:[]
+008967_000027:[2]
+022704_000037:[]
+017291_000017:[17]
+012716_000007:[]
+005478_000005:[10]
+004247_000007:[]
+004134_000000:[1, 11]
+009278_000020:[]
+019984_000032:[]
+016895_000018:[4, 14, 16]
+006095_000018:[2, 10, 13, 15, 18]
+012460_000002:[]
+011769_000027:[15]
+024614_000012:[]
+009572_000012:[5, 12]
+008471_000033:[5, 17]
+016851_000039:[]
+011806_000013:[0, 4, 5, 12, 13, 17]
+006241_000038:[4, 5, 12, 13]
+010524_000037:[]
+019362_000003:[12, 15]
+022993_000011:[]
+015054_000031:[]
+011617_000016:[]
+002923_000005:[]
+005767_000029:[2, 6, 9, 13]
+012103_000039:[]
+001482_000008:[2, 17]
+022428_000002:[]
+011902_000030:[]
+019204_000015:[]
+019750_000021:[2, 9, 10, 19]
+002812_000036:[4, 7]
+011547_000009:[1, 9, 11, 12, 18]
+019068_000032:[14]
+011570_000020:[10]
+004091_000037:[]
+023317_000027:[]
+012625_000009:[]
+004148_000005:[0, 1, 5, 10, 11, 13, 15, 16]
+002042_000028:[17]
+016972_000005:[]
+013935_000035:[1]
+017312_000034:[]
+011501_000003:[]
+018943_000008:[]
+012148_000005:[0, 5, 14, 16, 18]
+007041_000036:[]
+019148_000028:[]
+016156_000032:[]
+021531_000007:[]
+021047_000017:[]
+008202_000026:[16]
+012877_000005:[]
+022617_000007:[]
+014851_000039:[]
+011847_000037:[2, 12, 14, 16]
+009845_000035:[7]
+003770_000010:[]
+010395_000000:[]
+009533_000024:[8, 16, 17]
+008817_000030:[9, 13]
+012695_000001:[0, 7]
+014925_000022:[]
+005228_000010:[19]
+011852_000000:[]
+019788_000012:[]
+009406_000019:[4]
+013551_000019:[]
+010309_000029:[]
+014829_000001:[]
+023351_000013:[0]
+021230_000014:[17]
+002311_000031:[5]
+015194_000036:[11, 13, 14, 17]
+000837_000026:[]
+006963_000026:[]
+021268_000034:[2, 8, 12]
+017927_000035:[]
+002869_000033:[]
+009669_000005:[]
+015699_000019:[]
+006667_000008:[2, 9, 14]
+023123_000008:[0, 12]
+023504_000037:[]
+013594_000034:[3, 15]
+005992_000006:[]
+002038_000026:[5, 13]
+003924_000000:[5]
+016992_000009:[]
+000350_000014:[6, 7]
+015913_000024:[5]
+014467_000027:[6]
+024957_000026:[0]
+016932_000028:[9]
+003754_000019:[7]
+013145_000038:[]
+004106_000035:[7]
+020844_000012:[]
+008423_000014:[]
+009821_000033:[5]
+009903_000022:[]
+011583_000015:[6]
+016602_000036:[3]
+015377_000010:[]
+009351_000029:[9]
+015181_000034:[3, 13, 18]
+005767_000004:[2, 9, 13]
+006365_000005:[3]
+009085_000039:[]
+019635_000026:[]
+005979_000017:[]
+009341_000018:[]
+005283_000037:[]
+017255_000022:[13]
+006487_000033:[]
+017503_000004:[]
+015986_000002:[]
+015500_000029:[]
+008020_000003:[]
+016690_000025:[]
+023237_000039:[]
+013276_000013:[8, 14]
+021234_000011:[]
+003888_000037:[4, 10, 11, 12]
+017494_000026:[9]
+018001_000008:[6, 8]
+010357_000032:[]
+000170_000000:[0]
+011296_000003:[]
+017941_000020:[]
+005012_000019:[]
+010049_000003:[]
+010015_000027:[10]
+010362_000003:[]
+023519_000026:[]
+017790_000022:[]
+010089_000018:[]
+010589_000015:[]
+016179_000022:[]
+013959_000001:[0]
+021684_000024:[1, 6, 14]
+002811_000029:[13, 15]
+010586_000034:[]
+011999_000032:[]
+019636_000002:[]
+015455_000003:[]
+015456_000004:[10]
+010162_000008:[]
+015906_000027:[]
+001168_000002:[]
+022408_000015:[]
+013218_000037:[7]
+012656_000002:[]
+014846_000012:[]
+005219_000020:[]
+005867_000033:[]
+000903_000011:[]
+009149_000017:[]
+017311_000022:[]
+019486_000039:[14]
+010095_000019:[]
+018692_000035:[]
+016957_000011:[19]
+015938_000035:[18]
+020147_000007:[]
+013915_000004:[6, 7, 13, 14]
+014864_000005:[]
+024475_000018:[]
+012397_000034:[]
+022034_000002:[]
+012014_000008:[0, 4]
+005558_000027:[]
+004606_000011:[]
+013961_000039:[13]
+020267_000009:[1, 5, 6, 9, 11, 19]
+008581_000011:[]
+024251_000028:[6, 12, 14]
+015961_000007:[]
+004801_000005:[]
+024027_000012:[]
+008741_000025:[19]
+004536_000008:[1, 7, 15, 17, 18]
+018967_000010:[8, 19]
+003076_000016:[2]
+002794_000035:[]
+006234_000028:[]
+016240_000007:[]
+014357_000031:[1, 8]
+010261_000008:[]
+017936_000000:[4]
+017617_000031:[]
+001659_000012:[0]
+007305_000024:[]
+017625_000024:[9, 16]
+003791_000023:[]
+020111_000002:[]
+007140_000003:[7, 15]
+022109_000015:[]
+007996_000001:[2, 3, 4, 12, 14]
+023865_000010:[]
+004855_000010:[2, 14]
+004089_000022:[13, 17]
+001857_000007:[]
+018205_000010:[10, 16, 17, 18]
+008135_000037:[5, 12]
+022928_000013:[4]
+006456_000033:[]
+008171_000008:[]
+014123_000024:[]
+000700_000016:[]
+021349_000003:[]
+008843_000030:[]
+009964_000028:[2, 5, 6, 19]
+013504_000027:[7, 13, 15, 19]
+017688_000020:[9]
+020092_000036:[]
+017336_000029:[]
+014195_000000:[]
+015400_000028:[]
+012000_000001:[7]
+020394_000028:[]
+018240_000003:[]
+013305_000026:[]
+007985_000001:[10, 19]
+004390_000018:[8]
+021835_000032:[]
+007078_000007:[]
+000526_000035:[]
+020596_000020:[]
+001389_000018:[1, 3, 6, 17, 19]
+007449_000036:[]
+007314_000020:[3]
+021668_000015:[18]
+012991_000028:[]
+008575_000033:[3, 6]
+024507_000001:[10, 13, 15]
+008474_000005:[]
+014758_000007:[]
+004196_000029:[]
+020727_000006:[10, 17]
+012199_000013:[9, 10, 15]
+006345_000032:[7, 9, 10, 14, 16]
+012085_000006:[]
+007839_000027:[2, 5, 8, 17]
+018803_000034:[]
+020672_000018:[0, 17]
+015420_000025:[]
+024979_000017:[]
+023334_000032:[10]
+014092_000025:[]
+008723_000035:[]
+009252_000030:[]
+020161_000024:[]
+022569_000005:[15]
+006742_000020:[]
+014687_000038:[2, 12]
+006773_000035:[14]
+015174_000005:[]
+017105_000005:[]
+007570_000038:[19]
+010183_000026:[]
+016850_000027:[16]
+001461_000008:[]
+016682_000027:[]
+017430_000022:[]
+000772_000038:[7, 15]
+021441_000034:[]
+003390_000006:[]
+022080_000020:[]
+016511_000012:[]
+007580_000028:[]
+011534_000020:[3, 6, 8]
+002787_000028:[10, 16]
+016069_000023:[]
+013716_000007:[17]
+006095_000016:[15]
+020603_000011:[]
+003803_000022:[]
+008254_000015:[2, 6]
+021149_000034:[]
+020167_000004:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000177_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000177_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cfc5963dfc1054c870a4f84e88774bcc981232cd
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000177_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+008286_000005:[]
+020626_000006:[]
+003069_000022:[14]
+019945_000015:[]
+011021_000010:[]
+007567_000003:[]
+015374_000011:[]
+005580_000037:[2, 5, 15]
+003616_000018:[]
+007723_000025:[0]
+013116_000026:[0, 5, 8]
+009108_000005:[]
+011950_000014:[3, 4, 8]
+021932_000004:[12]
+024275_000015:[15]
+015934_000035:[6]
+022865_000028:[6]
+023628_000037:[]
+003537_000012:[]
+007809_000029:[]
+021688_000039:[]
+003156_000028:[17]
+006196_000036:[4]
+015995_000002:[]
+009778_000027:[]
+002348_000000:[]
+003523_000014:[16, 17, 19]
+024647_000008:[]
+010048_000024:[18]
+010563_000026:[]
+020263_000026:[]
+011920_000003:[]
+021542_000018:[0, 10, 17, 19]
+007663_000004:[]
+000801_000039:[]
+022151_000024:[]
+005233_000039:[]
+023233_000033:[0, 2]
+010895_000004:[]
+010996_000038:[]
+000275_000024:[]
+023318_000034:[0, 3, 7, 13, 14]
+006886_000030:[18]
+003211_000018:[6, 13, 15, 18]
+013970_000017:[]
+024112_000024:[18]
+007910_000004:[]
+019853_000023:[]
+009057_000008:[]
+020018_000013:[8, 9]
+017812_000017:[2]
+001864_000002:[]
+002348_000015:[]
+011955_000001:[]
+011399_000001:[]
+017775_000016:[]
+011184_000032:[]
+000364_000019:[]
+018582_000026:[]
+010490_000026:[]
+018497_000028:[]
+013186_000007:[8]
+016446_000024:[1, 12]
+021546_000014:[]
+016725_000013:[5, 6]
+005080_000012:[16]
+021136_000021:[]
+015037_000015:[]
+005747_000017:[]
+006186_000006:[12]
+004923_000033:[5, 8, 11, 18]
+001269_000025:[]
+018391_000009:[2, 18]
+021645_000008:[3]
+011600_000036:[11]
+018935_000027:[]
+000366_000014:[17]
+023743_000034:[6]
+010923_000032:[6, 12, 15]
+019030_000024:[]
+017440_000025:[8]
+010132_000033:[]
+010931_000022:[3, 11]
+023828_000005:[]
+009255_000033:[]
+022202_000025:[17]
+023462_000011:[]
+024858_000002:[5]
+007891_000013:[0, 7, 17]
+009278_000010:[]
+008182_000027:[]
+000093_000027:[]
+009757_000022:[9]
+004454_000016:[]
+022705_000034:[]
+014228_000039:[]
+014326_000033:[]
+016791_000018:[19]
+017906_000014:[]
+008925_000037:[]
+006091_000038:[]
+015434_000016:[]
+000763_000000:[]
+013044_000023:[]
+009249_000027:[13]
+000952_000024:[14]
+004541_000039:[]
+001489_000018:[]
+013162_000026:[1, 3, 6, 13]
+003308_000033:[]
+011256_000010:[15]
+005049_000005:[]
+023312_000019:[]
+010275_000030:[13]
+022057_000026:[]
+006988_000026:[]
+009551_000018:[6, 8, 10]
+004185_000013:[4, 12, 19]
+015798_000007:[10]
+015132_000017:[]
+009246_000022:[]
+013635_000017:[]
+004220_000019:[16]
+003140_000003:[]
+012872_000028:[7, 8, 9, 18]
+005226_000022:[0, 2, 4, 7, 12]
+007929_000038:[4, 6, 11]
+022405_000028:[9]
+021786_000016:[]
+001317_000000:[]
+007026_000032:[]
+006323_000039:[7, 19]
+017390_000029:[]
+005479_000016:[]
+001143_000008:[]
+020216_000038:[18]
+020107_000034:[]
+018530_000024:[4, 12, 19]
+019550_000018:[]
+022501_000010:[19]
+008899_000008:[]
+024940_000009:[]
+010479_000029:[]
+021308_000031:[]
+006325_000018:[12]
+014434_000036:[1, 7, 9]
+011672_000017:[3, 10, 11, 15]
+007183_000011:[]
+010627_000000:[]
+014758_000006:[]
+015534_000020:[2, 18]
+015161_000020:[]
+019944_000005:[]
+024475_000019:[6, 9, 15]
+022975_000032:[12]
+014766_000018:[4]
+017062_000023:[13, 14]
+016334_000025:[2, 15]
+001071_000013:[5, 15]
+019791_000012:[]
+015422_000026:[9]
+016403_000009:[]
+015241_000017:[]
+015116_000020:[]
+014236_000019:[]
+016199_000014:[]
+006467_000024:[1, 5, 19]
+011804_000038:[12]
+012008_000031:[]
+018071_000025:[10]
+019566_000014:[18]
+009540_000013:[]
+001715_000029:[]
+019022_000021:[2]
+006409_000004:[8]
+017224_000021:[8]
+005044_000018:[]
+006705_000033:[6, 7, 12, 18, 19]
+004669_000032:[]
+008482_000022:[]
+024832_000018:[8, 10, 11, 12, 16]
+014170_000021:[]
+009841_000000:[18]
+004224_000002:[]
+020588_000031:[]
+006372_000016:[3, 18, 19]
+008559_000020:[8, 9, 10, 13, 16, 17]
+019077_000008:[12]
+000554_000033:[7, 11]
+004604_000030:[]
+004741_000019:[]
+007397_000027:[]
+009307_000015:[0, 5, 11, 15]
+017978_000024:[]
+001433_000016:[]
+018584_000035:[]
+021042_000019:[]
+012968_000029:[]
+003698_000024:[]
+016338_000013:[]
+021434_000003:[]
+011657_000021:[13]
+006647_000037:[]
+007204_000010:[12]
+012580_000038:[]
+018275_000017:[4, 5, 16, 18]
+014160_000037:[9]
+024591_000011:[]
+003428_000024:[]
+021459_000008:[0, 2, 13]
+016185_000015:[8, 18]
+004606_000010:[]
+012604_000001:[14, 15]
+002727_000006:[]
+004058_000024:[]
+021333_000019:[10]
+003161_000011:[0, 14, 19]
+006170_000027:[]
+001736_000031:[]
+023326_000008:[2, 4, 16]
+002395_000003:[1, 7, 10]
+023870_000001:[]
+024612_000026:[12, 15]
+005631_000037:[2]
+004309_000038:[]
+015342_000010:[]
+003002_000026:[]
+024698_000037:[1]
+001424_000019:[]
+020961_000028:[]
+002429_000039:[]
+007152_000012:[0, 5, 6, 9]
+016003_000023:[]
+009521_000016:[]
+022495_000036:[]
+016230_000008:[]
+013121_000030:[1, 17]
+002011_000011:[]
+021852_000032:[8]
+022748_000001:[8]
+013300_000005:[]
+013644_000004:[]
+010429_000019:[]
+003585_000038:[]
+019873_000035:[0]
+015940_000016:[]
+022594_000017:[6, 9, 11]
+004939_000010:[]
+000821_000000:[]
+018677_000017:[]
+020194_000029:[]
+007135_000026:[]
+014638_000020:[]
+023987_000018:[]
+007788_000027:[9, 17]
+024506_000018:[1, 2, 16, 17, 18]
+017605_000025:[]
+008615_000033:[]
+023430_000026:[]
+017768_000002:[]
+016642_000013:[]
+010111_000005:[]
+013947_000024:[]
+024176_000003:[]
+015482_000005:[17]
+014938_000003:[]
+000646_000001:[]
+023079_000028:[]
+019620_000023:[]
+009454_000010:[]
+014130_000022:[4, 10, 16, 18]
+010361_000005:[]
+005677_000030:[]
+022232_000008:[13]
+012992_000031:[]
+023932_000029:[]
+020803_000031:[]
+010396_000011:[]
+003306_000000:[]
+005607_000019:[1, 3, 8, 11, 15]
+007145_000003:[]
+001696_000037:[4, 8, 15]
+008296_000034:[]
+003398_000036:[]
+002512_000030:[]
+013476_000006:[]
+009251_000018:[]
+003186_000006:[]
+001718_000035:[]
+022060_000027:[]
+014043_000003:[14]
+011056_000010:[]
+005079_000010:[9, 14]
+008583_000023:[]
+011344_000002:[10]
+002248_000006:[19]
+005595_000008:[]
+013005_000022:[]
+022880_000026:[8, 12]
+020916_000006:[10, 12]
+023974_000004:[9, 14]
+017518_000035:[9, 10, 15]
+022312_000023:[12]
+007804_000006:[5]
+009796_000033:[]
+023822_000031:[]
+017909_000032:[]
+001407_000000:[0, 5]
+020101_000031:[]
+018288_000023:[8]
+001352_000034:[7, 10]
+024813_000001:[0]
+006196_000010:[4]
+000656_000006:[]
+004183_000019:[]
+020472_000032:[2, 3]
+021794_000000:[]
+016344_000013:[]
+013965_000006:[]
+003538_000010:[]
+016478_000015:[]
+021429_000039:[]
+005870_000002:[]
+017289_000023:[9, 15, 18]
+012722_000034:[7, 17, 19]
+008895_000027:[8]
+005651_000011:[11]
+008504_000028:[]
+009509_000024:[]
+009670_000036:[]
+002309_000036:[2, 3, 4, 6, 16]
+000188_000000:[]
+008166_000008:[0, 8, 10, 17]
+003071_000008:[13]
+016909_000021:[]
+013567_000029:[]
+005451_000007:[]
+000545_000004:[10]
+019341_000000:[]
+017490_000014:[]
+009742_000006:[5]
+018590_000008:[0]
+019138_000034:[]
+023248_000014:[]
+021581_000008:[]
+024277_000030:[]
+001308_000036:[]
+007284_000001:[]
+024999_000024:[]
+016779_000039:[]
+007893_000004:[6]
+014223_000012:[]
+001980_000029:[]
+018629_000037:[]
+005629_000001:[]
+019954_000037:[]
+002234_000031:[11, 13, 14]
+010769_000032:[8]
+001937_000019:[]
+005166_000033:[]
+017418_000035:[2, 5, 7, 10, 17]
+014152_000006:[]
+014781_000006:[]
+013458_000016:[]
+006483_000012:[]
+013228_000031:[]
+001256_000004:[]
+017139_000003:[]
+014089_000028:[7]
+023769_000000:[3, 6]
+005834_000024:[4, 19]
+014098_000039:[8, 9, 11, 14, 16, 17]
+008305_000019:[]
+002082_000005:[1, 5]
+020312_000021:[6, 14]
+001566_000006:[0, 5, 14]
+008960_000008:[10]
+006296_000039:[]
+015733_000023:[]
+023063_000021:[]
+021138_000034:[]
+015820_000027:[5]
+001295_000000:[]
+011338_000031:[7, 9, 14, 17]
+023729_000017:[1, 5, 14]
+012757_000030:[]
+012584_000001:[]
+016832_000017:[]
+013086_000037:[]
+000164_000036:[]
+010442_000024:[3]
+024693_000013:[1, 12]
+024631_000024:[16]
+021712_000008:[11]
+022963_000008:[]
+023368_000029:[1]
+019689_000032:[1, 4, 5, 9, 12, 18]
+003592_000038:[2]
+002113_000012:[]
+023534_000001:[]
+001646_000002:[7]
+015970_000031:[]
+024588_000032:[]
+017624_000015:[19]
+017300_000011:[]
+005202_000022:[0, 1, 5, 10, 14]
+015742_000010:[]
+024919_000037:[11, 15]
+002915_000023:[]
+020332_000013:[12]
+006455_000031:[5, 8, 14]
+003703_000028:[]
+011057_000019:[4, 14]
+006238_000005:[]
+020590_000039:[]
+004785_000026:[]
+024706_000008:[]
+011113_000037:[]
+019616_000010:[13]
+009872_000033:[]
+012597_000026:[11, 12]
+004355_000034:[12]
+014993_000003:[17]
+024693_000010:[]
+008440_000017:[]
+000378_000016:[]
+017122_000025:[4, 14, 16]
+024096_000024:[5, 12, 17]
+010568_000022:[]
+006512_000003:[2, 14]
+002663_000030:[3, 8]
+021015_000035:[]
+010946_000004:[]
+003520_000033:[12]
+010593_000015:[]
+002354_000013:[2, 19]
+002638_000014:[]
+000964_000005:[16]
+022507_000011:[]
+002658_000007:[]
+022505_000008:[]
+018246_000018:[]
+007262_000031:[2, 5]
+007144_000018:[4]
+000237_000003:[]
+006370_000030:[]
+022090_000032:[8, 14, 16]
+003669_000007:[]
+020226_000014:[]
+014455_000024:[]
+004392_000022:[]
+001975_000038:[]
+012733_000014:[]
+008392_000021:[]
+024573_000033:[]
+014154_000011:[9]
+003417_000022:[]
+024672_000011:[]
+022480_000015:[12]
+006883_000038:[]
+004060_000021:[7]
+006171_000018:[]
+016591_000021:[]
+019867_000028:[]
+011572_000024:[]
+016235_000023:[]
+017231_000014:[]
+012993_000013:[7, 8, 14]
+001062_000030:[]
+006482_000022:[0, 10, 15, 17]
+018992_000024:[]
+014786_000017:[]
+011735_000039:[14]
+020348_000013:[4, 7, 19]
+017863_000012:[]
+012377_000031:[9, 14]
+024018_000035:[]
+020694_000024:[6]
+006170_000016:[]
+006703_000021:[11, 15]
+019404_000034:[]
+008366_000037:[6, 18]
+001558_000024:[]
+003198_000029:[]
+014216_000000:[15]
+019537_000025:[]
+003707_000033:[]
+010049_000010:[]
+004560_000001:[13]
+009411_000032:[1]
+009790_000032:[]
+006073_000026:[]
+000541_000015:[2]
+006316_000009:[17]
+000104_000001:[1]
+003817_000036:[]
+004520_000012:[]
+010927_000014:[0]
+012042_000031:[4, 14, 17]
+018814_000037:[]
+010594_000039:[]
+024160_000014:[1, 8, 15]
+021938_000008:[0, 8]
+017054_000008:[]
+013269_000007:[10, 15]
+005568_000009:[]
+008279_000039:[3, 8, 14, 17]
+018605_000002:[10]
+004596_000016:[7]
+021543_000019:[9]
+023099_000031:[]
+024155_000026:[16]
+002189_000001:[0, 8, 13]
+013257_000030:[13, 18]
+001512_000006:[19]
+017443_000031:[0, 7]
+005400_000036:[]
+002462_000019:[]
+014509_000038:[5, 7, 9, 13]
+020766_000036:[]
+002789_000030:[]
+016741_000011:[]
+024808_000007:[2, 15]
+006441_000023:[14, 19]
+003802_000029:[]
+009344_000037:[]
+015275_000008:[]
+006326_000039:[]
+004982_000020:[1, 2, 7, 14, 19]
+003074_000003:[7]
+013902_000004:[6, 8, 10, 15]
+009082_000026:[]
+001954_000039:[18]
+009892_000002:[2, 3, 5, 8, 10, 12, 15, 18]
+019211_000034:[5, 16]
+024287_000036:[]
+003675_000033:[]
+001075_000024:[]
+010348_000000:[]
+005972_000011:[]
+014616_000035:[]
+015553_000005:[1, 5, 6, 17]
+014787_000033:[]
+024114_000026:[15]
+010863_000022:[7]
+013480_000033:[16]
+003920_000038:[1, 6, 10, 14]
+023595_000018:[14]
+004453_000010:[]
+005060_000030:[]
+017739_000039:[2]
+015327_000033:[0, 2, 3, 5, 9, 19]
+022652_000031:[]
+000335_000029:[]
+015764_000009:[]
+007367_000024:[3, 14, 16]
+009561_000035:[]
+018931_000011:[]
+011183_000020:[]
+022286_000019:[]
+011196_000007:[1, 2, 5]
+014105_000033:[]
+000152_000025:[]
+015863_000008:[]
+009129_000020:[11, 13]
+015330_000022:[]
+009412_000018:[12]
+002341_000037:[1, 4, 7, 12, 18, 19]
+017663_000001:[]
+004193_000021:[]
+011692_000010:[]
+022331_000036:[7, 13]
+012167_000004:[8]
+016581_000003:[13]
+021507_000022:[]
+024667_000039:[19]
+016237_000012:[]
+002291_000017:[]
+004221_000000:[7, 11, 18]
+017190_000031:[16]
+001290_000013:[2, 3, 7, 9, 11, 17, 19]
+003264_000038:[]
+019758_000001:[]
+006045_000005:[]
+023880_000025:[1, 19]
+011299_000029:[]
+009175_000002:[12]
+014050_000013:[15, 17]
+017215_000011:[18]
+011919_000023:[]
+008160_000031:[]
+021285_000036:[4]
+003402_000028:[]
+024269_000012:[1, 6, 11]
+010551_000032:[]
+011017_000018:[1, 9]
+011937_000039:[]
+022205_000015:[5, 16]
+021169_000011:[1, 4, 19]
+024697_000004:[8, 10]
+023283_000019:[1, 3, 7, 9, 11, 13]
+004719_000005:[]
+002078_000034:[]
+012568_000010:[]
+013714_000027:[4]
+020286_000023:[14]
+015157_000002:[]
+024101_000032:[1, 8, 14]
+006429_000017:[3]
+018752_000002:[]
+019623_000013:[3, 11, 12, 18]
+022492_000012:[9]
+000173_000009:[]
+024711_000028:[6]
+010071_000029:[10, 13]
+015000_000028:[]
+008306_000024:[]
+012810_000037:[]
+007047_000028:[]
+016664_000023:[]
+007745_000002:[2]
+023814_000029:[3, 5]
+004092_000032:[2, 3, 4, 10, 13, 15, 19]
+020321_000033:[0]
+010446_000002:[4, 12, 19]
+016991_000004:[12]
+012191_000023:[10, 11]
+017381_000006:[7]
+010567_000005:[]
+007471_000034:[]
+003827_000001:[9]
+020326_000023:[7]
+004261_000014:[7]
+004329_000039:[]
+019924_000028:[]
+020653_000016:[19]
+014250_000015:[]
+022080_000033:[]
+003411_000016:[]
+003087_000014:[2, 12]
+014291_000038:[]
+016644_000011:[0, 12]
+018631_000023:[]
+005611_000037:[]
+010507_000003:[1]
+010159_000036:[]
+009726_000029:[]
+006887_000018:[]
+023008_000025:[]
+016302_000003:[0]
+012205_000029:[]
+019751_000018:[8, 14, 17]
+001402_000039:[]
+012570_000009:[]
+000438_000034:[1, 3, 4, 5, 8, 11, 13, 18, 19]
+001034_000026:[]
+006930_000019:[4]
+011133_000028:[]
+009281_000015:[]
+018658_000001:[7, 18]
+008977_000023:[]
+023366_000015:[10]
+017956_000023:[10, 19]
+003449_000029:[18, 19]
+017898_000011:[]
+024674_000032:[1, 3]
+022537_000021:[]
+004189_000036:[3, 6, 13, 19]
+016960_000029:[4]
+007362_000035:[1, 6]
+007495_000035:[]
+024306_000016:[]
+000049_000018:[]
+001325_000005:[]
+017114_000032:[13]
+004555_000035:[]
+007385_000021:[10, 11, 12]
+017803_000020:[]
+011799_000024:[]
+016199_000018:[]
+022194_000029:[]
+010737_000004:[15, 18]
+007401_000031:[]
+018223_000020:[]
+016672_000023:[]
+007420_000004:[3]
+008991_000017:[]
+018058_000033:[]
+004588_000036:[]
+001089_000022:[2, 4]
+018273_000035:[]
+020617_000028:[3, 5, 9]
+000858_000032:[]
+001475_000007:[]
+009535_000028:[0, 8]
+015851_000020:[]
+010274_000023:[]
+013246_000025:[]
+011188_000000:[7]
+017450_000017:[]
+021028_000000:[12, 14, 16, 19]
+019153_000026:[18]
+006531_000026:[3, 12, 15]
+012540_000014:[]
+016907_000001:[5]
+011087_000029:[]
+015058_000009:[0, 11, 15, 19]
+008991_000030:[]
+000298_000015:[3, 13, 16]
+022701_000023:[]
+013309_000037:[]
+019012_000028:[]
+001383_000019:[]
+013996_000036:[4, 12, 15, 19]
+023701_000018:[6]
+003970_000026:[15]
+006702_000039:[]
+001753_000017:[2]
+015036_000025:[7, 9, 17, 19]
+014230_000010:[14, 18]
+018576_000014:[7]
+024514_000020:[7, 11, 17]
+017151_000017:[19]
+004488_000027:[]
+002234_000034:[]
+023501_000002:[]
+010362_000011:[0, 4, 12]
+012800_000034:[8, 12, 14]
+008480_000018:[]
+011616_000025:[]
+008276_000006:[]
+007319_000000:[]
+020823_000014:[]
+005538_000037:[13, 14]
+002839_000008:[]
+011651_000013:[]
+003851_000002:[]
+016436_000012:[7, 12]
+003641_000039:[]
+002271_000005:[]
+017327_000016:[]
+012422_000026:[]
+012414_000016:[14, 15]
+022568_000032:[]
+024749_000012:[8, 19]
+019261_000035:[]
+010936_000024:[]
+006666_000009:[0, 1]
+012537_000006:[5]
+007560_000000:[8]
+023284_000019:[9, 13]
+018508_000025:[]
+016130_000014:[4, 8]
+000288_000002:[1, 3, 7, 12]
+005731_000023:[]
+010944_000039:[]
+015251_000013:[]
+012671_000008:[6, 16]
+002429_000022:[]
+015535_000034:[]
+014191_000039:[9]
+019683_000014:[]
+022022_000028:[]
+021194_000032:[7]
+007083_000017:[2, 11, 16]
+015461_000005:[3, 5, 11, 13]
+016672_000035:[]
+008276_000001:[]
+012779_000005:[6]
+012814_000019:[10]
+023959_000037:[]
+015025_000016:[17]
+018887_000027:[2, 17]
+010227_000017:[7]
+003876_000012:[16]
+021479_000031:[]
+012350_000016:[]
+005466_000003:[]
+003872_000005:[8, 17]
+018537_000029:[]
+001128_000039:[]
+000791_000004:[]
+007062_000030:[12]
+011583_000017:[]
+000354_000006:[]
+002946_000032:[0, 15]
+021548_000028:[3, 8, 11, 13, 19]
+015386_000019:[]
+021561_000021:[0]
+021802_000001:[7, 9, 13]
+017096_000029:[6, 7, 12, 18]
+000388_000009:[]
+020850_000025:[]
+022304_000003:[]
+000285_000036:[]
+011000_000029:[10, 19]
+009853_000033:[]
+011178_000028:[6, 15]
+006879_000029:[]
+017518_000028:[]
+008718_000038:[12]
+024386_000027:[]
+019350_000019:[5]
+016369_000000:[]
+005218_000005:[]
+006435_000008:[]
+011905_000033:[10]
+008887_000037:[2, 5, 15]
+012658_000026:[]
+004862_000031:[6, 13, 14]
+010463_000009:[0, 1, 3, 5, 7, 8, 13, 15, 19]
+024881_000026:[0, 2, 9, 10, 19]
+019463_000002:[]
+024325_000019:[11]
+011350_000013:[4]
+004326_000031:[4]
+021116_000014:[1, 11, 15, 16, 19]
+008595_000039:[]
+019667_000009:[]
+005250_000003:[]
+019313_000036:[2, 11]
+004238_000004:[14, 15]
+010465_000023:[]
+009092_000039:[]
+014396_000005:[4]
+024827_000024:[]
+013748_000015:[6, 10, 17]
+020840_000008:[]
+017570_000021:[]
+002263_000034:[]
+018621_000011:[]
+016761_000034:[]
+015640_000005:[]
+024003_000030:[]
+000106_000013:[]
+014165_000026:[0, 3, 4, 6, 7, 8, 15, 18]
+012561_000036:[]
+020032_000012:[]
+017082_000028:[5, 8, 12, 19]
+010028_000016:[]
+023699_000022:[]
+010876_000025:[]
+000324_000033:[]
+023768_000009:[]
+015826_000024:[6]
+002897_000025:[3, 7, 19]
+021678_000034:[2]
+002757_000033:[]
+003602_000023:[]
+024690_000002:[]
+017301_000000:[7, 11]
+020412_000025:[]
+019300_000021:[]
+006052_000029:[3]
+014215_000006:[]
+002905_000037:[]
+008770_000031:[]
+015705_000001:[18]
+009741_000032:[2, 15, 16, 17]
+011476_000029:[]
+009878_000026:[]
+010610_000001:[0, 14]
+021505_000039:[]
+010656_000024:[19]
+014132_000027:[]
+005816_000009:[1, 5, 13, 19]
+024209_000021:[6]
+003314_000027:[13]
+002113_000001:[7]
+022115_000003:[]
+014480_000016:[]
+009202_000020:[]
+011705_000038:[]
+009565_000030:[15]
+009155_000019:[]
+013623_000011:[]
+022828_000021:[10]
+019332_000005:[]
+000212_000031:[15]
+004200_000008:[]
+024875_000019:[]
+023259_000008:[]
+020050_000008:[5, 13]
+008902_000027:[]
+005991_000010:[11, 12]
+008792_000020:[2, 7]
+004677_000029:[]
+001997_000016:[]
+008500_000038:[]
+024058_000017:[9, 15]
+023625_000034:[]
+015721_000035:[7]
+024844_000020:[]
+010751_000038:[]
+009343_000033:[]
+023422_000032:[]
+004230_000008:[]
+017481_000009:[]
+015608_000023:[17]
+003433_000017:[]
+005607_000006:[3, 15]
+020722_000019:[]
+016222_000035:[]
+014007_000035:[]
+006418_000029:[]
+010945_000029:[]
+006839_000030:[]
+014037_000014:[]
+004399_000015:[]
+013983_000014:[]
+019491_000032:[]
+024201_000032:[]
+004928_000029:[]
+021232_000020:[]
+014724_000004:[0, 1, 2, 5, 7, 14]
+019305_000017:[]
+019681_000000:[6]
+013779_000004:[]
+020646_000016:[13, 15]
+002870_000005:[]
+011848_000000:[1]
+021047_000029:[6, 18]
+006145_000031:[]
+002991_000019:[]
+013219_000013:[]
+010049_000038:[13]
+024236_000019:[2, 16]
+007740_000033:[]
+007917_000002:[]
+018512_000004:[]
+004013_000018:[16]
+018816_000033:[]
+015756_000021:[]
+001465_000013:[0, 1, 5, 6, 7, 9, 10, 11, 12, 18, 19]
+003945_000035:[]
+010852_000031:[]
+013559_000016:[]
+008583_000017:[]
+010354_000007:[1, 7]
+005200_000023:[18]
+011715_000014:[3, 9, 10, 12, 13, 14, 15, 17]
+023820_000022:[16]
+019561_000015:[]
+021230_000032:[2, 7, 8, 9, 10, 12, 15, 18]
+016101_000038:[1, 9, 17]
+018942_000025:[]
+012870_000016:[3]
+012501_000012:[]
+008370_000039:[]
+022075_000018:[3, 9, 18]
+024018_000014:[11]
+020058_000006:[]
+024492_000013:[7, 9, 16]
+021088_000028:[5, 10, 11, 18]
+012653_000031:[14, 18]
+023463_000032:[]
+014017_000023:[9, 16]
+002716_000012:[]
+024936_000004:[6, 7, 8]
+014221_000009:[0, 1, 4, 5, 9, 10, 11, 13, 14, 15, 16, 19]
+002189_000028:[]
+006770_000012:[3, 16]
+004672_000017:[7, 14]
+006015_000019:[0, 3, 4, 13, 17]
+020131_000012:[2]
+004506_000039:[]
+023418_000024:[]
+023268_000036:[5]
+003332_000030:[]
+015286_000026:[9, 17]
+004596_000015:[]
+010369_000037:[]
+019741_000000:[3, 6, 8, 14, 18, 19]
+018855_000033:[]
+014199_000016:[3]
+007843_000038:[]
+009774_000005:[5]
+014096_000035:[0, 5, 7, 8, 11, 14, 17, 19]
+023714_000024:[]
+009760_000021:[]
+008342_000003:[]
+007099_000025:[18]
+010791_000019:[]
+010647_000006:[]
+021445_000017:[]
+009357_000013:[]
+014560_000002:[]
+009210_000006:[]
+023686_000038:[]
+004774_000028:[]
+007705_000007:[]
+002670_000030:[]
+007088_000010:[4, 10, 12, 13, 17, 18]
+011938_000026:[10]
+024459_000008:[]
+002762_000006:[3, 12, 13, 19]
+011438_000020:[]
+019202_000006:[10]
+006728_000016:[]
+012218_000028:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000184_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000184_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..98d13b48896380ecfa62cf442041e9aa208d9f29
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000184_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+018129_000033:[5]
+017052_000005:[]
+018841_000039:[0]
+002209_000000:[]
+019602_000034:[]
+024156_000030:[]
+016565_000009:[4]
+013336_000006:[]
+003990_000035:[0, 3, 6, 7, 8, 17, 19]
+000010_000015:[2]
+013433_000028:[]
+016678_000017:[2]
+014326_000015:[]
+023518_000005:[]
+001518_000037:[12]
+015731_000036:[]
+005373_000031:[2]
+014548_000037:[11, 14, 17]
+015256_000006:[13]
+016392_000003:[2]
+014470_000015:[]
+009818_000026:[]
+003453_000017:[]
+017651_000014:[18]
+000438_000025:[]
+024569_000032:[]
+012236_000037:[]
+022483_000028:[]
+023408_000002:[]
+012034_000014:[1, 4, 14]
+008049_000038:[]
+022033_000011:[]
+016824_000008:[]
+016334_000038:[0, 4, 8, 9, 10, 13, 15]
+016089_000026:[]
+013568_000022:[]
+012860_000001:[3]
+000975_000025:[]
+017968_000028:[]
+002235_000001:[]
+005212_000024:[2, 7, 10, 14]
+024892_000030:[9]
+000164_000005:[]
+007330_000011:[0, 17]
+018882_000014:[4, 9]
+024908_000009:[]
+018105_000022:[0, 16, 18]
+008520_000010:[]
+022165_000037:[]
+004901_000033:[3, 18]
+008185_000017:[0, 1]
+014823_000013:[14]
+012414_000008:[]
+008464_000034:[0, 13, 14, 19]
+021846_000002:[6, 9, 18]
+017834_000003:[9]
+001802_000036:[13]
+009676_000019:[]
+021507_000002:[]
+002934_000028:[18]
+007436_000025:[]
+010628_000022:[9, 16]
+019585_000021:[]
+019464_000014:[]
+015934_000019:[]
+017152_000004:[]
+001264_000012:[0, 2, 3, 7, 8]
+016347_000036:[10]
+002923_000029:[]
+019143_000001:[19]
+013063_000029:[]
+010879_000012:[9, 14]
+005725_000000:[1, 15, 16]
+003793_000027:[]
+003850_000030:[]
+009737_000011:[12]
+020210_000039:[]
+011833_000010:[]
+010993_000023:[]
+019828_000030:[]
+010572_000033:[]
+006097_000039:[9, 14, 17]
+008035_000029:[]
+004801_000002:[]
+006513_000021:[5, 11, 14]
+005746_000023:[]
+016831_000024:[]
+006894_000004:[]
+021673_000009:[]
+014493_000034:[0, 3, 7, 13, 17, 18]
+003120_000027:[]
+011448_000013:[0, 7]
+017675_000002:[]
+002676_000035:[]
+000548_000012:[4]
+005554_000002:[0, 1, 2]
+007598_000019:[9, 10, 11]
+003891_000021:[5, 13]
+021284_000015:[]
+001942_000026:[]
+001446_000021:[]
+024305_000020:[3]
+015772_000029:[]
+015686_000006:[0, 2, 5, 8, 16]
+007391_000008:[3, 5, 17]
+024230_000038:[18]
+003932_000003:[]
+020447_000000:[]
+011991_000001:[]
+023003_000021:[15]
+004926_000001:[]
+010473_000007:[12, 13]
+020357_000029:[]
+023357_000031:[]
+005607_000007:[]
+021033_000024:[]
+008483_000002:[]
+001413_000009:[]
+008002_000030:[6]
+010679_000007:[4, 6, 8, 9, 14]
+011667_000007:[]
+013049_000021:[]
+017066_000017:[]
+003214_000007:[]
+010760_000020:[8, 13, 15, 17]
+009761_000011:[2, 15, 19]
+010909_000011:[2, 10, 19]
+013623_000002:[]
+005057_000001:[]
+002295_000026:[13, 19]
+019488_000021:[17, 19]
+022529_000032:[11]
+022607_000029:[2, 12, 13]
+007137_000016:[]
+016644_000015:[]
+014300_000033:[]
+014048_000002:[]
+005041_000018:[11, 15]
+008147_000023:[2, 3, 5, 8, 10, 11, 12]
+002495_000009:[2]
+007871_000000:[]
+001589_000011:[]
+020470_000009:[1, 3, 5, 6, 11, 12, 15, 17]
+015600_000017:[]
+000675_000032:[]
+013113_000031:[]
+006424_000004:[]
+016875_000026:[5]
+016121_000028:[7]
+024177_000031:[12]
+017868_000038:[6]
+017551_000030:[]
+011212_000029:[6, 8]
+015659_000032:[]
+008868_000030:[]
+002431_000023:[]
+000028_000014:[]
+004873_000028:[]
+012170_000011:[]
+019171_000025:[1, 16]
+016569_000001:[6]
+024532_000017:[]
+017709_000027:[]
+000627_000000:[1, 2, 4, 11, 12, 17]
+002223_000015:[3]
+023593_000023:[12, 16]
+009676_000004:[2]
+019963_000010:[]
+024770_000009:[1, 3, 6]
+018535_000031:[14]
+016142_000038:[]
+022635_000034:[]
+014569_000007:[5]
+001806_000015:[14]
+019735_000006:[]
+017674_000030:[]
+007403_000020:[]
+011063_000012:[]
+016952_000015:[15]
+018811_000037:[13]
+021464_000023:[]
+024169_000004:[]
+002465_000010:[5, 19]
+018966_000037:[0, 16]
+021174_000028:[]
+023318_000031:[0, 8]
+019875_000029:[2]
+020537_000027:[]
+006405_000020:[]
+020086_000011:[]
+002231_000030:[]
+021164_000039:[11]
+004588_000013:[]
+009733_000018:[]
+003257_000038:[13]
+005795_000009:[]
+003807_000015:[]
+011405_000020:[6, 12]
+010464_000016:[2, 7]
+021362_000013:[0, 3, 4, 11, 16]
+022246_000032:[1]
+010270_000017:[]
+010924_000027:[]
+021100_000033:[1]
+018418_000001:[]
+020169_000038:[]
+019324_000020:[]
+000885_000025:[16]
+024638_000036:[]
+013634_000030:[7]
+020319_000016:[15]
+012284_000007:[]
+014043_000020:[]
+021343_000004:[]
+008499_000036:[7]
+020632_000027:[10, 11]
+021199_000017:[6, 8, 11, 14, 18]
+023075_000027:[10]
+014317_000008:[]
+015878_000006:[11, 12]
+000529_000018:[0, 6]
+019608_000020:[]
+001795_000006:[]
+023453_000014:[]
+000921_000038:[]
+021633_000039:[7, 8, 19]
+009853_000001:[]
+021382_000012:[]
+010091_000029:[]
+002675_000033:[]
+022555_000028:[]
+012868_000037:[]
+011813_000038:[9]
+017347_000036:[8]
+005827_000020:[17]
+023161_000037:[]
+011303_000021:[]
+002351_000024:[]
+020078_000018:[5, 13]
+011889_000014:[2]
+005054_000034:[3]
+008701_000023:[]
+012298_000025:[]
+017117_000001:[0]
+019947_000011:[]
+014150_000009:[]
+000874_000005:[]
+018830_000003:[]
+010766_000031:[]
+016504_000004:[]
+018074_000005:[]
+018014_000015:[]
+024020_000019:[]
+005980_000032:[1, 2, 4, 7, 10, 11, 13, 17]
+018552_000015:[4]
+019441_000015:[0, 6, 12, 14, 17, 18]
+019479_000038:[]
+016572_000035:[]
+005490_000028:[0, 13]
+013028_000034:[]
+011071_000015:[12]
+018118_000038:[]
+005825_000026:[]
+018398_000016:[]
+003400_000004:[]
+003140_000018:[3, 10, 16]
+007521_000014:[]
+018048_000020:[]
+001964_000003:[]
+004966_000028:[6, 8, 10, 13, 15, 19]
+010128_000023:[2, 7, 9]
+013720_000014:[]
+000779_000016:[0, 12, 16, 17]
+003587_000017:[1, 2, 19]
+020759_000013:[1, 2, 3, 6, 7, 11, 13, 15, 19]
+011277_000013:[]
+015031_000002:[18]
+012565_000030:[7, 13]
+009292_000035:[]
+018309_000027:[]
+021764_000008:[]
+021297_000005:[]
+011494_000032:[]
+014770_000016:[8]
+011008_000028:[18]
+012359_000012:[2, 4, 8, 10, 12, 13]
+015276_000028:[2]
+024273_000018:[9]
+013849_000012:[]
+000448_000028:[1]
+022827_000004:[2]
+021121_000010:[]
+019081_000028:[17]
+000508_000036:[2, 15, 18]
+014277_000004:[]
+015513_000009:[4, 19]
+008033_000000:[]
+023140_000018:[]
+000306_000019:[0, 11]
+006947_000007:[15]
+018590_000006:[7]
+024654_000032:[5]
+004174_000008:[9]
+017666_000014:[]
+005535_000012:[18]
+017869_000034:[]
+018355_000001:[1]
+000070_000001:[]
+015443_000020:[]
+000351_000035:[3, 5, 7, 17]
+013010_000038:[2]
+017734_000027:[17]
+003459_000007:[]
+013302_000025:[6, 15]
+007776_000031:[0, 2, 5, 11]
+012007_000003:[]
+008318_000030:[]
+012516_000016:[7, 15, 16, 17]
+012664_000021:[]
+021275_000016:[]
+003659_000008:[1, 12]
+014153_000016:[]
+016409_000035:[]
+012128_000028:[]
+024487_000005:[]
+012509_000003:[]
+022516_000036:[2]
+019204_000022:[]
+003746_000009:[2, 3, 4, 7, 10, 13, 17]
+010814_000027:[]
+018497_000012:[]
+000166_000009:[]
+003472_000038:[]
+003849_000021:[0]
+010816_000016:[]
+024592_000011:[]
+017835_000016:[]
+017254_000007:[]
+012647_000038:[0]
+015489_000011:[]
+011526_000017:[0, 3, 13, 14]
+014553_000021:[17]
+002745_000031:[19]
+005179_000012:[]
+004465_000013:[]
+006689_000000:[1, 6]
+015105_000011:[1, 9, 10, 12, 16]
+007689_000026:[]
+014059_000017:[5, 8]
+024417_000025:[1]
+017965_000027:[]
+020856_000019:[13, 15]
+015742_000029:[]
+020923_000012:[]
+011289_000008:[]
+020399_000035:[]
+011415_000016:[7]
+016982_000030:[3, 5, 8, 11, 15, 18, 19]
+009699_000026:[19]
+020034_000004:[]
+005894_000012:[0, 11, 13]
+001998_000021:[]
+016756_000014:[0, 2, 9, 17, 19]
+012724_000034:[1, 5, 7, 14, 16, 19]
+005059_000025:[15]
+010936_000003:[]
+014838_000003:[]
+011909_000011:[0, 14]
+024419_000028:[]
+002805_000030:[]
+003734_000003:[15, 16]
+011246_000004:[]
+001759_000035:[]
+016341_000016:[]
+004812_000009:[3, 10, 14]
+002725_000028:[0, 1, 6, 11, 14, 19]
+000795_000017:[]
+000518_000030:[15]
+005910_000014:[12]
+016969_000023:[2, 14, 15]
+011290_000002:[]
+021156_000035:[]
+017801_000002:[15]
+017470_000018:[]
+002054_000027:[1]
+021228_000005:[]
+016530_000028:[]
+024853_000018:[]
+012891_000009:[]
+018037_000030:[]
+012167_000019:[9, 14, 19]
+018209_000004:[6]
+017832_000014:[]
+018920_000016:[]
+003972_000037:[15]
+002618_000038:[4, 5, 14, 18]
+015095_000007:[]
+006787_000007:[6, 13, 15]
+021039_000015:[]
+015824_000026:[]
+013650_000017:[]
+017263_000014:[12]
+012600_000033:[]
+020490_000039:[]
+013474_000035:[11, 19]
+023936_000022:[0, 1, 13, 16]
+014496_000034:[]
+012551_000012:[]
+011617_000028:[]
+019135_000005:[2]
+017086_000000:[]
+006968_000010:[]
+008699_000024:[15]
+017431_000004:[1]
+005469_000022:[]
+023676_000022:[]
+005262_000012:[]
+017404_000011:[10]
+000639_000022:[2]
+001640_000037:[17]
+004821_000007:[8]
+019125_000039:[]
+008299_000029:[5, 7]
+011444_000025:[1]
+008985_000002:[]
+003666_000019:[]
+003502_000002:[12]
+008169_000020:[]
+000663_000024:[]
+005320_000002:[2, 8]
+004766_000001:[]
+007332_000010:[]
+002654_000010:[]
+005497_000007:[19]
+015778_000036:[]
+018237_000035:[]
+021724_000011:[5, 17]
+006043_000028:[]
+022213_000032:[]
+004993_000013:[]
+005763_000034:[]
+007366_000009:[]
+002459_000036:[2]
+022250_000019:[4]
+001944_000008:[8]
+000330_000002:[2, 4]
+010230_000033:[9, 15]
+014891_000039:[]
+008609_000023:[]
+009464_000007:[]
+014170_000015:[]
+021935_000026:[]
+017409_000012:[]
+022389_000015:[4, 15]
+011148_000022:[]
+022240_000007:[8, 15]
+019072_000009:[]
+023565_000016:[]
+008109_000037:[11, 16]
+003072_000000:[]
+020265_000027:[]
+006622_000034:[]
+009659_000018:[2, 3, 8, 10, 13, 16]
+007064_000027:[]
+013171_000000:[]
+001700_000023:[]
+016676_000030:[5]
+002786_000028:[]
+002244_000015:[]
+017624_000022:[]
+002947_000003:[]
+015315_000010:[5]
+010934_000008:[]
+018785_000019:[]
+009542_000018:[11]
+006278_000039:[]
+011385_000012:[]
+022021_000038:[]
+010029_000036:[]
+006103_000002:[11]
+024104_000022:[]
+008024_000016:[]
+019970_000013:[1]
+019817_000003:[]
+012689_000024:[]
+022001_000003:[]
+002938_000012:[]
+012424_000033:[]
+014861_000004:[9]
+022429_000020:[]
+007808_000014:[19]
+014743_000033:[4, 5, 8, 12]
+003771_000014:[]
+014363_000035:[]
+016013_000022:[3]
+011805_000023:[]
+000533_000001:[]
+017372_000008:[6, 13]
+011198_000027:[2]
+002141_000019:[11]
+007496_000000:[]
+015633_000009:[7, 19]
+008103_000021:[6]
+015339_000019:[]
+010288_000007:[16]
+011699_000003:[]
+015156_000000:[]
+019294_000029:[4]
+000178_000039:[]
+019747_000020:[]
+001918_000010:[1, 5, 11]
+018068_000006:[0, 2, 6, 7, 13, 14, 19]
+011918_000026:[3]
+020113_000018:[]
+004444_000033:[5]
+003967_000015:[]
+019215_000004:[]
+007743_000030:[]
+010784_000017:[]
+006890_000028:[7, 14]
+003731_000003:[0, 2, 11, 14]
+024393_000001:[]
+001219_000007:[11]
+006012_000029:[6]
+018886_000028:[]
+013519_000037:[]
+000519_000008:[]
+023360_000035:[2]
+018695_000003:[3, 16, 17]
+000994_000005:[3]
+000468_000022:[]
+017637_000037:[4]
+004420_000026:[]
+004719_000035:[]
+013138_000039:[]
+004950_000007:[]
+005226_000006:[]
+016952_000023:[]
+004168_000038:[]
+003330_000028:[7]
+001140_000005:[14]
+013502_000021:[0, 17]
+019545_000020:[]
+011798_000010:[]
+023832_000023:[1]
+002864_000012:[13]
+021725_000039:[]
+003769_000007:[]
+000458_000013:[]
+015031_000039:[]
+000702_000018:[1, 4]
+017300_000004:[]
+007161_000014:[]
+017747_000028:[]
+003114_000030:[]
+009316_000030:[]
+016486_000016:[]
+019010_000000:[]
+020599_000039:[]
+004354_000003:[1, 4, 5, 6, 7, 8, 9, 13, 14, 16]
+021461_000017:[]
+017254_000035:[0]
+024759_000018:[]
+000994_000007:[]
+002361_000022:[]
+011827_000023:[]
+011235_000018:[]
+002846_000000:[]
+024014_000012:[]
+011410_000023:[7]
+003531_000030:[]
+018507_000034:[]
+000689_000023:[9, 10, 17]
+009960_000034:[]
+009759_000023:[7, 11]
+011091_000020:[0, 8]
+002400_000015:[]
+020084_000007:[]
+018275_000024:[5, 6, 12, 17, 18]
+007633_000013:[4, 7]
+011948_000007:[]
+013416_000013:[10]
+013995_000008:[]
+018906_000038:[]
+023171_000037:[]
+002923_000006:[]
+010460_000019:[18]
+023004_000010:[]
+023486_000027:[8, 18]
+024471_000013:[1]
+018863_000004:[]
+024836_000017:[0, 6]
+018332_000015:[]
+001866_000000:[]
+005395_000019:[]
+024919_000011:[3]
+001866_000037:[4, 6, 12, 17]
+009298_000020:[8, 10, 18]
+005529_000000:[0]
+022797_000030:[]
+009898_000002:[]
+008266_000013:[9]
+020577_000036:[]
+007332_000019:[]
+007967_000038:[]
+018022_000019:[2, 3]
+011691_000017:[]
+007069_000002:[12]
+021052_000019:[0, 7]
+016179_000026:[]
+002731_000011:[]
+014466_000006:[13]
+018911_000014:[]
+018433_000018:[3, 9]
+018983_000015:[]
+020975_000026:[11]
+008989_000004:[17]
+011369_000014:[10]
+024845_000012:[]
+018457_000037:[12, 16, 18]
+010484_000036:[]
+014435_000019:[]
+004092_000002:[3, 5, 10]
+023536_000005:[]
+012286_000008:[2, 4, 5, 7, 12, 15]
+009039_000038:[]
+009419_000030:[1, 3, 4, 9, 11]
+010478_000013:[15]
+009462_000034:[]
+015693_000023:[9]
+003112_000032:[]
+017597_000024:[]
+017419_000002:[6, 18]
+010198_000029:[]
+018818_000027:[0]
+023840_000031:[1, 5]
+008141_000004:[]
+006444_000006:[11]
+014630_000021:[]
+017511_000003:[0, 6, 15, 16]
+021262_000020:[]
+010415_000026:[16]
+016014_000034:[]
+017487_000036:[0, 19]
+022826_000008:[17]
+016863_000035:[9, 19]
+007221_000030:[]
+020421_000038:[14]
+009685_000010:[0, 1, 3, 9, 16, 17, 18, 19]
+007265_000010:[]
+012719_000018:[]
+012412_000019:[]
+011517_000005:[]
+005111_000017:[]
+009327_000011:[]
+002184_000022:[]
+003268_000036:[]
+009133_000021:[]
+014061_000025:[6]
+022608_000013:[8, 13]
+020976_000035:[0, 1, 3, 5, 10, 13]
+017337_000008:[]
+021358_000015:[]
+002769_000032:[]
+008970_000007:[6, 18, 19]
+005440_000022:[]
+003024_000008:[19]
+002493_000029:[]
+000398_000025:[]
+002334_000029:[4, 8, 15]
+011250_000010:[]
+001579_000012:[]
+022891_000013:[4]
+016904_000015:[3, 11, 12, 15]
+015269_000020:[]
+001145_000003:[]
+005069_000006:[1, 3, 9, 10, 13, 15, 18]
+007238_000008:[]
+013294_000009:[12]
+013476_000022:[1]
+002972_000010:[13]
+000147_000014:[3, 8, 19]
+024521_000025:[]
+016578_000023:[]
+022272_000022:[]
+009510_000022:[9]
+010380_000020:[]
+008477_000008:[]
+003296_000019:[1, 3, 4, 6, 7, 8, 16, 19]
+001504_000013:[]
+024540_000004:[1, 5, 7, 19]
+010887_000033:[]
+020777_000012:[2]
+006769_000012:[]
+022062_000029:[]
+019515_000018:[]
+018719_000037:[]
+003457_000035:[12]
+019454_000002:[0]
+017516_000024:[5, 13]
+019596_000010:[]
+018633_000019:[]
+024032_000038:[2, 14, 19]
+009293_000015:[]
+017948_000014:[]
+018622_000016:[]
+022647_000031:[1, 2, 5, 6, 8, 11, 13, 15, 16, 17, 18]
+003108_000010:[]
+000956_000022:[9, 13, 15, 16, 18]
+022106_000036:[13, 14, 16, 17]
+004338_000007:[]
+020055_000014:[]
+020375_000017:[13]
+016030_000007:[9]
+013056_000021:[1, 2, 4, 10, 11, 13, 16, 17, 19]
+000440_000024:[5, 6]
+004009_000038:[]
+021515_000027:[16]
+003625_000029:[6, 11]
+015797_000001:[1, 15]
+007051_000001:[0, 1, 2, 5, 11, 12, 17]
+012651_000008:[1]
+024447_000027:[1, 6, 7, 16]
+014848_000025:[]
+006912_000022:[1, 2, 3]
+023241_000038:[19]
+009915_000011:[]
+009379_000037:[]
+004115_000013:[]
+018851_000013:[]
+001731_000020:[1]
+012085_000020:[15]
+009466_000016:[9]
+022524_000026:[11, 18]
+014334_000030:[]
+006753_000011:[]
+021753_000026:[]
+016068_000031:[17]
+008023_000001:[7, 13]
+003928_000014:[]
+004284_000016:[5, 16]
+014410_000026:[5]
+001213_000034:[]
+003460_000031:[]
+004821_000008:[8]
+021166_000021:[5, 7, 8]
+002958_000021:[2]
+016887_000029:[]
+010323_000004:[18]
+021282_000035:[]
+022878_000009:[4, 16]
+002098_000017:[]
+019476_000028:[]
+009702_000021:[]
+001081_000011:[]
+020228_000008:[2]
+014734_000009:[]
+015324_000021:[]
+021596_000010:[6, 7, 14]
+010679_000022:[4, 6, 8, 9, 10]
+023381_000011:[]
+009352_000037:[8]
+018969_000036:[16, 18]
+019924_000007:[]
+009998_000031:[19]
+004722_000026:[5]
+007322_000009:[]
+015788_000014:[]
+010308_000017:[]
+023389_000012:[]
+004589_000027:[12]
+006189_000017:[]
+014426_000002:[]
+000829_000004:[]
+008083_000037:[]
+023115_000037:[2, 15]
+013304_000027:[]
+019130_000039:[]
+012183_000030:[]
+021156_000032:[3]
+020098_000020:[13]
+018451_000020:[0, 4, 6, 10, 16, 19]
+012997_000029:[]
+000578_000032:[1, 6]
+016401_000019:[]
+001663_000033:[18]
+016877_000036:[]
+006680_000036:[4]
+006643_000026:[4, 8, 12]
+019091_000036:[13]
+019666_000012:[1]
+002141_000018:[]
+021971_000014:[9, 10, 11]
+003327_000021:[]
+013501_000038:[]
+007854_000018:[]
+004312_000009:[]
+023421_000022:[]
+008371_000001:[2, 8, 12, 15]
+008968_000038:[]
+012138_000034:[17]
+021321_000016:[6, 9, 13, 14, 15, 17, 18]
+016921_000031:[9, 11]
+021357_000012:[]
+023803_000033:[]
+012743_000028:[0, 11]
+001341_000032:[0]
+017746_000009:[]
+012258_000030:[]
+001813_000030:[]
+010896_000001:[4, 15]
+010157_000026:[9]
+002560_000003:[]
+000860_000028:[]
+024297_000005:[2, 5, 8, 9, 12, 14, 16, 17, 18]
+005930_000023:[]
+018743_000011:[17]
+005293_000013:[0, 10, 13]
+008415_000038:[]
+006508_000007:[1, 3, 12, 18]
+009432_000001:[]
+002163_000015:[]
+016570_000011:[0, 1, 10]
+010442_000015:[]
+022157_000012:[8, 9]
+007376_000014:[]
+005768_000000:[19]
+018659_000039:[]
+003361_000019:[]
+018910_000022:[]
+014795_000030:[]
+006418_000020:[]
+007364_000004:[9]
+009300_000003:[11, 12, 19]
+002647_000005:[]
+018062_000011:[]
+005268_000019:[13]
+012139_000026:[4]
+023376_000025:[4, 16, 17]
+021263_000028:[0, 1, 4, 8, 10, 11, 13, 15, 16, 19]
+016668_000027:[]
+005702_000021:[3, 4, 5, 8, 9, 14, 15, 18]
+010103_000008:[]
+000934_000010:[]
+012535_000005:[]
+005319_000038:[]
+009319_000007:[14]
+015698_000036:[]
+017168_000004:[]
+008554_000002:[]
+005199_000033:[]
+009999_000028:[]
+019002_000011:[]
+022239_000031:[]
+021084_000001:[]
+014145_000023:[]
+022098_000027:[]
+011989_000027:[]
+007702_000009:[]
+014716_000014:[]
+006562_000036:[]
+010521_000037:[12]
+007031_000017:[]
+011611_000017:[]
+024195_000006:[8]
+006218_000012:[]
+013194_000019:[]
+015618_000031:[]
+011810_000015:[]
+019918_000001:[]
+021764_000023:[]
+004197_000007:[8]
+020302_000023:[]
+018956_000009:[]
+023834_000029:[]
+023084_000022:[]
+022611_000029:[9]
+019196_000000:[10]
+020011_000021:[0, 2, 5]
+007671_000018:[]
+014248_000003:[19]
+012063_000031:[1]
+008847_000015:[3]
+011143_000017:[6, 7, 16]
+015777_000014:[9, 14]
+022842_000001:[8]
+004955_000034:[]
+023240_000000:[]
+002885_000027:[]
+014556_000007:[]
+019663_000025:[1]
+001319_000010:[10]
+002720_000025:[]
+004418_000027:[14, 19]
+002698_000031:[]
+021163_000008:[]
+019895_000006:[]
+001946_000028:[3, 7]
+012341_000023:[]
+009579_000021:[]
+009635_000024:[]
+003004_000001:[]
+020023_000027:[]
+019368_000030:[9]
+011997_000015:[]
+005560_000036:[0, 8]
+016246_000004:[]
+017443_000012:[]
+002660_000020:[]
+014805_000002:[13, 15]
+000426_000031:[10, 19]
+023638_000005:[8]
+023357_000037:[8]
+016358_000013:[0, 1, 3, 6, 8, 17]
+016780_000014:[7, 13]
+013069_000037:[]
+017254_000036:[]
+024211_000026:[2, 3, 16]
+011899_000029:[]
+012370_000038:[]
+023862_000035:[]
+023115_000008:[]
+009437_000004:[6, 10, 17]
+019729_000009:[14]
+019531_000026:[2]
+021031_000019:[]
+018887_000008:[17]
+002187_000024:[]
+003122_000000:[1, 7, 8]
+012642_000011:[]
+006778_000007:[13]
+018988_000011:[]
+000042_000039:[]
+008003_000036:[]
+019984_000021:[0, 4, 14, 15]
+002251_000014:[]
+021963_000010:[6, 10, 11, 16]
+018847_000015:[]
+002576_000009:[]
+002000_000024:[5, 11]
+015997_000003:[7, 11, 15, 16, 17]
+009210_000029:[]
+004867_000017:[]
+003902_000037:[14]
+016265_000037:[]
+019728_000034:[16]
+019503_000028:[]
+015172_000035:[]
+005727_000018:[]
+021869_000000:[]
+022898_000004:[0, 3, 6, 18]
+020692_000004:[]
+002391_000014:[9, 17]
+013958_000023:[14]
+010428_000003:[10]
+022628_000037:[]
+015000_000034:[]
+001517_000034:[]
+022754_000039:[]
+014368_000015:[7, 9]
+019352_000000:[11]
+014810_000039:[4]
+012654_000004:[16, 18]
+005056_000024:[]
+017244_000012:[]
+012157_000034:[1]
+021295_000038:[2]
+015431_000022:[3]
+011546_000001:[]
+002561_000024:[]
+008770_000038:[]
+012923_000004:[3]
+011909_000002:[]
+017599_000034:[17]
+007451_000005:[]
+012078_000023:[]
+016637_000003:[]
+008793_000039:[13, 15, 18]
+012547_000005:[]
+008912_000031:[]
+016846_000028:[]
+019700_000020:[]
+024640_000014:[]
+014515_000028:[]
+024772_000003:[]
+009788_000006:[0, 16]
+015648_000013:[8, 11]
+009069_000018:[]
+011751_000033:[]
+014720_000028:[]
+013647_000020:[18]
+009952_000036:[]
+010553_000006:[]
+009223_000024:[7]
+017850_000017:[]
+022681_000027:[]
+003223_000027:[9]
+001830_000022:[1, 3, 8, 11, 12, 16, 17, 19]
+020068_000028:[10]
+007269_000010:[6]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000207_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000207_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3505f1a282c34d010ce4d89d93c1375be3c8052d
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000207_corrupted_depths.txt
@@ -0,0 +1,500 @@
+017404_000010:[]
+010703_000013:[]
+024877_000014:[]
+003729_000018:[]
+001919_000027:[]
+014994_000023:[]
+006222_000002:[]
+024898_000035:[]
+002299_000025:[19]
+017743_000003:[]
+015037_000026:[17, 19]
+024488_000022:[]
+001964_000004:[5, 15]
+019734_000037:[]
+002215_000000:[4, 19]
+022224_000025:[]
+003326_000003:[]
+014444_000004:[18]
+004698_000028:[]
+009828_000000:[]
+006659_000022:[15]
+017999_000023:[3, 14]
+001254_000028:[]
+022797_000034:[6, 7]
+011822_000029:[]
+003406_000005:[]
+000540_000032:[]
+003585_000005:[]
+023873_000005:[]
+001823_000037:[]
+023159_000010:[6]
+001947_000021:[]
+004670_000019:[]
+003748_000005:[]
+000560_000016:[]
+011379_000020:[16]
+009965_000024:[6]
+009076_000002:[3, 15]
+013155_000016:[]
+020000_000007:[]
+002369_000029:[]
+014786_000002:[17]
+018286_000033:[0, 2, 4, 6, 8, 10, 11, 13, 15, 16, 19]
+011595_000035:[]
+024457_000007:[]
+005004_000021:[]
+024356_000021:[]
+012331_000039:[]
+001417_000008:[18]
+021933_000008:[10]
+007821_000006:[19]
+021923_000037:[]
+023100_000032:[3]
+010163_000025:[13]
+002085_000000:[17]
+014564_000028:[]
+023141_000037:[]
+015706_000033:[]
+001802_000008:[]
+000570_000038:[19]
+012541_000031:[]
+004722_000039:[]
+001555_000028:[]
+007737_000002:[6, 11]
+013770_000009:[6]
+005527_000030:[8]
+022817_000000:[]
+013678_000018:[]
+022157_000018:[8]
+002327_000026:[]
+019221_000038:[11]
+009936_000031:[]
+019602_000011:[]
+013831_000013:[]
+010100_000030:[]
+014169_000033:[]
+003956_000013:[]
+019183_000017:[]
+005741_000036:[2, 7, 8, 11]
+002187_000035:[18]
+020151_000008:[]
+001987_000029:[]
+003596_000029:[8]
+020603_000023:[]
+009916_000025:[10, 13, 19]
+014072_000036:[]
+008934_000011:[]
+001469_000011:[]
+003964_000002:[2]
+023865_000022:[9]
+004393_000026:[0, 4, 6]
+002205_000019:[7]
+022737_000018:[]
+007608_000033:[1, 6, 10, 16]
+024346_000005:[]
+006606_000034:[5]
+010365_000033:[]
+016250_000035:[9]
+007333_000031:[16]
+008199_000011:[]
+006751_000011:[]
+000053_000008:[3]
+005835_000030:[1, 11]
+014087_000029:[]
+005222_000017:[0]
+018196_000000:[]
+007581_000004:[]
+011850_000038:[19]
+006803_000032:[]
+017499_000006:[0, 1]
+008914_000007:[]
+022796_000005:[]
+022815_000023:[]
+000695_000011:[]
+017178_000024:[5, 11, 19]
+011455_000028:[0]
+008269_000034:[4, 9, 16]
+015772_000004:[14]
+001904_000029:[]
+008778_000014:[]
+019044_000023:[]
+013914_000020:[]
+008381_000013:[]
+010291_000020:[]
+004790_000030:[]
+022682_000030:[1]
+004623_000016:[5, 16]
+010599_000019:[]
+005441_000002:[]
+003418_000021:[]
+006286_000005:[17]
+022343_000036:[]
+009971_000017:[]
+019495_000035:[1]
+015973_000024:[0, 1, 17]
+007099_000037:[0]
+014644_000021:[11]
+008320_000021:[]
+006748_000035:[2]
+022590_000037:[8, 17]
+012827_000013:[]
+011014_000011:[]
+001384_000034:[]
+021513_000013:[]
+016590_000018:[4, 7, 12, 18]
+001642_000005:[]
+021729_000016:[]
+015380_000033:[]
+015021_000011:[0, 3, 7, 9, 16, 19]
+019706_000025:[]
+001644_000035:[]
+005577_000021:[]
+018834_000015:[]
+005295_000023:[]
+006567_000021:[16]
+008601_000011:[15]
+009580_000026:[]
+016637_000011:[]
+000754_000017:[]
+007572_000033:[]
+011468_000037:[]
+014025_000029:[1]
+007564_000035:[]
+024738_000024:[15]
+006594_000000:[17]
+010808_000021:[4]
+014295_000007:[9, 12]
+000783_000023:[2, 4]
+021336_000010:[]
+017989_000015:[]
+005608_000010:[11, 14]
+009624_000025:[]
+007477_000010:[]
+009328_000032:[]
+004313_000018:[]
+003071_000015:[]
+008460_000006:[3, 14]
+004476_000035:[2]
+011447_000002:[17]
+016727_000015:[]
+015870_000028:[]
+001658_000026:[0, 5, 9, 10]
+002197_000039:[11, 13]
+002666_000014:[]
+008879_000016:[12]
+023241_000030:[]
+010161_000039:[]
+013375_000026:[]
+000728_000030:[13]
+023967_000008:[]
+018875_000032:[]
+024181_000009:[]
+005645_000002:[]
+001934_000037:[14]
+009307_000008:[]
+011554_000002:[3, 4, 10, 14, 15]
+016852_000028:[]
+004857_000025:[3, 8, 12, 13, 14]
+012360_000023:[]
+015806_000029:[10]
+000463_000021:[1, 11, 17]
+016454_000034:[13]
+012402_000027:[]
+023597_000000:[]
+012392_000037:[]
+004903_000038:[0, 4, 5, 11]
+011665_000034:[]
+004439_000023:[]
+004698_000038:[5, 7, 13, 17]
+023296_000005:[8]
+015482_000021:[]
+020227_000037:[]
+021764_000003:[]
+001682_000024:[]
+007419_000029:[]
+018668_000009:[]
+019991_000008:[12]
+017938_000009:[]
+012971_000010:[]
+001023_000013:[]
+005900_000037:[]
+023962_000016:[]
+013900_000031:[0, 6, 13]
+003225_000019:[16, 17]
+001140_000002:[0, 6, 14, 16, 18]
+008721_000014:[]
+016014_000036:[]
+020363_000038:[]
+002778_000033:[]
+004859_000010:[4]
+024364_000008:[]
+016769_000030:[]
+006902_000013:[5]
+015828_000016:[]
+003659_000023:[2, 7, 8, 9, 11, 12]
+010998_000002:[13]
+020828_000034:[]
+003889_000005:[]
+008037_000003:[0, 3, 9, 15]
+001024_000010:[]
+000731_000020:[]
+018421_000012:[]
+016148_000010:[]
+003164_000023:[]
+006427_000003:[]
+019798_000003:[6, 12]
+015953_000011:[]
+007681_000015:[]
+021851_000018:[9]
+012936_000022:[]
+011191_000036:[2]
+008686_000004:[]
+024555_000028:[]
+024316_000030:[6]
+001118_000005:[]
+022688_000025:[]
+005499_000009:[]
+003823_000024:[]
+005488_000010:[]
+019469_000009:[]
+008586_000036:[]
+020541_000002:[0, 1]
+017315_000002:[]
+020410_000020:[8]
+016960_000009:[5, 10, 16]
+018998_000039:[]
+020149_000037:[]
+014991_000016:[]
+016887_000015:[6, 16, 19]
+003120_000023:[18]
+023879_000019:[]
+018653_000019:[6]
+022826_000011:[1, 2, 9, 10, 13, 14]
+003888_000006:[4]
+023695_000018:[]
+011264_000014:[]
+009580_000015:[]
+021208_000004:[18]
+016839_000005:[]
+008772_000039:[3, 13, 14, 16]
+021200_000004:[4, 5, 14, 16]
+002062_000033:[]
+005106_000024:[]
+022499_000014:[]
+019271_000001:[19]
+007440_000038:[]
+019237_000033:[]
+011555_000016:[8, 14]
+014048_000036:[]
+023437_000018:[6, 17]
+003851_000014:[]
+013394_000011:[1, 4, 6, 9, 11, 13]
+009292_000024:[14, 19]
+012594_000026:[13]
+020973_000026:[10, 13, 15, 17, 18]
+001386_000001:[1, 7, 12]
+005405_000036:[]
+000859_000015:[]
+012561_000000:[]
+007482_000030:[]
+003632_000019:[]
+000954_000037:[]
+006222_000026:[]
+009763_000037:[1, 11, 15]
+007818_000035:[4, 11, 12]
+007506_000001:[]
+006102_000005:[10]
+000333_000000:[]
+004038_000027:[]
+019789_000008:[13, 19]
+019014_000012:[]
+000394_000008:[10, 17]
+011708_000001:[0, 3, 5, 6, 7, 8]
+019031_000018:[]
+023648_000018:[]
+004547_000034:[]
+003359_000025:[]
+005296_000004:[]
+004897_000021:[]
+019311_000021:[]
+022046_000002:[]
+006473_000035:[]
+010506_000020:[]
+013331_000001:[]
+022924_000037:[]
+006652_000016:[]
+016932_000001:[]
+004319_000008:[3]
+024587_000024:[]
+019440_000032:[]
+017679_000030:[]
+006046_000012:[]
+009441_000039:[]
+018669_000018:[]
+018181_000007:[14]
+005751_000000:[]
+020399_000037:[]
+010706_000031:[2, 7, 12, 19]
+001546_000026:[1, 4, 5, 7]
+011845_000037:[]
+020051_000009:[]
+010663_000019:[9, 11]
+017419_000036:[5, 9, 12, 16]
+023862_000023:[]
+003349_000023:[]
+013533_000002:[0]
+005562_000014:[]
+021223_000004:[6]
+004223_000036:[19]
+011042_000010:[]
+019951_000025:[2, 5, 7, 9, 17]
+015456_000001:[]
+018786_000037:[3]
+002475_000003:[]
+007334_000007:[]
+016735_000018:[]
+019722_000028:[]
+019801_000017:[]
+009501_000039:[2, 19]
+022047_000009:[3, 9, 12, 15]
+000087_000010:[14]
+001199_000030:[]
+013639_000030:[]
+014291_000034:[4]
+012984_000002:[]
+000938_000012:[]
+018720_000002:[0]
+000901_000000:[1]
+019323_000039:[]
+000995_000009:[3, 4, 7, 11, 12, 13, 14, 18]
+022345_000007:[]
+024705_000015:[]
+009347_000037:[]
+016122_000005:[]
+008070_000020:[]
+009611_000021:[]
+019748_000007:[18]
+021770_000014:[]
+002121_000009:[]
+000206_000035:[]
+014064_000038:[3, 8]
+005565_000010:[3, 6, 9, 11]
+021066_000007:[]
+000190_000022:[]
+009548_000025:[]
+001383_000007:[]
+023578_000036:[]
+000914_000027:[]
+002515_000000:[]
+009380_000011:[3]
+014196_000007:[1, 3, 4, 6, 14, 16]
+017168_000031:[7]
+009680_000025:[]
+022780_000036:[]
+003353_000002:[11]
+000834_000019:[13]
+001380_000010:[10]
+017436_000017:[]
+002819_000022:[]
+020257_000014:[]
+003094_000022:[0, 17]
+020984_000006:[4, 5, 14]
+020878_000013:[]
+008980_000039:[]
+012663_000027:[]
+007370_000008:[]
+002767_000026:[19]
+002854_000005:[0, 5, 17]
+016848_000032:[12, 16]
+017654_000037:[]
+018296_000001:[7]
+016898_000016:[4]
+021720_000022:[]
+001603_000010:[]
+013253_000011:[0, 1, 6, 7, 8, 16, 18]
+008036_000019:[0, 5]
+010032_000036:[]
+022573_000020:[]
+012669_000028:[5]
+007921_000029:[]
+003210_000037:[]
+014078_000000:[]
+015839_000010:[5]
+001635_000008:[10]
+011259_000020:[7, 15]
+007605_000016:[]
+009416_000008:[]
+013756_000011:[]
+024448_000026:[3]
+024099_000019:[]
+000758_000029:[15]
+000186_000029:[11]
+024844_000005:[]
+019114_000036:[]
+023220_000035:[7]
+013369_000024:[1, 4, 17, 19]
+014031_000029:[9]
+020081_000025:[]
+014314_000031:[2, 12, 19]
+019962_000005:[]
+003802_000028:[]
+004316_000031:[]
+009616_000029:[]
+005992_000020:[12]
+003711_000000:[7, 10]
+005682_000030:[4, 9]
+004056_000020:[]
+008006_000021:[]
+005452_000027:[]
+002584_000018:[]
+010266_000033:[7, 10]
+020021_000019:[]
+012593_000023:[]
+011334_000006:[6]
+003120_000003:[3, 7, 16]
+000889_000027:[4, 8, 10]
+010307_000016:[14]
+014409_000030:[5, 8, 13]
+018110_000030:[]
+016976_000034:[8]
+017448_000023:[13, 19]
+021077_000025:[17]
+007693_000013:[]
+009644_000034:[8]
+022098_000012:[]
+022143_000006:[6, 16]
+007524_000034:[]
+024754_000034:[]
+005302_000024:[]
+010665_000010:[2, 3, 5, 7, 12, 15, 16, 17, 18]
+004953_000015:[]
+000814_000033:[13]
+008777_000030:[8]
+006780_000028:[]
+019390_000006:[]
+012425_000024:[]
+021860_000011:[]
+017684_000025:[1]
+000588_000038:[0, 3, 12, 16]
+007426_000000:[6]
+000462_000010:[6, 18]
+016320_000009:[]
+019590_000017:[]
+010342_000004:[9, 10, 16]
+004173_000024:[]
+005628_000017:[0]
+009362_000025:[]
+006983_000010:[14]
+013198_000011:[10, 19]
+007200_000012:[]
+010929_000035:[]
+005979_000009:[0, 9, 19]
+022277_000003:[4, 12]
+004020_000011:[]
+020671_000015:[1, 3, 6]
+024597_000012:[11, 15]
+007984_000008:[5, 13]
+000032_000031:[5]
+015074_000006:[0, 8, 10, 13, 15, 17, 19]
+006129_000019:[12]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000234_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000234_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..35d93a0e04bb3c94df247e33a4e4b8ed27bd1322
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000234_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+015170_000012:[]
+013582_000032:[8, 12]
+014676_000038:[8, 10, 12, 17, 18]
+007430_000013:[]
+012767_000002:[11, 16]
+005892_000039:[]
+004417_000007:[0, 1]
+017526_000034:[]
+023082_000009:[]
+004072_000033:[0, 5, 7, 9, 15]
+021539_000035:[12]
+023364_000031:[]
+023715_000013:[1, 9]
+007684_000036:[]
+016841_000034:[4, 9]
+011379_000038:[4]
+008454_000008:[]
+024685_000027:[]
+012946_000025:[11]
+022384_000025:[]
+007031_000011:[]
+012340_000031:[3, 4, 7, 19]
+021594_000024:[]
+002572_000027:[]
+011450_000005:[]
+000608_000020:[]
+009160_000023:[]
+017361_000004:[7]
+012466_000032:[1, 4, 11, 12, 15]
+018065_000002:[]
+001688_000028:[]
+018012_000023:[]
+011972_000000:[]
+007098_000021:[]
+021621_000010:[]
+003529_000018:[]
+016417_000020:[]
+023289_000014:[]
+022069_000018:[]
+024261_000036:[18]
+022694_000014:[3]
+009512_000022:[]
+020241_000035:[]
+004718_000012:[]
+009707_000014:[]
+014258_000005:[16]
+024855_000027:[5]
+015228_000023:[]
+015099_000038:[6, 18]
+015639_000036:[5]
+005581_000015:[]
+021433_000035:[]
+009962_000009:[]
+009375_000009:[]
+024679_000028:[4, 6]
+015112_000022:[9]
+004011_000001:[]
+009151_000037:[]
+001620_000006:[]
+014808_000039:[10]
+004823_000031:[]
+002450_000016:[14]
+002917_000034:[]
+012147_000009:[]
+015163_000032:[0, 4, 12]
+013408_000022:[]
+023976_000011:[]
+018493_000023:[9]
+004323_000031:[]
+017569_000037:[11]
+013235_000000:[]
+000326_000007:[]
+023943_000007:[9]
+015639_000022:[]
+022268_000007:[]
+023014_000030:[]
+004202_000015:[0]
+009798_000024:[]
+005494_000003:[16]
+011675_000022:[]
+024424_000031:[12]
+002682_000019:[]
+011885_000039:[3, 6, 12, 15]
+010760_000023:[]
+002051_000036:[1, 3]
+021073_000013:[2, 6, 8, 10, 11, 12, 18]
+014572_000016:[10]
+020560_000000:[]
+010749_000005:[]
+019771_000003:[]
+012377_000008:[5, 9]
+010568_000036:[]
+016804_000031:[]
+018985_000004:[]
+018628_000023:[]
+012180_000033:[5]
+008642_000026:[5, 7, 19]
+000253_000022:[0, 4, 13, 14]
+000870_000001:[8]
+018621_000005:[]
+003644_000019:[]
+006791_000024:[]
+018344_000032:[16, 18]
+018915_000015:[3, 7, 11, 16]
+020159_000030:[]
+010681_000031:[]
+003105_000014:[15, 17]
+024829_000000:[]
+016421_000017:[1, 3, 5, 6, 7, 8, 10, 11, 13, 14, 15, 17, 18]
+001325_000037:[]
+004541_000038:[]
+000372_000017:[0, 2, 4, 5, 7, 12, 17]
+024757_000025:[]
+019743_000028:[]
+008365_000023:[4, 9, 10, 11, 17, 18]
+005188_000019:[]
+014682_000014:[]
+007104_000031:[4]
+023083_000027:[8]
+022994_000033:[]
+023021_000021:[12]
+012769_000034:[]
+001903_000025:[]
+011545_000029:[3, 7, 8, 17]
+011432_000013:[12]
+019044_000031:[]
+004155_000034:[]
+003251_000024:[]
+016605_000021:[15]
+011498_000015:[2]
+020164_000033:[]
+023143_000027:[]
+004844_000016:[5]
+011374_000003:[]
+009501_000035:[2, 11, 12]
+024706_000022:[15]
+020610_000037:[]
+007629_000004:[]
+011067_000032:[3]
+020662_000017:[]
+012552_000001:[]
+007009_000003:[]
+007517_000010:[]
+022250_000002:[4, 5, 15]
+013313_000008:[]
+003905_000009:[]
+009286_000000:[]
+004205_000003:[]
+006864_000023:[]
+007541_000023:[4]
+010721_000036:[]
+008005_000032:[6, 15]
+021833_000034:[7]
+005134_000023:[]
+016706_000019:[]
+000982_000025:[]
+007957_000019:[]
+022424_000013:[2]
+011818_000016:[12]
+021739_000028:[]
+009136_000034:[]
+012627_000006:[4, 8, 9, 19]
+024986_000014:[11]
+005949_000024:[]
+016756_000009:[0]
+018710_000039:[]
+004336_000027:[8]
+000900_000016:[12]
+013840_000035:[]
+003922_000031:[]
+024548_000012:[]
+021814_000031:[]
+018328_000032:[18]
+010118_000025:[2, 6, 7, 11, 13]
+021862_000026:[2, 4, 6, 9, 11, 18]
+020621_000026:[6, 18]
+015132_000026:[]
+020832_000000:[]
+014350_000005:[0, 11]
+000584_000014:[]
+013643_000032:[17]
+002713_000005:[0, 2, 3, 4, 6, 7, 9, 12, 18]
+019927_000022:[6]
+011808_000022:[]
+007433_000028:[0, 2, 4, 7, 12]
+015736_000011:[]
+020940_000035:[]
+013787_000030:[1, 12, 16]
+021939_000014:[6]
+006414_000022:[]
+007229_000024:[]
+002354_000008:[2, 5, 15]
+007339_000002:[7]
+000984_000016:[]
+009386_000014:[]
+009298_000027:[8, 10, 11]
+004016_000002:[9]
+013682_000028:[5, 19]
+012771_000007:[]
+000172_000028:[0, 8, 12]
+000683_000006:[]
+001929_000002:[15]
+006814_000004:[]
+002248_000037:[11]
+003360_000016:[]
+010959_000033:[12]
+007970_000017:[0]
+002850_000006:[]
+013532_000039:[4]
+019569_000023:[16]
+013622_000001:[0, 2, 3]
+002518_000007:[7, 16]
+011001_000023:[]
+023131_000039:[]
+021065_000021:[]
+010535_000023:[]
+010938_000007:[]
+017280_000005:[]
+001860_000023:[]
+011677_000034:[]
+002578_000023:[1]
+006236_000033:[]
+022911_000024:[1, 19]
+008435_000003:[2]
+004180_000033:[]
+024699_000012:[]
+000224_000003:[]
+012817_000025:[]
+009038_000024:[]
+002774_000011:[16]
+004316_000029:[]
+011616_000026:[]
+019298_000029:[1, 2, 6, 16]
+009667_000022:[6, 14]
+018601_000030:[0, 3, 6, 7, 10, 15, 18]
+015113_000031:[]
+022293_000002:[]
+019967_000016:[19]
+003414_000021:[0, 14]
+009860_000019:[7]
+019205_000023:[7]
+007664_000035:[]
+021104_000020:[]
+022470_000024:[]
+006951_000028:[3]
+010644_000017:[6]
+019721_000019:[]
+001938_000002:[]
+019189_000002:[2, 12]
+022775_000036:[1]
+001353_000039:[16]
+010462_000024:[]
+013228_000005:[0, 3, 11, 17]
+010583_000001:[1, 3, 7, 8, 19]
+015000_000012:[10]
+021927_000005:[]
+008065_000011:[2, 16, 19]
+003002_000005:[7, 9, 11, 13, 14]
+012967_000023:[0]
+018475_000019:[3]
+004603_000020:[]
+009803_000001:[3]
+004559_000013:[]
+001280_000011:[0]
+010586_000010:[11, 13, 14]
+014942_000027:[3]
+006921_000019:[]
+022939_000035:[]
+023548_000037:[]
+007106_000029:[]
+003121_000012:[]
+022860_000024:[1]
+001006_000027:[]
+016188_000037:[]
+014478_000013:[]
+019485_000001:[3, 9, 19]
+007427_000039:[17]
+022120_000003:[]
+005285_000034:[17]
+006250_000029:[14]
+022581_000012:[]
+003499_000004:[1, 9, 10, 11, 13]
+013675_000039:[]
+012543_000017:[]
+016998_000024:[0]
+022673_000019:[0, 13, 19]
+020362_000000:[11]
+017874_000015:[]
+008589_000018:[]
+000072_000005:[]
+002002_000005:[11]
+021192_000029:[]
+022545_000028:[]
+022197_000016:[]
+000256_000026:[3, 7]
+015478_000037:[]
+006234_000025:[]
+007987_000003:[0]
+006721_000020:[0, 16]
+024108_000008:[]
+010094_000010:[]
+002691_000001:[]
+000046_000007:[12, 13]
+010015_000029:[]
+006073_000030:[2, 12, 14]
+014771_000033:[0, 5, 9, 16, 18, 19]
+013077_000000:[]
+024889_000009:[]
+015147_000016:[1]
+019166_000013:[]
+024953_000033:[1, 3, 4, 5, 10, 11, 12, 14, 17]
+024307_000004:[]
+017755_000022:[]
+024041_000026:[8]
+005436_000010:[16]
+001333_000002:[]
+000801_000009:[]
+014985_000036:[2, 9, 10, 15]
+002667_000029:[18]
+003499_000014:[7, 9, 10]
+017814_000011:[]
+017219_000022:[18]
+019971_000036:[16]
+009886_000005:[]
+016359_000029:[6, 16]
+021876_000007:[]
+009924_000036:[14]
+005057_000034:[10, 12, 15]
+021058_000007:[]
+006967_000000:[0, 2, 3, 4, 6, 7, 8, 11]
+003053_000025:[]
+011747_000032:[2, 12]
+003910_000002:[]
+008296_000019:[]
+013153_000004:[3, 18]
+017265_000017:[3, 6, 7, 15]
+001779_000011:[]
+014751_000016:[]
+008783_000038:[]
+001126_000009:[]
+017546_000034:[1]
+012281_000031:[]
+004854_000018:[]
+012312_000015:[18]
+013799_000005:[]
+022259_000014:[]
+002416_000019:[4, 13]
+022988_000000:[17]
+016370_000021:[]
+022856_000039:[]
+003378_000035:[7, 8]
+021219_000026:[11]
+009385_000005:[]
+009262_000015:[7]
+016031_000028:[]
+009807_000022:[9, 10]
+023454_000010:[]
+018276_000018:[]
+022302_000005:[1, 2, 3, 10, 12, 18]
+017483_000023:[10, 14, 18]
+014363_000007:[]
+008576_000035:[]
+016992_000025:[]
+014910_000033:[3]
+009833_000038:[]
+002700_000025:[]
+003505_000020:[]
+004206_000007:[]
+014196_000005:[0, 4, 8, 11, 12, 14, 15, 16, 17, 18]
+000124_000007:[13]
+009398_000026:[]
+013251_000021:[]
+002327_000007:[1]
+004850_000032:[]
+007559_000035:[]
+014670_000036:[7]
+000400_000039:[]
+017495_000019:[]
+001954_000036:[]
+014650_000015:[5, 9, 16]
+000051_000000:[12]
+014048_000033:[]
+003630_000018:[12]
+023306_000031:[]
+015507_000030:[]
+017386_000006:[]
+020828_000019:[]
+001713_000035:[]
+000447_000032:[7, 16]
+002533_000022:[]
+021182_000033:[]
+007955_000027:[19]
+000938_000018:[]
+014700_000022:[]
+011850_000031:[3, 11, 14]
+023784_000014:[9]
+002242_000038:[1, 2, 6, 7, 8, 15, 18]
+009618_000032:[7, 13]
+013127_000009:[3, 18]
+017178_000018:[5, 11, 13, 16]
+013721_000025:[]
+018572_000035:[8]
+014534_000016:[14]
+008504_000008:[]
+009123_000013:[]
+007418_000013:[]
+000307_000038:[7, 9]
+024825_000006:[9]
+013746_000037:[]
+016619_000005:[]
+017781_000002:[13]
+023049_000015:[]
+009647_000016:[]
+017081_000024:[]
+015024_000026:[]
+007563_000037:[2, 12, 14, 19]
+006661_000027:[]
+006386_000012:[]
+020739_000026:[]
+009014_000032:[1, 7]
+013267_000011:[13]
+023037_000032:[]
+000528_000019:[15]
+009900_000028:[]
+016319_000030:[5]
+000364_000032:[]
+012339_000037:[12, 13]
+022547_000026:[]
+007564_000029:[1, 11, 12]
+002788_000011:[]
+004499_000028:[]
+022899_000039:[14, 16]
+021882_000031:[]
+010404_000023:[10, 13]
+019110_000034:[]
+008389_000020:[9, 15]
+003957_000023:[]
+018156_000031:[5, 19]
+002152_000027:[]
+005249_000025:[]
+014632_000019:[1, 10, 18]
+013978_000004:[]
+020535_000020:[]
+005377_000023:[2]
+010864_000003:[]
+005618_000010:[6]
+005213_000035:[]
+020713_000025:[0, 1]
+019728_000017:[]
+000189_000033:[]
+008989_000025:[]
+010013_000035:[]
+008057_000006:[]
+011129_000026:[4, 19]
+014329_000036:[1, 16]
+016289_000011:[3]
+007678_000011:[]
+015231_000029:[19]
+019996_000011:[]
+007944_000038:[0, 2, 5]
+011491_000018:[8, 11]
+007457_000012:[]
+021532_000034:[]
+019724_000001:[5, 9]
+001054_000025:[]
+022716_000000:[]
+018620_000031:[]
+024362_000033:[0, 1, 3, 5, 6, 8, 10, 11, 15, 18]
+019837_000026:[3, 5, 15]
+001301_000002:[]
+010507_000012:[6, 10]
+022724_000029:[2, 5, 17, 19]
+006987_000017:[]
+023681_000020:[5]
+002365_000016:[]
+010653_000023:[7]
+002301_000033:[]
+008457_000011:[]
+009269_000020:[2]
+010594_000030:[]
+013305_000010:[]
+008349_000006:[]
+018700_000029:[]
+010053_000006:[]
+015638_000019:[18]
+011473_000012:[]
+002815_000027:[3]
+020085_000035:[]
+014711_000010:[]
+005076_000023:[]
+009159_000015:[]
+007901_000016:[4]
+001079_000013:[]
+002689_000006:[]
+015930_000013:[8]
+013987_000034:[]
+012308_000006:[9]
+014212_000021:[14, 17]
+015212_000038:[]
+000327_000004:[]
+016170_000037:[]
+004327_000012:[5, 11, 19]
+000442_000007:[9]
+002166_000002:[]
+016341_000024:[11]
+013682_000010:[1]
+016896_000012:[2]
+013338_000004:[0, 9, 10, 11, 13, 14, 17]
+021468_000030:[]
+009564_000016:[]
+016596_000003:[]
+021606_000013:[]
+005208_000018:[13]
+023766_000020:[]
+014247_000024:[7]
+018872_000009:[17]
+000460_000033:[]
+001460_000025:[]
+014263_000008:[]
+000084_000030:[10]
+000755_000029:[]
+003293_000006:[19]
+010232_000015:[]
+003473_000039:[]
+010656_000030:[7, 9, 12, 14]
+012618_000013:[3, 4]
+005377_000006:[]
+019945_000005:[7]
+020879_000005:[0, 16]
+021556_000014:[]
+019787_000008:[]
+001259_000029:[]
+017596_000010:[]
+016519_000034:[7]
+013067_000015:[]
+007582_000032:[]
+021402_000000:[9]
+003218_000004:[15]
+008284_000036:[6, 11]
+000793_000030:[]
+003440_000032:[]
+004044_000007:[]
+023074_000036:[6]
+014993_000028:[]
+008741_000039:[10]
+023416_000037:[8]
+000456_000035:[]
+023497_000010:[11, 19]
+020165_000032:[]
+019120_000034:[]
+018402_000038:[0]
+004994_000009:[]
+011013_000014:[2, 4, 5, 6, 7, 10, 12, 17, 18]
+004515_000013:[]
+018724_000019:[]
+000699_000030:[6, 16]
+002467_000009:[]
+000655_000025:[13]
+022256_000002:[]
+011274_000010:[]
+013307_000017:[]
+013365_000017:[]
+019359_000014:[3, 6, 7]
+012427_000020:[]
+005000_000003:[]
+017653_000022:[3, 10, 14, 16]
+017462_000037:[2]
+001491_000032:[11]
+019640_000031:[3]
+022722_000000:[6, 13]
+021903_000025:[0, 4]
+009091_000010:[14]
+003093_000024:[0, 5, 10, 19]
+019232_000030:[]
+023399_000024:[]
+014755_000039:[]
+020852_000005:[1, 13]
+011726_000008:[]
+001968_000022:[11]
+016405_000034:[]
+012993_000002:[]
+009486_000006:[]
+014050_000031:[9, 17]
+020064_000015:[]
+008119_000013:[]
+008684_000036:[19]
+009503_000014:[]
+021928_000029:[]
+001808_000031:[]
+008786_000018:[]
+001545_000036:[]
+016855_000022:[]
+022088_000015:[]
+013068_000017:[]
+007453_000026:[]
+004298_000025:[]
+021563_000034:[1, 12, 15, 19]
+007973_000000:[7]
+017224_000018:[]
+012127_000026:[]
+018837_000017:[6, 11]
+002201_000007:[]
+009581_000015:[]
+022119_000034:[]
+009954_000026:[]
+008371_000014:[]
+015056_000012:[]
+024759_000011:[10, 11]
+017301_000019:[]
+003160_000017:[11]
+001211_000011:[12]
+009916_000030:[8, 11]
+001873_000002:[2]
+022721_000039:[]
+014510_000023:[]
+007748_000004:[]
+005102_000021:[]
+011359_000007:[10]
+011197_000005:[]
+000408_000038:[3, 10, 12]
+014906_000018:[1, 2, 7, 16, 19]
+020385_000026:[12]
+014216_000018:[3]
+001652_000038:[]
+017757_000005:[]
+005057_000025:[7]
+007113_000007:[19]
+021588_000029:[]
+007738_000034:[]
+005240_000006:[]
+019184_000020:[]
+010335_000038:[19]
+018147_000020:[]
+007811_000039:[]
+023330_000029:[15]
+000770_000018:[]
+001275_000001:[]
+022845_000014:[14]
+003606_000019:[]
+017176_000035:[]
+021457_000020:[9]
+017738_000018:[2, 12]
+010619_000035:[]
+000886_000006:[0, 2, 3, 4, 5, 8, 9, 14, 17, 19]
+021096_000015:[]
+003540_000003:[]
+003298_000001:[]
+020551_000023:[0, 15]
+001232_000016:[0, 2, 19]
+014190_000026:[]
+002027_000037:[15]
+006391_000004:[]
+021547_000016:[]
+007623_000031:[0, 13, 19]
+016564_000017:[]
+007052_000018:[]
+017820_000015:[0, 3, 6, 9, 10, 18, 19]
+009752_000001:[]
+008635_000037:[10, 13]
+000351_000014:[]
+017981_000035:[]
+017120_000008:[2, 3, 8, 11, 17, 19]
+023684_000038:[]
+010335_000033:[2]
+008769_000013:[]
+007360_000024:[]
+007125_000037:[18]
+015433_000022:[5, 7, 12, 15]
+018816_000012:[2, 5]
+019544_000036:[5]
+012383_000019:[]
+014820_000027:[3]
+006984_000011:[]
+007160_000003:[3]
+009673_000023:[]
+024624_000026:[]
+015157_000018:[12, 16]
+011264_000023:[]
+010210_000005:[]
+003505_000035:[]
+009983_000010:[11]
+017013_000025:[1, 7]
+012409_000032:[]
+014788_000009:[]
+019805_000008:[]
+007894_000005:[7]
+020892_000039:[]
+013756_000013:[]
+011616_000021:[]
+004021_000037:[8, 14]
+018467_000029:[19]
+024704_000025:[13]
+001664_000003:[]
+002429_000009:[]
+007057_000009:[]
+019952_000020:[]
+021494_000021:[]
+024461_000027:[]
+014676_000037:[8, 10, 14]
+008185_000027:[]
+005409_000009:[13, 17]
+012081_000000:[]
+012429_000025:[]
+003012_000026:[]
+005780_000013:[0]
+003800_000026:[]
+016284_000029:[1]
+007020_000006:[]
+022436_000017:[18]
+003675_000026:[5]
+020400_000002:[]
+021607_000006:[]
+016861_000039:[14]
+014428_000030:[7]
+013484_000026:[2, 4, 6, 7, 12]
+013423_000000:[]
+023323_000035:[]
+015493_000022:[]
+023178_000013:[0]
+008361_000029:[]
+020541_000027:[]
+011979_000028:[]
+006282_000008:[]
+020979_000027:[]
+001892_000032:[]
+004973_000006:[14]
+009527_000002:[]
+022757_000021:[8]
+017371_000033:[]
+020169_000003:[]
+023555_000016:[]
+006599_000030:[]
+003654_000035:[13]
+012390_000004:[]
+013965_000024:[11]
+011796_000036:[7, 10]
+002563_000005:[17]
+024243_000019:[]
+015391_000017:[]
+015823_000015:[]
+005797_000028:[11, 12]
+013986_000034:[]
+024742_000008:[]
+009648_000011:[5, 11, 13]
+014333_000027:[12]
+005847_000025:[]
+016815_000039:[]
+003501_000039:[1, 6, 19]
+004858_000029:[]
+007998_000013:[]
+003399_000035:[]
+020533_000003:[2, 8, 19]
+016778_000009:[]
+007087_000010:[]
+008188_000013:[]
+009167_000014:[]
+010312_000015:[1]
+024615_000017:[]
+014980_000025:[3]
+019812_000028:[]
+020566_000015:[]
+000878_000032:[2, 12]
+014908_000019:[]
+018670_000018:[]
+007238_000024:[]
+018162_000006:[]
+024822_000033:[13]
+022514_000023:[]
+016560_000015:[]
+022696_000004:[]
+022068_000015:[]
+003870_000032:[]
+015686_000008:[1, 9, 12, 16, 18, 19]
+019445_000035:[]
+002151_000022:[]
+012229_000032:[]
+005982_000014:[]
+023442_000032:[]
+019665_000035:[]
+013108_000020:[4, 13]
+017585_000034:[]
+022070_000008:[]
+010087_000028:[]
+008143_000014:[11]
+016043_000007:[6]
+015287_000002:[19]
+008829_000010:[16]
+019344_000039:[12]
+022729_000035:[4, 8, 15]
+013484_000027:[]
+007604_000009:[]
+002260_000037:[]
+001437_000017:[]
+007738_000008:[]
+003671_000020:[5]
+004101_000024:[1, 7, 12, 14]
+017706_000003:[]
+002103_000014:[9, 17]
+005972_000039:[]
+021712_000034:[0]
+003867_000004:[]
+002259_000014:[]
+024006_000005:[]
+021074_000017:[]
+009518_000021:[]
+001949_000011:[]
+011889_000000:[]
+013069_000025:[11]
+022631_000036:[2, 8, 14, 19]
+009252_000027:[]
+020646_000010:[1, 13]
+018011_000003:[3, 4, 17]
+005328_000023:[16]
+023484_000009:[]
+015714_000015:[]
+012401_000028:[]
+004687_000013:[0, 6, 14]
+020639_000025:[18, 19]
+014572_000030:[11, 18]
+005067_000014:[]
+023952_000033:[1, 2, 7, 11, 12, 14, 17]
+013488_000021:[0, 1, 2, 3, 5, 10, 13]
+005605_000024:[]
+000412_000031:[9]
+015305_000016:[]
+015596_000029:[4, 10, 14, 16]
+016904_000006:[]
+005935_000013:[2, 9]
+013885_000009:[]
+007645_000039:[]
+003830_000003:[]
+000747_000034:[]
+009255_000026:[]
+018072_000037:[]
+017157_000017:[]
+019236_000011:[]
+019864_000033:[0, 3, 4, 7, 11, 13, 14, 17, 19]
+007051_000038:[12]
+021999_000005:[]
+012711_000012:[]
+022898_000037:[6, 9, 17]
+001741_000027:[14]
+015662_000011:[]
+015827_000011:[]
+021216_000000:[]
+017065_000024:[]
+001644_000014:[1, 3, 6, 19]
+001172_000036:[12]
+016934_000001:[]
+017209_000003:[]
+022872_000023:[]
+010165_000001:[]
+016423_000001:[0, 4, 11, 18]
+009578_000019:[12, 18]
+022097_000023:[]
+012694_000008:[]
+002851_000015:[3, 7]
+014729_000010:[]
+024455_000013:[]
+007749_000039:[]
+015097_000019:[]
+008558_000015:[]
+018954_000034:[]
+011279_000015:[]
+001462_000028:[]
+004614_000000:[]
+000856_000030:[17]
+002579_000008:[]
+011820_000015:[9]
+011103_000007:[]
+010645_000030:[4]
+009476_000035:[]
+022700_000039:[6, 17]
+001951_000034:[1, 5, 17]
+008345_000020:[12]
+016554_000016:[]
+019422_000033:[]
+010466_000008:[]
+014673_000015:[]
+020268_000026:[18]
+012844_000014:[]
+007862_000024:[]
+011925_000012:[]
+008015_000030:[2, 8]
+012160_000012:[]
+019391_000002:[9]
+008187_000029:[]
+022126_000008:[]
+020929_000000:[9, 18, 19]
+020009_000026:[]
+003984_000036:[]
+010732_000039:[]
+004152_000018:[10]
+002976_000013:[]
+016851_000024:[0, 5, 6, 7, 8, 9, 13, 15, 18]
+018214_000037:[6, 10, 13, 14]
+002974_000017:[]
+020180_000017:[8]
+010910_000000:[]
+003758_000008:[]
+022613_000029:[]
+017147_000013:[]
+003180_000005:[]
+010790_000035:[]
+001916_000031:[]
+012495_000016:[16]
+024783_000034:[]
+017187_000004:[5, 7, 11]
+006662_000010:[0, 1, 5, 15]
+021715_000034:[]
+014867_000003:[]
+019481_000025:[1]
+009232_000032:[]
+002933_000018:[]
+006751_000008:[]
+016360_000030:[]
+012903_000015:[]
+012187_000029:[9]
+000994_000021:[]
+022414_000033:[5]
+011288_000032:[0, 2, 5, 6, 7, 9, 10, 12, 13]
+009199_000017:[6]
+011701_000005:[]
+013455_000016:[5, 7, 9]
+022426_000009:[]
+006547_000033:[9]
+013122_000030:[]
+024770_000024:[1, 3, 17]
+018236_000031:[]
+016246_000013:[9]
+022154_000039:[19]
+019979_000024:[9]
+009500_000010:[]
+008509_000021:[17, 19]
+020522_000015:[]
+004089_000014:[]
+008532_000018:[7, 19]
+010096_000010:[]
+019093_000031:[]
+004834_000019:[6, 13]
+013466_000000:[1]
+019066_000024:[]
+010342_000033:[16]
+023737_000033:[]
+010845_000038:[0, 1, 3, 8, 13, 16]
+020964_000039:[]
+007211_000009:[4]
+001321_000023:[15]
+012144_000018:[]
+000376_000026:[]
+009103_000000:[12]
+021066_000033:[]
+000664_000008:[2, 14]
+004673_000022:[7, 14]
+015164_000019:[15]
+018462_000003:[]
+015440_000030:[]
+011547_000038:[]
+012941_000034:[]
+002749_000005:[2]
+009275_000026:[]
+002208_000017:[2, 9, 11, 18]
+018334_000019:[]
+007182_000019:[4, 8]
+007158_000018:[4]
+021000_000033:[14]
+006453_000011:[]
+005613_000027:[1, 2, 7, 9]
+003210_000020:[]
+009589_000025:[9]
+009993_000008:[11]
+006631_000015:[]
+021462_000010:[0, 4]
+023078_000017:[11]
+024412_000021:[4]
+013746_000026:[12]
+013326_000017:[]
+023510_000028:[0, 5, 17]
+007151_000017:[]
+021339_000025:[14]
+002601_000007:[1, 2, 10, 13, 14, 19]
+021546_000027:[]
+000593_000028:[2, 7, 8, 13]
+023672_000016:[]
+000946_000039:[]
+014075_000026:[5, 6]
+014547_000008:[4, 18, 19]
+000377_000003:[9, 11]
+012204_000016:[]
+020668_000013:[]
+019038_000028:[]
+019961_000037:[]
+005639_000003:[]
+018343_000039:[2, 4, 13]
+012674_000029:[2, 5, 7, 9, 10, 11, 14, 17]
+021139_000014:[]
+013036_000038:[]
+022171_000009:[]
+017969_000034:[3, 11]
+023873_000002:[1]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000245_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000245_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..27ae812fc2defedf7c0e575185c5a117db9e2a2c
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000245_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+006556_000025:[6, 10]
+019531_000023:[2, 4, 17]
+018921_000006:[]
+011659_000007:[9]
+007420_000008:[]
+001111_000024:[5, 10, 16, 19]
+011734_000027:[4]
+015712_000001:[]
+000987_000000:[]
+006597_000028:[]
+023650_000024:[0, 4, 8, 18]
+022401_000004:[1]
+011269_000010:[0]
+015396_000013:[]
+007782_000022:[]
+014882_000012:[1, 19]
+005259_000032:[]
+018621_000001:[9]
+011533_000000:[2, 5, 7, 19]
+004385_000019:[]
+018131_000022:[12]
+017339_000026:[]
+014001_000039:[]
+015655_000030:[10]
+015785_000002:[]
+022605_000019:[]
+019613_000023:[0, 3, 5, 8, 17]
+002141_000003:[8, 15]
+008149_000006:[18]
+024844_000006:[]
+018739_000007:[3, 6]
+015973_000009:[0, 17]
+024037_000033:[]
+024840_000016:[]
+014386_000033:[]
+004305_000030:[0]
+017592_000039:[16]
+019634_000021:[15]
+005535_000039:[7]
+009965_000013:[]
+024596_000027:[]
+013831_000006:[2]
+019078_000035:[]
+002704_000023:[2, 14]
+007976_000001:[]
+002015_000019:[0, 11]
+008312_000039:[]
+007202_000005:[]
+014107_000012:[12]
+011713_000020:[]
+015436_000019:[18]
+015077_000032:[4, 11]
+007435_000014:[]
+007981_000037:[]
+013404_000027:[]
+015904_000027:[]
+001742_000005:[]
+009193_000027:[9]
+019053_000034:[]
+013976_000023:[]
+019774_000004:[]
+010699_000005:[14, 15]
+003712_000021:[3, 8, 11]
+005391_000033:[4]
+006413_000016:[]
+019856_000032:[]
+016906_000033:[]
+009250_000000:[]
+000213_000016:[14]
+023536_000004:[]
+002096_000029:[]
+007340_000030:[]
+015877_000030:[1]
+021390_000033:[10]
+014929_000009:[]
+023775_000038:[]
+007407_000016:[7]
+006083_000008:[2, 6, 14, 17]
+019893_000026:[]
+006157_000007:[]
+019417_000012:[11]
+018090_000030:[]
+018122_000015:[]
+014561_000020:[7]
+003799_000020:[]
+001490_000012:[5, 16]
+001087_000004:[0, 14]
+024556_000008:[2, 16]
+017750_000012:[]
+012705_000031:[10]
+002522_000036:[]
+012155_000002:[16]
+023852_000026:[1, 9]
+006600_000030:[2, 3, 7, 13]
+006983_000037:[14]
+002428_000038:[]
+013609_000024:[4, 5, 9, 11, 16]
+019114_000016:[]
+003327_000000:[]
+005998_000027:[0, 2, 4, 6, 10, 12, 14, 15, 17]
+003656_000002:[18]
+002545_000001:[4, 13, 15]
+008734_000037:[]
+015937_000006:[]
+009944_000002:[]
+019453_000035:[5]
+007029_000038:[13, 17]
+017552_000034:[]
+004136_000030:[1, 6, 15]
+022669_000035:[]
+002388_000001:[7, 19]
+005913_000012:[]
+014026_000016:[]
+015533_000001:[2, 12, 13]
+013154_000022:[]
+007391_000007:[8, 17]
+024139_000014:[]
+005338_000011:[]
+001379_000039:[13]
+017618_000013:[2]
+004113_000010:[]
+014186_000010:[]
+003735_000010:[12, 19]
+021480_000001:[]
+001055_000036:[5, 19]
+016086_000012:[]
+002477_000016:[]
+009437_000017:[]
+024634_000024:[13]
+020900_000010:[]
+020595_000034:[]
+013022_000014:[]
+017955_000036:[2, 14]
+013720_000012:[]
+013278_000037:[18]
+003397_000029:[]
+015241_000022:[]
+021920_000001:[]
+017817_000031:[]
+006478_000017:[]
+011994_000019:[]
+020186_000014:[]
+008538_000028:[]
+019523_000032:[12]
+015824_000002:[]
+021910_000000:[]
+019949_000018:[19]
+000434_000009:[]
+022678_000023:[]
+017929_000008:[]
+012301_000037:[11, 14]
+023736_000006:[]
+006840_000020:[]
+008659_000039:[1, 2, 6]
+004804_000018:[3]
+012816_000031:[]
+021091_000039:[]
+024031_000023:[]
+021912_000022:[]
+013324_000017:[7]
+021356_000009:[]
+007629_000024:[]
+021712_000004:[]
+000710_000039:[]
+017064_000003:[6, 7, 10]
+007560_000012:[]
+000666_000035:[4]
+008389_000025:[9, 12, 17]
+014146_000039:[]
+016762_000014:[7]
+017617_000034:[]
+024970_000005:[]
+012896_000034:[]
+015082_000003:[]
+006351_000015:[]
+000170_000026:[0]
+022826_000030:[9, 10]
+018651_000031:[12]
+001443_000002:[1, 9]
+011157_000008:[]
+005992_000014:[]
+017202_000026:[]
+024425_000020:[]
+024481_000024:[1]
+015279_000017:[9, 10, 18]
+022359_000033:[1]
+021416_000007:[]
+018631_000001:[]
+010572_000019:[]
+010704_000025:[17, 19]
+016002_000032:[2, 10]
+018291_000022:[15]
+008280_000009:[1, 6, 18]
+005093_000000:[]
+003722_000001:[]
+011486_000038:[16]
+023361_000013:[2]
+002230_000003:[]
+004133_000010:[]
+000692_000009:[0, 16]
+003558_000024:[]
+019945_000034:[16]
+011881_000015:[16]
+006960_000034:[]
+002857_000035:[]
+006166_000036:[]
+011163_000035:[2]
+016192_000036:[2, 4, 11]
+016266_000017:[]
+001007_000003:[]
+003887_000001:[0, 1, 2, 17]
+013191_000028:[]
+011020_000034:[4, 8]
+007411_000036:[0, 5, 8, 15]
+010931_000020:[5, 11]
+021264_000002:[15]
+001280_000014:[13]
+006737_000027:[]
+013440_000025:[]
+005368_000014:[7, 9, 14, 17]
+001126_000026:[]
+005845_000031:[]
+017311_000016:[]
+017499_000029:[0, 1, 16]
+020977_000001:[13]
+016773_000025:[]
+006638_000035:[]
+007247_000016:[5, 12, 14]
+020873_000001:[]
+016733_000025:[]
+016036_000006:[]
+023997_000004:[9]
+018930_000030:[6]
+020232_000020:[]
+002963_000003:[0, 1, 7, 8, 12, 15, 19]
+004573_000009:[15]
+011912_000023:[]
+016143_000028:[]
+007990_000013:[2, 5, 8, 10, 13, 14, 15, 16, 19]
+000843_000032:[3]
+012348_000032:[]
+002058_000019:[]
+008850_000009:[]
+014320_000024:[2, 14, 15]
+011433_000017:[1, 9, 13, 17]
+000254_000018:[13, 18]
+004688_000009:[16]
+004904_000014:[]
+013810_000028:[]
+021907_000035:[]
+009271_000021:[]
+002620_000023:[0]
+016123_000001:[]
+004447_000009:[18]
+002892_000021:[5, 14]
+017788_000034:[]
+023815_000037:[1, 7, 14]
+017942_000010:[]
+023376_000001:[10]
+011270_000000:[1, 4, 5, 16]
+022953_000006:[]
+010209_000026:[]
+016403_000035:[]
+000668_000015:[]
+000972_000006:[5]
+024228_000008:[4, 17]
+011497_000038:[]
+012451_000005:[0]
+014805_000013:[15]
+021790_000025:[]
+000358_000006:[17]
+003646_000008:[15]
+011684_000031:[17]
+006867_000024:[1]
+016054_000038:[]
+015540_000031:[]
+001136_000003:[18]
+016888_000022:[]
+013262_000032:[10, 13, 17, 19]
+017974_000000:[]
+005502_000021:[10, 14]
+019393_000020:[]
+019475_000011:[]
+023900_000006:[6]
+023322_000001:[11]
+007237_000020:[2]
+021745_000008:[]
+013793_000019:[12]
+009006_000031:[13]
+009338_000031:[]
+001897_000023:[]
+009622_000009:[12, 18]
+016767_000007:[]
+023014_000027:[]
+002339_000024:[14]
+009469_000038:[4]
+014214_000003:[]
+009939_000035:[10, 15]
+001269_000038:[]
+022952_000034:[]
+024689_000034:[]
+007632_000005:[]
+007282_000018:[]
+021480_000037:[]
+004296_000010:[6, 9, 12, 15]
+020284_000026:[]
+024123_000016:[5, 18]
+014665_000007:[]
+008095_000002:[]
+023515_000008:[]
+016681_000000:[]
+019756_000022:[7, 17]
+017544_000032:[]
+015760_000031:[16]
+019772_000038:[0]
+017583_000028:[6]
+004290_000009:[6]
+003803_000032:[]
+014170_000008:[]
+004328_000006:[]
+001597_000020:[]
+017648_000025:[]
+012692_000027:[0, 6, 8, 10, 18, 19]
+012715_000008:[]
+005634_000030:[]
+021373_000039:[13, 19]
+011328_000003:[2]
+011568_000016:[]
+001390_000038:[7]
+016634_000011:[]
+006325_000005:[15, 17]
+013827_000019:[1, 11, 19]
+006592_000031:[]
+019444_000015:[1, 2, 12, 15, 16, 17, 18]
+023301_000030:[9]
+001164_000010:[]
+023531_000003:[4]
+001474_000031:[5, 9, 14, 15]
+018118_000030:[15]
+013766_000016:[]
+008480_000036:[]
+002422_000018:[]
+013678_000008:[]
+018176_000013:[]
+000029_000005:[]
+019498_000024:[]
+001681_000006:[4, 5, 10, 15, 17]
+000706_000025:[3, 4, 13, 17]
+007285_000032:[8]
+000164_000018:[]
+022682_000036:[]
+011828_000024:[]
+024603_000031:[3, 5, 16]
+010000_000022:[]
+002305_000017:[]
+004323_000002:[4]
+015305_000035:[]
+020665_000022:[13]
+007837_000015:[11, 12]
+008531_000006:[7, 12]
+019920_000037:[6, 8]
+004708_000028:[1]
+014652_000038:[]
+017571_000038:[7, 13]
+024384_000009:[]
+016195_000018:[1]
+006717_000002:[7]
+022224_000014:[17]
+023570_000031:[0, 4]
+024169_000010:[]
+012091_000013:[]
+010503_000039:[1, 11, 12]
+008443_000031:[0, 1, 5, 14, 16, 17]
+008777_000016:[8, 9]
+002303_000039:[]
+024750_000038:[]
+017839_000001:[0, 5, 7, 8, 9, 15, 19]
+002129_000009:[3, 10]
+009030_000020:[]
+010831_000020:[]
+016291_000016:[0, 2]
+007645_000015:[16]
+007170_000005:[15]
+005894_000035:[0, 6]
+014673_000007:[]
+005251_000027:[11]
+013529_000035:[2, 3, 10]
+010102_000003:[]
+007336_000029:[]
+008800_000002:[]
+020570_000009:[]
+015627_000025:[12]
+010310_000006:[]
+014875_000033:[0, 12, 14]
+005989_000033:[13, 14]
+016966_000031:[5, 10, 14]
+014980_000013:[]
+021426_000015:[]
+020067_000003:[2, 12]
+016527_000007:[]
+014106_000011:[0]
+006626_000004:[4, 17]
+008081_000016:[]
+017855_000013:[0, 1, 2, 4, 5, 12, 15, 17]
+017533_000033:[]
+012494_000037:[]
+002471_000024:[18]
+020447_000027:[]
+000783_000010:[9, 15]
+004903_000011:[0, 4, 5, 10, 14]
+011115_000039:[]
+007252_000031:[5]
+007463_000010:[]
+022246_000000:[]
+009191_000008:[]
+017015_000011:[]
+024893_000029:[18]
+023279_000029:[1]
+015142_000001:[]
+006190_000010:[6]
+024983_000022:[]
+004765_000006:[2, 8]
+021886_000020:[]
+001457_000030:[]
+005252_000019:[]
+011422_000007:[]
+011408_000022:[]
+010779_000007:[]
+002835_000021:[4, 8, 16]
+024927_000013:[5, 19]
+013766_000017:[]
+001244_000027:[4]
+015262_000002:[14]
+023151_000021:[11]
+016159_000025:[9, 12, 13]
+022242_000021:[]
+006771_000033:[0, 3, 8, 19]
+001216_000015:[]
+004843_000012:[]
+011857_000010:[3, 6]
+003911_000024:[1, 10]
+000881_000007:[]
+000483_000017:[]
+014371_000023:[]
+003953_000002:[18]
+004613_000002:[]
+021760_000035:[]
+022785_000030:[13]
+004861_000014:[]
+011100_000029:[11]
+002327_000021:[1]
+022378_000003:[]
+018196_000007:[]
+012231_000025:[]
+023439_000000:[]
+010215_000022:[1, 3, 6, 7, 18]
+019324_000002:[17]
+018902_000001:[]
+008183_000018:[]
+011033_000012:[19]
+012877_000028:[]
+022268_000012:[6, 15]
+001865_000009:[]
+023471_000022:[2, 9, 17, 19]
+016775_000018:[]
+021357_000009:[]
+009210_000016:[]
+022857_000007:[]
+004353_000001:[7]
+007996_000009:[3, 4, 5, 9, 12]
+022082_000016:[2, 17]
+000337_000011:[5]
+024459_000011:[]
+003568_000017:[]
+017099_000036:[]
+006928_000003:[0, 2, 5, 8, 11, 12]
+021310_000022:[2]
+002776_000002:[1, 9]
+024728_000033:[19]
+017125_000027:[]
+015185_000027:[2]
+002690_000028:[]
+007312_000006:[]
+011481_000025:[12, 19]
+023656_000030:[1, 3, 18]
+008208_000024:[]
+018568_000007:[7]
+018153_000028:[6]
+008415_000035:[]
+004062_000029:[2, 5, 9, 13, 16]
+006437_000036:[]
+006158_000027:[]
+009870_000028:[10]
+002845_000036:[14]
+005608_000005:[2]
+021845_000010:[]
+004342_000034:[3, 4, 8, 9, 17]
+019216_000011:[]
+018479_000017:[]
+014775_000025:[]
+014968_000037:[]
+015735_000001:[0, 3, 6, 16]
+016159_000034:[13]
+004661_000039:[]
+016744_000029:[]
+022111_000011:[]
+019145_000037:[]
+017617_000037:[18]
+000726_000027:[]
+006382_000004:[]
+007235_000019:[]
+004659_000013:[]
+012094_000026:[]
+013982_000002:[15]
+004844_000006:[12, 17]
+020631_000029:[3, 8, 9, 14]
+015228_000008:[]
+020804_000010:[]
+021401_000019:[]
+012398_000031:[]
+001594_000035:[14]
+019455_000029:[]
+000695_000010:[]
+006813_000022:[6, 17]
+004978_000032:[10]
+003868_000010:[]
+003999_000016:[5]
+016160_000025:[3]
+006136_000008:[]
+017122_000001:[]
+006418_000002:[]
+019773_000027:[16, 17]
+021049_000015:[6, 12]
+024962_000024:[18]
+006667_000026:[]
+015998_000017:[]
+013092_000016:[]
+015942_000039:[]
+017510_000016:[7]
+015582_000016:[8]
+015943_000004:[]
+013880_000008:[]
+018504_000029:[]
+011806_000001:[]
+021548_000008:[2, 3, 4, 6, 7, 8, 14, 16, 19]
+021589_000002:[]
+000590_000001:[5]
+022531_000001:[]
+023307_000019:[14]
+017813_000000:[]
+020303_000028:[]
+018687_000006:[]
+019709_000038:[]
+010301_000016:[5, 8]
+012253_000019:[]
+000389_000009:[9, 18]
+006056_000036:[]
+018912_000016:[]
+009909_000024:[5, 8, 9, 10]
+009974_000025:[]
+006264_000010:[9]
+012708_000031:[]
+008972_000035:[]
+002256_000002:[]
+015420_000027:[4]
+024098_000038:[]
+017278_000018:[14]
+020119_000025:[]
+004523_000034:[18]
+017226_000009:[]
+020389_000023:[11]
+006182_000035:[]
+008327_000026:[2, 17]
+006192_000017:[]
+022785_000028:[4]
+008092_000025:[2, 7, 8]
+021399_000039:[]
+006683_000024:[0, 2, 13, 16, 18]
+008139_000016:[]
+024343_000014:[5]
+004625_000002:[9]
+002074_000008:[]
+012363_000035:[]
+015684_000016:[9]
+000976_000016:[0]
+014671_000037:[]
+010684_000035:[7, 13]
+011513_000031:[]
+015955_000017:[0, 2, 5, 9, 13, 17, 19]
+012033_000014:[]
+000954_000016:[4, 6, 7]
+011778_000014:[13]
+023968_000021:[9]
+008618_000003:[]
+004180_000036:[4, 17]
+004180_000017:[]
+024386_000003:[]
+021553_000022:[]
+016701_000013:[6, 15]
+012751_000028:[2]
+005511_000023:[1, 3, 6, 7, 10, 12, 14, 18, 19]
+018258_000006:[2, 16]
+021817_000036:[1]
+013445_000033:[]
+008572_000001:[]
+013480_000015:[]
+020667_000001:[]
+015084_000010:[13]
+017710_000000:[]
+015071_000007:[16]
+006945_000033:[]
+014916_000011:[]
+023710_000016:[]
+017955_000031:[1, 6, 12, 14, 15]
+008460_000037:[7]
+014675_000011:[]
+004649_000016:[17]
+010480_000025:[]
+016051_000022:[]
+016923_000023:[3, 6, 7, 15, 19]
+001457_000031:[17]
+018059_000038:[]
+006278_000002:[14, 15]
+010491_000033:[]
+003308_000005:[]
+020505_000017:[]
+023361_000019:[8, 13]
+014331_000007:[]
+022641_000014:[]
+024059_000036:[3, 11]
+012545_000030:[]
+017248_000033:[]
+011046_000003:[19]
+003794_000028:[]
+009301_000026:[]
+009012_000021:[18]
+022497_000014:[]
+001246_000032:[11, 18]
+017015_000031:[11]
+004751_000038:[]
+016620_000013:[]
+001683_000012:[]
+001458_000004:[]
+000483_000014:[]
+006920_000015:[]
+012068_000037:[]
+013011_000006:[]
+003105_000020:[19]
+002173_000013:[3]
+022470_000036:[9]
+014721_000015:[11, 15, 18]
+024305_000026:[]
+004050_000030:[10]
+017430_000007:[5, 9]
+009108_000002:[]
+008692_000018:[]
+017537_000025:[9, 10]
+002967_000006:[4]
+020580_000037:[]
+006963_000038:[7, 11]
+008915_000024:[]
+010194_000023:[12]
+000529_000008:[16, 19]
+018970_000002:[]
+007690_000025:[0, 8, 10, 14]
+010344_000015:[]
+008342_000016:[]
+023286_000001:[16]
+003164_000031:[11]
+012489_000004:[0, 16, 17, 18]
+018844_000039:[10]
+010518_000003:[10]
+022208_000039:[]
+011624_000038:[]
+002545_000036:[4, 8]
+008693_000006:[]
+004945_000009:[15]
+020642_000039:[]
+012878_000030:[]
+008228_000032:[18]
+023502_000011:[]
+013821_000029:[]
+001097_000008:[]
+024203_000029:[0, 11, 15]
+010708_000023:[]
+002602_000033:[]
+013310_000003:[6, 15, 18]
+012515_000031:[]
+002513_000015:[10]
+020132_000026:[]
+004223_000014:[]
+020289_000002:[7]
+010626_000009:[]
+010575_000014:[13]
+010041_000034:[]
+006687_000009:[3, 13]
+013385_000014:[]
+016783_000004:[18]
+018515_000015:[]
+007972_000007:[]
+000333_000015:[7, 12, 14]
+000546_000001:[]
+011986_000029:[]
+016907_000019:[]
+016800_000034:[]
+024318_000014:[]
+022780_000008:[]
+012906_000023:[]
+014883_000001:[10]
+002135_000018:[]
+024511_000024:[]
+024237_000032:[3, 7, 10, 12, 15, 16, 17]
+006648_000033:[]
+001227_000029:[]
+011332_000007:[14]
+008545_000010:[]
+023652_000002:[]
+006340_000025:[7]
+023308_000038:[0, 4, 5]
+004658_000012:[19]
+007691_000030:[]
+020379_000006:[]
+022015_000005:[]
+011535_000024:[]
+015796_000036:[]
+009598_000029:[]
+007716_000004:[]
+020174_000038:[4]
+014314_000034:[]
+013452_000031:[]
+015790_000032:[4, 9, 18]
+006854_000035:[1]
+021937_000015:[11]
+019575_000032:[]
+000002_000018:[13]
+018236_000034:[]
+002010_000003:[]
+000144_000028:[]
+010266_000014:[]
+009174_000032:[8]
+006352_000016:[2, 3, 5, 17, 18]
+003065_000007:[]
+006117_000022:[]
+021919_000024:[]
+021286_000012:[]
+000749_000036:[3]
+010169_000009:[]
+018493_000032:[]
+007393_000002:[]
+010076_000036:[]
+008597_000019:[]
+017078_000003:[]
+013518_000010:[]
+007193_000024:[]
+012253_000000:[]
+006526_000038:[]
+010506_000001:[]
+011339_000036:[]
+003278_000005:[1, 3, 8, 11, 13, 17, 19]
+005375_000025:[19]
+022595_000027:[]
+003626_000027:[]
+006488_000009:[]
+014668_000024:[]
+003985_000033:[]
+002674_000032:[]
+018826_000037:[]
+005468_000028:[]
+008317_000010:[]
+020323_000010:[7]
+004264_000024:[16, 18]
+023226_000006:[]
+017264_000015:[]
+009995_000020:[0, 3]
+020651_000020:[0, 4, 15]
+015215_000034:[]
+013811_000023:[]
+006978_000038:[11]
+004329_000031:[]
+006284_000037:[]
+009945_000026:[]
+012909_000023:[]
+013398_000011:[]
+017420_000038:[]
+011312_000004:[]
+005923_000005:[]
+001738_000008:[2]
+001543_000022:[]
+018956_000013:[]
+006519_000034:[]
+013980_000038:[2, 6]
+005759_000004:[]
+021323_000024:[]
+001892_000015:[0, 1, 9, 10, 14]
+014037_000029:[]
+018554_000009:[8, 19]
+017056_000001:[10, 11]
+016298_000011:[]
+012870_000007:[]
+013026_000005:[]
+003923_000013:[]
+006191_000009:[]
+003036_000016:[]
+005478_000019:[10]
+024098_000028:[4]
+022547_000012:[]
+012815_000026:[4, 11]
+011398_000039:[]
+015677_000012:[6]
+022022_000037:[4]
+014193_000008:[12]
+000117_000022:[]
+020028_000028:[]
+020592_000033:[]
+007197_000035:[]
+013684_000006:[13]
+016534_000017:[6]
+007642_000011:[]
+007081_000011:[]
+021363_000036:[]
+001556_000007:[1]
+004420_000025:[]
+008538_000025:[5]
+002674_000004:[2, 3, 16]
+013013_000006:[]
+007648_000031:[4]
+016174_000013:[8, 16]
+006594_000007:[]
+013712_000033:[13]
+008272_000020:[]
+017553_000013:[]
+016865_000031:[]
+020798_000004:[1, 19]
+002832_000003:[2]
+013974_000005:[6, 10]
+012420_000034:[0, 14]
+023144_000032:[5, 17]
+013705_000036:[8]
+012227_000039:[]
+010756_000015:[]
+023387_000014:[15]
+007264_000032:[17]
+020255_000004:[0, 2, 13, 14]
+021712_000031:[]
+001668_000011:[16]
+014138_000005:[]
+003856_000024:[0]
+012450_000002:[]
+005853_000009:[]
+012422_000005:[]
+020098_000023:[]
+015561_000015:[0]
+007915_000018:[19]
+012731_000019:[12]
+015838_000002:[0, 14]
+009766_000005:[]
+009952_000038:[]
+023189_000026:[]
+005787_000003:[7, 11]
+000490_000024:[]
+017497_000016:[]
+010217_000032:[0]
+003935_000034:[]
+024150_000011:[]
+020158_000025:[5, 8, 17]
+011477_000022:[16]
+024759_000012:[]
+014291_000028:[7, 11, 14]
+013592_000019:[17]
+013432_000008:[]
+021134_000025:[15]
+022631_000031:[]
+011178_000020:[]
+020628_000002:[]
+016933_000028:[14]
+023227_000007:[]
+005227_000017:[5]
+007839_000015:[0, 12]
+002329_000011:[]
+012218_000010:[11]
+024489_000028:[]
+013312_000030:[0, 6, 11, 15]
+024306_000007:[13]
+016502_000028:[16]
+021857_000012:[0, 2, 7]
+003175_000010:[]
+002654_000030:[]
+013294_000017:[]
+017952_000012:[]
+002080_000020:[]
+015341_000011:[3]
+018090_000036:[]
+008908_000018:[]
+014487_000033:[]
+023331_000001:[]
+018225_000037:[3, 6, 16, 18]
+020919_000008:[]
+015178_000029:[14, 16]
+023616_000011:[4]
+023414_000028:[5]
+006315_000003:[1]
+002993_000032:[17]
+007961_000014:[]
+001885_000003:[10, 15, 19]
+007282_000011:[0, 15, 18]
+022153_000028:[]
+007975_000023:[]
+013508_000003:[]
+013053_000036:[]
+011042_000024:[]
+003104_000015:[]
+008307_000012:[1, 9]
+003082_000034:[]
+021759_000016:[4, 13, 16]
+011892_000008:[1, 13, 15]
+009872_000005:[]
+020542_000025:[]
+014996_000021:[]
+018166_000002:[10]
+001458_000024:[16]
+024146_000002:[6, 7, 11, 15]
+020593_000004:[5]
+007531_000025:[]
+021915_000039:[]
+007922_000034:[]
+004037_000037:[7]
+009906_000028:[]
+006777_000026:[8]
+023126_000032:[7, 9, 19]
+012896_000009:[1]
+012893_000010:[3, 4, 12, 18]
+018362_000013:[2, 16]
+016840_000015:[2, 14]
+015394_000006:[]
+007413_000024:[]
+008409_000037:[]
+002415_000012:[1, 2, 17]
+002489_000038:[2]
+003159_000032:[]
+017442_000029:[]
+015100_000008:[]
+001035_000028:[]
+019829_000037:[]
+024425_000012:[]
+006320_000015:[1, 14]
+008319_000007:[1, 5, 6]
+018025_000039:[0, 8, 12, 17, 19]
+011529_000035:[]
+003093_000026:[]
+019581_000014:[]
+007176_000012:[]
+008023_000018:[]
+016309_000007:[]
+004565_000011:[9]
+010369_000018:[]
+019127_000014:[]
+021729_000033:[]
+017500_000018:[10, 11, 13, 18]
+022937_000012:[]
+019008_000038:[]
+003479_000038:[10]
+023906_000025:[]
+007224_000032:[]
+021038_000014:[]
+021896_000035:[]
+020205_000010:[5, 11, 13, 19]
+018924_000034:[]
+016826_000015:[4, 5]
+023817_000022:[0, 5, 10]
+019452_000015:[]
+020581_000025:[0, 2, 3, 4, 5, 8, 10, 11, 12, 14, 18]
+003951_000033:[0, 2, 7, 9, 11, 12, 13, 15, 16, 18, 19]
+005222_000022:[]
+011880_000018:[]
+012066_000008:[11]
+004047_000010:[]
+024059_000014:[3, 10, 14, 18]
+009134_000020:[]
+015265_000032:[15]
+021014_000001:[8, 9, 11]
+014376_000008:[14]
+024630_000003:[]
+001155_000021:[2]
+003112_000038:[1, 5, 15]
+001242_000032:[]
+024438_000020:[]
+002466_000013:[]
+011940_000017:[]
+004076_000039:[]
+014120_000016:[3, 4, 8, 16, 17]
+008334_000023:[7]
+014049_000034:[2, 3, 8, 10, 14, 16, 19]
+005910_000000:[]
+022091_000019:[1, 3, 5, 8, 9]
+024763_000013:[]
+021441_000025:[]
+024673_000005:[]
+014685_000027:[]
+001955_000007:[]
+011712_000030:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000254_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000254_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3e28910e2f3d8df591b90e7ef08809e6e2f51265
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000254_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+001779_000009:[]
+011651_000023:[]
+022900_000039:[15]
+009789_000002:[]
+009002_000029:[0]
+003619_000013:[6, 15]
+008230_000004:[5]
+004619_000039:[]
+015853_000022:[0, 6, 8, 9]
+022459_000017:[]
+024880_000004:[]
+012026_000029:[]
+024788_000026:[0]
+008315_000015:[15]
+002600_000026:[]
+007547_000013:[2, 6, 8, 13]
+017624_000020:[0, 12, 18, 19]
+021237_000009:[14, 17]
+001070_000004:[15]
+001072_000038:[]
+020419_000023:[]
+000776_000001:[]
+022850_000035:[5, 11]
+008151_000018:[1]
+003450_000010:[]
+002062_000007:[]
+019276_000008:[]
+009093_000022:[]
+023109_000031:[16]
+012184_000011:[]
+004892_000007:[1]
+000412_000039:[]
+016746_000005:[]
+017165_000037:[1]
+021911_000000:[]
+019667_000025:[]
+020450_000035:[]
+023384_000028:[3]
+012260_000022:[]
+024893_000035:[0]
+015626_000039:[]
+015171_000002:[2, 4, 12]
+009227_000038:[]
+004048_000010:[1]
+019327_000016:[13]
+005066_000025:[]
+008249_000018:[8]
+007152_000020:[6, 14, 17]
+024808_000014:[17]
+023540_000001:[]
+005822_000027:[]
+003609_000006:[3]
+007275_000013:[0]
+021858_000014:[]
+002942_000003:[4]
+004036_000010:[]
+004027_000013:[14, 17]
+014656_000030:[0, 4]
+003904_000011:[3, 13, 15]
+005561_000039:[13]
+021282_000011:[]
+020118_000033:[]
+024650_000017:[]
+006307_000004:[2, 5, 15, 18]
+000816_000005:[]
+012583_000019:[2, 10]
+013953_000036:[17]
+000861_000032:[1, 6, 15]
+012427_000010:[10]
+012984_000039:[3]
+004867_000029:[1, 5, 8, 10, 19]
+011126_000037:[]
+017031_000035:[2, 8, 16]
+018970_000011:[]
+011586_000000:[]
+015445_000000:[]
+006167_000035:[1, 9, 10, 15]
+013211_000021:[]
+003386_000036:[]
+010278_000023:[5, 16]
+004342_000038:[3, 4, 6, 9, 10, 12, 17]
+013020_000020:[5, 7, 8, 13]
+002434_000017:[]
+021979_000022:[3, 7, 8, 15]
+022278_000000:[]
+008103_000005:[]
+020747_000028:[]
+023084_000026:[0, 14, 16]
+003670_000006:[0, 1, 4, 6, 7, 13, 14, 15, 18, 19]
+024025_000017:[]
+006604_000020:[0, 8, 16]
+022336_000012:[4]
+014897_000028:[0]
+003624_000027:[]
+017432_000019:[]
+012614_000037:[]
+011384_000027:[15]
+003351_000034:[2, 5, 9, 17]
+021789_000000:[4, 5, 6]
+005415_000022:[3, 13]
+006441_000036:[]
+010585_000008:[]
+020653_000002:[]
+004428_000002:[15]
+001114_000013:[]
+006605_000031:[]
+021663_000009:[]
+011160_000007:[]
+002244_000023:[]
+002027_000030:[]
+016000_000004:[3, 6, 18, 19]
+001854_000033:[14, 16]
+012021_000016:[]
+021044_000003:[]
+023060_000004:[0, 5, 6, 9, 14]
+020307_000013:[9]
+016311_000004:[7, 10]
+020293_000002:[17]
+005009_000016:[]
+018165_000035:[2, 19]
+021046_000027:[]
+013219_000034:[1, 3, 7]
+017479_000025:[10]
+000639_000015:[]
+021098_000011:[1, 3, 13]
+006150_000028:[0, 1, 4, 5, 6, 8]
+004971_000020:[2, 5, 11, 16]
+002261_000001:[4]
+021033_000023:[]
+000430_000002:[2, 14]
+012142_000004:[]
+016841_000018:[16]
+007918_000004:[3]
+011532_000030:[]
+003516_000004:[]
+000119_000037:[]
+001757_000000:[9, 10, 14]
+018026_000017:[]
+012916_000037:[6]
+021311_000001:[]
+021327_000035:[4, 9, 15, 16, 19]
+006397_000017:[17]
+018866_000010:[]
+005290_000020:[0]
+016488_000007:[]
+021518_000010:[]
+007233_000035:[16]
+018032_000012:[3]
+014227_000020:[1, 9, 13, 18]
+007555_000018:[]
+015532_000007:[]
+006151_000033:[]
+016069_000032:[1, 6, 10, 19]
+005142_000036:[]
+002878_000031:[]
+018079_000015:[0, 5, 6, 13]
+011040_000021:[]
+009105_000011:[]
+005977_000000:[]
+013543_000037:[]
+001023_000005:[]
+004670_000000:[5, 12, 17]
+016185_000032:[]
+012647_000019:[]
+003812_000017:[]
+017128_000028:[1, 2, 3, 6, 7, 8, 10, 14]
+016423_000029:[]
+024798_000028:[]
+010382_000011:[8]
+017552_000000:[0, 1, 2, 4, 6, 9, 11, 16, 18, 19]
+010280_000021:[19]
+012498_000031:[]
+024257_000034:[]
+013152_000031:[]
+017761_000014:[14]
+009490_000003:[1, 10]
+013398_000035:[]
+006156_000034:[]
+018460_000012:[0]
+011002_000023:[8, 16]
+024965_000027:[16]
+008472_000032:[]
+018702_000027:[]
+017988_000032:[7]
+010374_000021:[]
+017770_000019:[]
+008227_000037:[4, 6, 11, 17]
+001436_000013:[]
+012029_000032:[]
+024895_000004:[]
+020398_000020:[]
+003345_000021:[]
+006601_000021:[1, 6, 12]
+017979_000024:[]
+013506_000029:[]
+018767_000028:[]
+010661_000037:[4, 10]
+008813_000038:[]
+000753_000014:[]
+022485_000007:[]
+016038_000035:[]
+005636_000030:[12, 18]
+000252_000000:[14, 18]
+018035_000027:[]
+022830_000034:[3, 8, 9, 10, 13]
+006026_000016:[12]
+015064_000018:[17]
+003590_000017:[9, 11]
+002025_000016:[]
+019762_000035:[7]
+022827_000027:[2, 4, 13]
+008334_000028:[]
+004809_000001:[]
+023672_000007:[]
+020545_000031:[]
+001118_000013:[]
+006220_000019:[11, 12]
+023216_000029:[]
+016898_000037:[15]
+009445_000038:[]
+018217_000006:[3, 7, 13]
+023614_000037:[]
+010837_000022:[10]
+003424_000016:[]
+002352_000027:[14, 15]
+020662_000005:[]
+003983_000006:[]
+014152_000024:[]
+007469_000008:[]
+022021_000027:[]
+000621_000001:[]
+023521_000002:[]
+016991_000005:[]
+004267_000005:[0]
+002838_000024:[]
+010594_000029:[2]
+024120_000029:[]
+001599_000013:[]
+008963_000031:[4, 14, 19]
+021145_000009:[0, 13]
+012853_000008:[4]
+009875_000018:[10]
+009472_000034:[]
+007444_000039:[]
+008168_000035:[]
+023636_000038:[]
+019762_000012:[]
+019852_000009:[2, 14, 17]
+006005_000028:[19]
+003000_000013:[11]
+000310_000001:[5]
+011044_000025:[2]
+018141_000006:[17, 19]
+022521_000032:[]
+002329_000001:[]
+011358_000019:[7]
+012942_000015:[7]
+003788_000010:[]
+004492_000024:[12]
+010060_000001:[11]
+022374_000012:[]
+008180_000012:[11]
+023018_000025:[]
+008304_000020:[]
+006927_000021:[4, 5, 13]
+015957_000013:[]
+002930_000013:[0, 1, 2, 6, 7, 8, 18]
+017234_000015:[12, 14]
+022674_000004:[19]
+005582_000036:[]
+009496_000015:[0]
+002635_000022:[]
+007934_000035:[]
+010318_000021:[19]
+002749_000022:[]
+011094_000013:[]
+016670_000022:[]
+020764_000019:[]
+003140_000004:[]
+000174_000038:[]
+023600_000038:[]
+017233_000013:[]
+021934_000030:[]
+022386_000035:[19]
+014915_000029:[]
+011266_000031:[]
+000162_000019:[12]
+020905_000035:[10]
+015215_000003:[11]
+012623_000021:[2]
+009005_000037:[]
+005980_000000:[4, 5, 6, 14, 17]
+015712_000028:[]
+002467_000022:[]
+021286_000027:[]
+000253_000025:[]
+002044_000020:[14]
+000110_000030:[]
+016863_000002:[]
+013991_000014:[9, 11]
+004295_000001:[5]
+019296_000028:[16]
+024444_000008:[]
+022541_000015:[3, 6, 10, 13]
+018390_000027:[0, 9, 15]
+015176_000006:[]
+010400_000032:[6]
+024157_000019:[6, 7, 13, 16, 17]
+014519_000033:[]
+009866_000015:[]
+003987_000024:[]
+014784_000008:[]
+013710_000001:[10, 14]
+003942_000023:[]
+004481_000015:[3]
+024909_000018:[]
+004513_000005:[5, 6]
+023986_000028:[14, 15]
+009092_000004:[]
+009001_000002:[0, 8]
+010039_000011:[0]
+000315_000022:[8, 17]
+024101_000018:[1, 4]
+021792_000039:[]
+024617_000002:[]
+013591_000001:[]
+000570_000016:[15]
+001095_000024:[]
+021170_000033:[]
+010279_000012:[1]
+008364_000003:[]
+013509_000009:[]
+004663_000011:[]
+018448_000007:[14]
+024382_000039:[]
+021151_000001:[]
+019542_000035:[]
+024593_000005:[]
+001749_000020:[16]
+018065_000006:[6]
+015073_000035:[1, 15]
+018908_000018:[]
+019273_000002:[]
+015680_000006:[]
+019464_000039:[]
+024645_000010:[0]
+016185_000002:[]
+008515_000016:[]
+013064_000015:[]
+012909_000032:[0]
+018075_000023:[]
+020399_000000:[16]
+014526_000010:[6]
+002229_000019:[]
+006425_000013:[]
+008359_000002:[]
+006495_000031:[9]
+013397_000021:[]
+007926_000033:[]
+019452_000018:[5]
+020220_000032:[]
+024487_000031:[]
+023315_000016:[]
+020754_000026:[5]
+002486_000018:[3]
+008705_000034:[]
+011490_000002:[]
+019835_000007:[]
+003110_000004:[16]
+017605_000036:[6]
+000075_000008:[]
+020123_000022:[12]
+022379_000002:[]
+008930_000005:[]
+001136_000014:[18]
+003687_000034:[6]
+007798_000023:[]
+022231_000039:[]
+004394_000039:[2]
+007124_000016:[6, 8, 10]
+004539_000031:[2, 5]
+015577_000026:[]
+024700_000022:[1, 10, 16, 18, 19]
+017043_000025:[]
+023754_000019:[6]
+001019_000037:[]
+004792_000034:[]
+004322_000031:[]
+006992_000037:[]
+003309_000019:[4, 6]
+019841_000018:[12]
+016689_000008:[]
+019599_000011:[]
+002800_000022:[]
+021483_000032:[]
+004955_000012:[]
+024887_000029:[9, 18]
+003008_000011:[7, 13, 17]
+023195_000022:[]
+021144_000019:[5, 16]
+012916_000010:[0, 12, 13]
+017902_000031:[2, 7]
+023716_000034:[]
+009477_000029:[9]
+024074_000028:[6, 17]
+014445_000000:[7, 19]
+005342_000030:[11]
+019326_000021:[]
+010092_000014:[6]
+004774_000023:[]
+012556_000011:[]
+009531_000005:[]
+004481_000013:[]
+005331_000012:[]
+010788_000023:[]
+005522_000022:[]
+015609_000008:[]
+009340_000018:[10, 16]
+014499_000012:[]
+022483_000039:[]
+014987_000012:[]
+021417_000023:[]
+013603_000008:[]
+009141_000012:[]
+017363_000003:[]
+014490_000005:[]
+024198_000002:[0, 4, 8, 14, 15, 17, 18]
+016450_000016:[]
+002760_000014:[]
+008226_000039:[]
+009426_000026:[]
+024179_000031:[7]
+006781_000012:[2]
+023955_000007:[5, 6, 10]
+011036_000023:[]
+019535_000009:[]
+013169_000003:[]
+013215_000008:[]
+016313_000009:[]
+018815_000014:[15]
+007968_000029:[12, 14]
+006908_000004:[]
+023569_000001:[]
+017599_000024:[]
+004271_000014:[]
+003979_000014:[2]
+018503_000017:[]
+013821_000015:[15]
+010477_000037:[]
+004549_000021:[]
+017704_000002:[]
+012999_000022:[3, 4]
+012804_000038:[]
+013937_000011:[9, 13, 17, 18]
+015886_000016:[]
+016341_000014:[]
+010189_000030:[]
+008803_000036:[1, 17]
+001588_000010:[]
+005427_000013:[]
+018897_000029:[]
+012086_000005:[]
+011810_000033:[]
+022866_000026:[1]
+006871_000037:[0, 5]
+021517_000008:[]
+023217_000011:[]
+009825_000029:[]
+001316_000014:[0, 4, 14]
+013566_000032:[]
+013422_000018:[]
+002516_000034:[]
+021464_000024:[]
+020217_000011:[]
+005340_000012:[12]
+024871_000009:[]
+005213_000023:[]
+012670_000013:[13]
+022132_000011:[8]
+007375_000013:[4, 7]
+016520_000020:[]
+012263_000025:[]
+009358_000006:[]
+001094_000021:[]
+003249_000037:[1]
+003975_000016:[2, 6]
+011478_000035:[4, 17]
+002686_000026:[5]
+010391_000034:[]
+007226_000002:[]
+019587_000008:[7, 9, 15]
+002049_000027:[]
+004968_000018:[]
+006572_000011:[]
+019372_000024:[]
+016987_000013:[]
+004092_000030:[2, 3, 10, 15]
+002433_000027:[]
+017218_000024:[4, 5]
+008162_000030:[]
+011705_000019:[]
+002596_000025:[6, 15]
+017283_000005:[]
+020626_000020:[]
+004975_000004:[2]
+017155_000013:[]
+019658_000003:[]
+020440_000020:[9, 15, 18]
+008464_000027:[]
+014776_000010:[]
+008614_000005:[]
+015582_000001:[]
+005621_000032:[]
+019280_000005:[]
+024774_000000:[]
+004096_000001:[]
+009923_000010:[]
+019283_000034:[6]
+019743_000002:[]
+019000_000004:[3, 4, 5, 14, 15]
+017526_000004:[0]
+015419_000033:[9]
+002787_000004:[3, 5, 8]
+013429_000018:[]
+006730_000038:[18]
+024007_000036:[6, 17]
+003920_000024:[]
+002624_000001:[10]
+012994_000011:[19]
+003518_000039:[5]
+004963_000015:[]
+018161_000029:[]
+016646_000029:[17]
+006570_000033:[]
+003924_000038:[]
+014693_000036:[]
+004811_000034:[]
+018899_000015:[]
+012951_000021:[]
+020579_000024:[]
+013846_000021:[]
+022295_000026:[]
+011397_000022:[6, 8]
+001252_000015:[]
+010072_000005:[13]
+009695_000000:[1, 3, 11]
+024370_000020:[11, 13, 14, 18]
+016691_000019:[]
+019915_000013:[]
+000544_000021:[]
+012016_000024:[]
+019268_000025:[]
+020673_000028:[]
+000320_000036:[8]
+024917_000025:[]
+021710_000038:[]
+002728_000007:[]
+024291_000015:[]
+004487_000022:[]
+014119_000017:[10, 11]
+007428_000008:[]
+017159_000007:[]
+000859_000021:[1, 4]
+015042_000036:[]
+007192_000020:[0, 1, 13]
+019151_000007:[11, 14]
+019740_000010:[12]
+018030_000039:[4, 6]
+009167_000029:[]
+009622_000016:[12]
+022241_000028:[]
+015354_000002:[]
+021123_000023:[]
+004656_000013:[8, 12, 17]
+017648_000022:[]
+008441_000028:[]
+004307_000011:[]
+000431_000022:[]
+023130_000024:[]
+003911_000001:[]
+020758_000008:[]
+015300_000035:[]
+012025_000000:[]
+001316_000026:[]
+007792_000010:[7, 9, 12, 16]
+000509_000014:[]
+000107_000027:[]
+004388_000004:[10, 14]
+019441_000010:[0, 6, 12, 14, 17, 18]
+024699_000036:[]
+020546_000023:[]
+019362_000019:[15]
+023830_000004:[]
+022160_000026:[]
+014837_000009:[]
+001011_000021:[]
+007780_000026:[1, 7, 9, 11]
+015528_000028:[]
+014718_000027:[1, 3, 11]
+022326_000001:[]
+010817_000001:[]
+013977_000031:[6]
+020655_000002:[]
+008286_000014:[]
+008805_000037:[11]
+011830_000020:[]
+015443_000014:[5, 18]
+015035_000001:[4, 5, 13]
+000991_000004:[]
+002600_000001:[]
+020969_000025:[]
+008842_000003:[8]
+001070_000024:[]
+006205_000017:[]
+010048_000033:[]
+015868_000008:[7, 18, 19]
+021095_000000:[]
+008562_000016:[]
+019681_000028:[13]
+021947_000005:[3]
+012659_000002:[]
+008662_000001:[]
+016121_000013:[]
+019144_000011:[7, 14]
+015446_000017:[]
+021734_000001:[]
+007116_000012:[]
+006766_000014:[]
+011325_000022:[6, 16, 17]
+024965_000009:[10]
+010444_000036:[]
+005028_000009:[1]
+012331_000014:[]
+004958_000021:[]
+019213_000039:[0, 3, 6]
+004336_000033:[]
+013327_000012:[4, 6, 9]
+000299_000036:[]
+016120_000034:[1, 6, 9, 17]
+009896_000007:[]
+001711_000004:[]
+007720_000010:[]
+020930_000025:[]
+000068_000006:[]
+023648_000014:[]
+000468_000011:[]
+021603_000013:[]
+020763_000035:[16]
+013226_000034:[]
+012196_000014:[17]
+003488_000003:[]
+007411_000014:[14]
+020690_000007:[]
+002713_000002:[]
+001545_000028:[0, 1, 8, 17]
+022509_000037:[]
+012157_000013:[]
+023915_000002:[]
+006758_000014:[]
+018552_000011:[4, 6]
+004932_000035:[5, 8, 9, 10, 16, 17]
+003334_000029:[]
+019123_000020:[3, 10, 12, 15, 17, 18]
+000887_000007:[9]
+000863_000007:[11]
+000712_000023:[]
+019195_000009:[2, 10, 15]
+002301_000016:[0, 5, 8, 11]
+023778_000035:[3, 5, 11, 12, 16, 17, 18]
+013303_000019:[]
+020447_000008:[]
+016231_000009:[5, 6]
+020354_000022:[1, 6, 8, 15, 18]
+021403_000019:[]
+020657_000020:[]
+019485_000018:[]
+024067_000016:[1, 17]
+015262_000015:[11]
+005270_000017:[]
+000602_000039:[]
+003209_000000:[]
+010813_000036:[6]
+007917_000021:[]
+004581_000002:[12]
+019155_000035:[3]
+016865_000018:[]
+021316_000022:[19]
+007669_000031:[]
+000940_000019:[10, 19]
+016328_000026:[]
+015553_000031:[]
+016758_000019:[]
+009753_000004:[6, 10]
+024106_000022:[]
+009996_000001:[]
+004329_000024:[]
+009013_000007:[1, 7, 8, 9, 10, 11, 12, 15]
+023967_000011:[10]
+021931_000005:[]
+008600_000016:[]
+020870_000038:[]
+012630_000020:[12]
+002642_000002:[]
+009044_000003:[7]
+021151_000021:[]
+012486_000011:[]
+014755_000016:[]
+012394_000015:[]
+004091_000021:[]
+006285_000021:[]
+009361_000033:[]
+024339_000034:[]
+008904_000017:[]
+005940_000020:[]
+007333_000007:[0, 3, 16]
+000791_000025:[16]
+023321_000005:[19]
+009626_000009:[1, 12, 14, 15]
+011850_000002:[]
+009317_000021:[]
+000275_000017:[14]
+012450_000003:[]
+011081_000008:[]
+024759_000038:[]
+022488_000000:[]
+007274_000016:[]
+023242_000000:[0, 4]
+021927_000020:[4, 9]
+017450_000031:[]
+014902_000031:[1, 3, 5, 8, 11, 13, 14, 19]
+008888_000020:[]
+024354_000001:[]
+017610_000031:[]
+002173_000025:[]
+019509_000002:[16]
+024285_000002:[]
+007782_000011:[1]
+010169_000005:[]
+005373_000032:[]
+005878_000014:[]
+006291_000012:[4, 5, 17]
+004838_000013:[]
+008098_000031:[]
+010012_000032:[11]
+004904_000015:[15, 19]
+013324_000029:[18]
+018361_000002:[5, 8]
+022036_000026:[10, 12]
+018422_000005:[]
+001864_000011:[]
+020940_000011:[9]
+013560_000024:[6, 15]
+000864_000011:[12]
+018493_000028:[8]
+004366_000004:[12]
+007849_000012:[]
+009373_000026:[]
+003969_000015:[]
+002264_000035:[]
+004639_000038:[]
+003856_000028:[]
+008947_000007:[]
+000792_000001:[]
+019929_000038:[]
+003969_000003:[2, 4]
+021297_000016:[]
+001071_000034:[]
+001776_000008:[1, 2, 3, 4, 5, 6, 11, 12, 16, 18, 19]
+017616_000005:[]
+014553_000016:[]
+014565_000012:[]
+015732_000024:[15, 16]
+002719_000029:[]
+015331_000015:[0, 1, 2, 4, 5, 8, 9, 10, 11, 18]
+019389_000016:[]
+015129_000004:[3, 4, 7]
+000689_000031:[17, 18, 19]
+024608_000007:[]
+006956_000018:[]
+011477_000015:[16]
+010226_000009:[]
+003333_000028:[]
+007411_000019:[]
+015051_000024:[1, 7]
+023485_000007:[]
+001892_000028:[]
+009234_000008:[5]
+004239_000010:[]
+001112_000001:[0, 1, 2, 3, 6, 8, 9, 13, 14, 16, 19]
+018726_000007:[]
+005924_000028:[9, 13]
+021644_000011:[]
+023129_000017:[]
+013582_000012:[10]
+021767_000030:[2, 5, 9, 12]
+019324_000013:[11, 19]
+017611_000023:[]
+014062_000012:[]
+023187_000038:[15, 18]
+003111_000037:[9]
+011119_000037:[]
+002649_000013:[]
+000179_000016:[]
+018347_000032:[]
+006580_000039:[]
+019812_000030:[12]
+018755_000002:[]
+004866_000038:[]
+023887_000006:[5]
+001631_000026:[8, 11, 14]
+004693_000025:[2, 3, 6, 10, 17, 18]
+000337_000006:[15]
+001372_000002:[6, 8]
+006197_000027:[]
+021591_000000:[]
+011372_000021:[]
+006318_000027:[16]
+009474_000035:[]
+004382_000039:[]
+013206_000032:[]
+019515_000038:[]
+004518_000037:[]
+017780_000036:[]
+005310_000008:[2, 6]
+002014_000037:[]
+022544_000035:[]
+021587_000011:[]
+009826_000006:[]
+003590_000009:[]
+009459_000022:[]
+018648_000003:[16, 19]
+015681_000034:[13]
+019990_000002:[]
+009494_000037:[]
+010429_000020:[]
+013360_000019:[2]
+009619_000008:[0, 1, 2, 5, 7, 10, 12]
+024879_000012:[]
+003805_000032:[]
+024309_000031:[4]
+000648_000034:[8, 12, 14]
+012027_000033:[0]
+005249_000008:[]
+001592_000032:[12]
+003309_000025:[6, 18]
+002539_000009:[]
+006439_000035:[]
+020129_000034:[]
+010383_000004:[6, 11, 16, 19]
+015513_000013:[]
+011395_000004:[]
+005456_000023:[8, 11, 12]
+011202_000002:[14]
+018047_000004:[3, 10, 14]
+012717_000036:[12, 19]
+023343_000021:[]
+014598_000032:[]
+015222_000030:[]
+019527_000025:[11]
+010832_000017:[1]
+021482_000036:[]
+014016_000016:[]
+012664_000024:[]
+017971_000008:[]
+017148_000008:[]
+000171_000004:[10]
+003798_000031:[]
+005466_000001:[]
+024147_000022:[]
+014261_000019:[]
+009833_000029:[0]
+010309_000025:[13]
+021944_000027:[16]
+011402_000038:[]
+010692_000005:[14]
+007260_000020:[4, 14]
+011336_000033:[14, 18]
+005323_000002:[]
+013801_000034:[]
+006888_000016:[]
+013517_000032:[0, 6, 14]
+002251_000030:[]
+008608_000036:[]
+014186_000025:[11]
+020323_000038:[9]
+000215_000025:[6, 8, 12, 19]
+019558_000030:[]
+011600_000019:[11]
+012803_000037:[]
+016946_000035:[]
+020717_000001:[]
+019295_000027:[]
+017699_000013:[0, 4, 6, 9, 12, 13, 17]
+012878_000011:[]
+005270_000037:[6]
+023581_000020:[]
+001666_000028:[]
+016783_000018:[]
+012045_000038:[]
+022200_000020:[6]
+000104_000027:[1]
+022105_000035:[]
+017932_000037:[10]
+017024_000028:[]
+007800_000036:[]
+018387_000007:[13]
+024417_000008:[]
+023900_000030:[12, 15]
+021128_000020:[12]
+010158_000016:[]
+022528_000021:[0, 3]
+018664_000009:[1, 6, 9, 13, 14, 17]
+015346_000019:[]
+007185_000039:[0, 12]
+007992_000001:[1, 2, 4, 5, 6, 11, 16, 19]
+020620_000038:[]
+001005_000027:[]
+000032_000004:[]
+015628_000009:[]
+020375_000002:[5, 10]
+001510_000031:[]
+001347_000023:[]
+009587_000000:[0, 4, 5, 6, 7, 10, 11, 15, 17]
+002938_000026:[]
+016992_000004:[]
+006314_000028:[]
+020194_000036:[1, 4, 5, 6, 12, 14, 17]
+005973_000002:[7]
+012787_000037:[18]
+008940_000001:[]
+005369_000033:[]
+011694_000019:[17]
+022509_000025:[15]
+000372_000030:[]
+020338_000014:[]
+011788_000019:[8, 12]
+016889_000033:[]
+020636_000025:[3, 7, 9, 14, 15, 16]
+021819_000014:[]
+016957_000014:[]
+023095_000004:[1]
+015846_000038:[7]
+021465_000037:[]
+015086_000002:[18]
+013021_000011:[2, 10]
+000652_000009:[18]
+007924_000021:[12, 17]
+007861_000030:[0]
+020143_000001:[]
+013809_000008:[]
+020447_000014:[9]
+024540_000012:[1, 7, 17]
+022275_000024:[]
+018196_000013:[]
+006375_000037:[]
+003938_000015:[]
+022047_000027:[9, 15]
+003318_000012:[]
+021046_000003:[5, 6, 11, 13, 14]
+009375_000024:[10]
+021920_000036:[1]
+022117_000008:[]
+008714_000019:[2, 4, 12]
+023410_000034:[11]
+007348_000028:[6]
+005682_000004:[9]
+005752_000000:[]
+018014_000013:[5]
+007903_000018:[]
+023328_000022:[1, 16]
+014446_000015:[]
+000219_000013:[]
+022269_000037:[]
+018914_000037:[]
+001749_000038:[19]
+002557_000012:[]
+001320_000031:[2, 9]
+006323_000017:[16]
+021841_000001:[]
+017318_000005:[]
+002854_000007:[2, 18]
+016039_000029:[]
+004875_000029:[17]
+002761_000029:[]
+010574_000019:[]
+006661_000002:[]
+002482_000004:[9]
+007490_000028:[]
+017186_000022:[0, 4, 6, 7, 10, 11, 13]
+001361_000008:[]
+010020_000026:[]
+012661_000025:[7, 14, 18]
+018828_000025:[]
+002326_000014:[8]
+020789_000023:[0]
+014131_000019:[]
+024485_000007:[7]
+019580_000028:[]
+002734_000015:[]
+004611_000037:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000276_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000276_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5beb4afb082a368cb27f6aa47ae1b0a52a88d349
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000276_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+014549_000020:[4, 10]
+004506_000012:[]
+022920_000006:[]
+006234_000005:[2]
+020147_000018:[]
+016588_000004:[]
+016234_000020:[12]
+002215_000001:[]
+017435_000032:[]
+008108_000025:[5, 7, 16]
+023910_000005:[]
+020464_000028:[]
+018475_000026:[]
+010197_000006:[15]
+003540_000002:[]
+002852_000005:[]
+017369_000017:[3]
+007028_000031:[]
+000132_000002:[]
+014337_000002:[18]
+000650_000008:[]
+003546_000016:[]
+010169_000011:[1]
+012931_000034:[]
+018231_000033:[11]
+002616_000029:[]
+022696_000024:[]
+021282_000007:[]
+019982_000034:[]
+022806_000039:[]
+018954_000023:[]
+001026_000030:[13]
+017144_000010:[12, 18]
+006090_000014:[]
+004406_000007:[]
+003341_000030:[]
+018553_000029:[1, 2, 5, 7, 19]
+004367_000033:[]
+015402_000024:[1, 8, 9, 14, 17]
+000032_000003:[]
+014758_000010:[]
+008368_000013:[14]
+018149_000017:[]
+004751_000012:[4, 13, 15]
+007565_000002:[]
+012790_000023:[]
+001407_000006:[8]
+004810_000016:[5, 10]
+008915_000007:[11, 18]
+003571_000021:[]
+003420_000014:[]
+021356_000005:[]
+011167_000024:[]
+005638_000001:[]
+005320_000001:[]
+001037_000003:[]
+008313_000004:[]
+006175_000010:[]
+020246_000002:[]
+001980_000001:[3]
+016421_000030:[]
+014355_000004:[4, 8, 14, 15]
+001298_000000:[9]
+006037_000013:[4]
+006954_000025:[1]
+022680_000002:[13]
+023770_000020:[]
+006001_000013:[4]
+016623_000036:[19]
+016949_000025:[]
+003156_000031:[]
+019984_000033:[]
+008631_000039:[0, 5]
+008552_000016:[15, 17]
+003086_000016:[4]
+015460_000027:[5]
+019636_000030:[9]
+013285_000010:[1, 5, 6, 14, 15]
+008630_000009:[7, 15]
+000310_000032:[3, 15]
+004831_000038:[]
+001097_000005:[18]
+022265_000008:[]
+013754_000030:[2, 5, 16, 19]
+000081_000029:[1, 17]
+000765_000005:[6, 14]
+019826_000006:[]
+008847_000001:[]
+015497_000012:[6, 9]
+010765_000031:[]
+001311_000016:[2]
+008487_000010:[2, 14]
+007361_000002:[]
+007842_000011:[]
+012641_000015:[]
+003413_000019:[]
+009842_000004:[5]
+020839_000014:[]
+014219_000004:[14]
+010975_000000:[]
+016861_000006:[]
+022532_000006:[1, 16]
+005389_000016:[]
+017734_000039:[]
+010886_000033:[]
+020392_000029:[8, 9, 10, 15, 18]
+023182_000004:[9]
+020776_000009:[]
+010859_000019:[]
+006069_000028:[2]
+021542_000037:[]
+019605_000032:[13]
+008379_000032:[]
+015812_000016:[15, 17]
+008294_000031:[1, 6]
+006137_000000:[0, 1, 3, 11, 14, 19]
+009600_000001:[]
+001723_000011:[3]
+010717_000013:[]
+013134_000039:[]
+002510_000039:[]
+016850_000004:[1, 4, 8, 11, 12, 15, 16, 17, 18]
+012336_000034:[]
+004476_000025:[]
+021204_000009:[]
+011999_000006:[2, 12]
+002877_000029:[6]
+014091_000008:[4, 15]
+004090_000023:[]
+006411_000038:[2, 19]
+022286_000026:[8, 16]
+024954_000020:[]
+010692_000039:[4, 14]
+008343_000032:[]
+007425_000031:[]
+002468_000012:[7, 9, 10, 14]
+019186_000016:[]
+021808_000026:[]
+005163_000027:[6]
+007452_000030:[]
+021435_000030:[1, 2, 4, 5, 9, 10, 12, 17, 18, 19]
+019487_000029:[]
+013906_000009:[]
+015476_000034:[]
+018659_000022:[]
+012741_000038:[]
+016282_000020:[]
+012387_000003:[]
+022659_000038:[]
+020822_000014:[4]
+010853_000032:[]
+007029_000036:[2, 6, 11]
+008924_000005:[]
+014251_000011:[]
+000856_000019:[8]
+024756_000009:[2, 8, 13, 14, 19]
+001803_000027:[]
+002144_000019:[0, 2, 5, 11, 15]
+003994_000022:[1, 7]
+009444_000031:[14]
+005328_000007:[10, 16]
+008131_000008:[0, 1, 2, 3, 4, 6, 7, 8, 9, 10, 12, 19]
+004397_000001:[6, 9, 12]
+012804_000008:[]
+019146_000008:[]
+000024_000001:[8]
+004422_000022:[]
+021835_000022:[]
+021811_000028:[5]
+023246_000011:[]
+002696_000038:[]
+018109_000003:[15]
+016417_000024:[]
+011549_000031:[0, 10, 13, 16]
+008120_000006:[15]
+004636_000021:[]
+022942_000013:[]
+017618_000025:[0]
+002590_000027:[]
+002942_000026:[1, 14]
+018334_000006:[]
+015029_000011:[11]
+010345_000037:[0, 13]
+007242_000008:[0, 11]
+021582_000027:[]
+011094_000023:[]
+021280_000007:[]
+000473_000028:[]
+008552_000006:[17, 18]
+006377_000032:[]
+010119_000030:[]
+019124_000003:[]
+009451_000027:[]
+008980_000026:[]
+005611_000020:[]
+002492_000022:[]
+014086_000014:[14]
+003771_000036:[]
+006420_000005:[17, 18]
+006545_000008:[2, 4, 15, 17, 19]
+011490_000035:[0]
+023207_000016:[]
+019139_000008:[5, 13]
+018975_000019:[16]
+024731_000027:[]
+016878_000020:[]
+007409_000000:[2, 3, 4]
+024535_000025:[8]
+006563_000036:[]
+004017_000018:[]
+010807_000007:[6, 7, 9]
+004974_000036:[]
+013962_000020:[]
+011357_000002:[]
+020423_000010:[]
+003235_000004:[19]
+001544_000000:[3, 4]
+016123_000019:[]
+013824_000007:[14, 18]
+007064_000025:[1]
+024995_000035:[11, 17]
+003459_000039:[]
+003992_000031:[]
+020752_000003:[]
+019072_000007:[3, 7, 11, 12, 14, 15, 18]
+000414_000038:[15]
+023634_000028:[7, 15]
+018574_000026:[]
+006201_000016:[]
+013459_000002:[]
+008630_000029:[18]
+000547_000030:[]
+011356_000036:[]
+003288_000002:[]
+016797_000022:[3]
+013017_000008:[]
+022800_000004:[]
+022977_000003:[10, 18]
+003255_000030:[]
+018209_000038:[0]
+021972_000025:[16]
+022586_000021:[2, 7]
+013114_000031:[0, 5, 11, 12]
+023387_000012:[]
+007236_000034:[]
+005559_000008:[1]
+005267_000023:[7]
+023605_000002:[3]
+010600_000007:[]
+017012_000001:[]
+008194_000030:[10, 13]
+000352_000038:[]
+017458_000031:[0, 2, 3, 4, 8]
+004468_000025:[]
+002660_000031:[4]
+003649_000019:[]
+012006_000012:[]
+015823_000011:[]
+019767_000038:[]
+008239_000016:[]
+018988_000008:[]
+012164_000014:[]
+024842_000005:[]
+024784_000013:[2, 3, 4, 5, 10]
+011551_000033:[3, 5]
+020005_000015:[6]
+019045_000010:[]
+007772_000022:[]
+020940_000005:[6, 17]
+020422_000036:[]
+013802_000034:[8, 14]
+023010_000038:[2, 15]
+006083_000039:[]
+006745_000010:[]
+005250_000015:[]
+006707_000037:[]
+009966_000029:[12, 15]
+010388_000024:[11]
+019949_000027:[13, 16, 19]
+023415_000028:[0, 2, 7, 10, 11, 16, 19]
+015065_000030:[]
+010513_000012:[]
+009798_000008:[]
+005585_000018:[4, 7]
+020289_000023:[11]
+003325_000031:[15]
+011016_000008:[]
+001508_000036:[]
+007810_000001:[]
+019918_000025:[]
+007435_000029:[]
+016221_000033:[7, 8]
+021068_000029:[13]
+004593_000030:[]
+012145_000014:[0]
+020742_000014:[]
+024322_000013:[]
+022822_000024:[]
+005371_000012:[]
+007859_000015:[]
+022750_000006:[]
+014991_000027:[6]
+008284_000005:[]
+024225_000035:[14]
+003296_000034:[]
+001157_000007:[]
+020886_000026:[]
+001885_000019:[1, 6, 10, 11, 13, 16, 19]
+016456_000022:[]
+010752_000023:[11]
+013337_000010:[]
+010073_000033:[19]
+020008_000006:[4, 7, 10, 13, 18, 19]
+004375_000022:[2]
+021818_000031:[5, 15]
+005847_000023:[0, 6]
+004594_000016:[14]
+022160_000017:[]
+007379_000019:[4]
+019751_000038:[17, 19]
+014473_000005:[19]
+024158_000036:[18]
+008536_000027:[17]
+000328_000017:[]
+005328_000005:[]
+021848_000000:[]
+008178_000003:[2]
+012443_000000:[]
+009843_000018:[]
+018756_000011:[]
+012668_000020:[]
+016965_000006:[]
+003960_000003:[]
+023789_000024:[4, 10]
+004152_000009:[15, 16, 17]
+006458_000037:[]
+005977_000028:[6]
+012329_000009:[10]
+013872_000013:[]
+017642_000011:[]
+008246_000003:[]
+007249_000027:[18]
+023373_000004:[]
+011330_000014:[]
+010678_000001:[1, 18]
+022683_000037:[]
+008537_000033:[4]
+004246_000031:[0, 1, 2, 5, 11, 12, 19]
+000508_000022:[3, 18]
+011124_000013:[]
+016115_000016:[]
+001254_000013:[]
+013547_000034:[10]
+006724_000017:[1, 6, 14]
+004487_000015:[18]
+001972_000034:[0, 1, 2, 7, 9, 12, 15]
+010568_000039:[]
+002115_000009:[]
+004395_000000:[]
+018182_000003:[15]
+018141_000033:[]
+011241_000016:[]
+000260_000038:[]
+015541_000015:[6, 8, 18]
+010179_000026:[]
+006269_000038:[]
+016851_000035:[]
+014620_000005:[]
+017556_000027:[]
+013212_000015:[]
+013557_000037:[]
+012956_000017:[]
+013932_000008:[]
+006659_000036:[]
+017747_000036:[]
+001447_000002:[]
+008490_000035:[1, 8, 10, 17]
+023244_000004:[]
+012825_000036:[18]
+020694_000003:[10, 18]
+007956_000006:[]
+004452_000029:[]
+003526_000023:[]
+010676_000012:[]
+024269_000010:[]
+002004_000019:[]
+019193_000004:[]
+006563_000034:[]
+006781_000016:[]
+011554_000017:[]
+007196_000009:[]
+006402_000018:[]
+013588_000032:[]
+024931_000016:[8, 16]
+010169_000020:[]
+004131_000017:[]
+011975_000029:[14]
+005790_000030:[5, 13]
+009613_000030:[1]
+005234_000009:[]
+017723_000003:[17]
+006735_000038:[4, 15]
+015585_000016:[]
+022317_000037:[]
+013943_000032:[2, 3, 4, 7, 10, 11, 13, 17]
+011259_000031:[7, 9, 13]
+014001_000009:[]
+005242_000034:[]
+002925_000001:[]
+009192_000036:[]
+001903_000009:[9]
+006376_000009:[13, 15, 19]
+016035_000025:[0]
+021985_000004:[16]
+010747_000010:[13, 18]
+010407_000033:[8, 9, 12, 13]
+002864_000000:[13]
+018754_000014:[]
+023555_000008:[]
+001130_000019:[15, 16]
+021940_000020:[]
+004875_000016:[14]
+016783_000010:[]
+024483_000032:[]
+022302_000037:[]
+010223_000022:[]
+015063_000009:[]
+008738_000010:[]
+005361_000001:[11]
+000454_000006:[18]
+004088_000037:[]
+013501_000004:[]
+019053_000004:[]
+018091_000003:[13]
+002214_000003:[]
+019797_000015:[19]
+009063_000010:[1]
+020510_000026:[7]
+003790_000017:[]
+024854_000036:[]
+016122_000039:[]
+001111_000034:[16, 19]
+009566_000019:[]
+018495_000038:[]
+009408_000031:[]
+000795_000039:[]
+001224_000035:[9, 15]
+001464_000003:[]
+022523_000000:[7]
+005043_000009:[]
+004922_000024:[]
+016625_000021:[5]
+004758_000006:[]
+024125_000011:[2]
+018492_000020:[8]
+005103_000036:[]
+013045_000038:[0]
+011149_000018:[3, 17, 18]
+009723_000001:[17]
+002069_000005:[]
+004248_000035:[]
+020300_000019:[]
+009798_000025:[0, 10]
+004329_000012:[9, 18]
+023642_000001:[1]
+009792_000036:[]
+008820_000001:[1, 8, 18]
+002772_000012:[]
+016200_000025:[2]
+011525_000033:[]
+012684_000003:[10]
+022897_000002:[2, 13]
+001446_000003:[]
+013351_000029:[2]
+020529_000036:[3, 16]
+002540_000000:[11]
+010593_000007:[]
+014967_000005:[5]
+017027_000007:[]
+020564_000019:[5, 19]
+019578_000010:[]
+021448_000037:[0, 15]
+008164_000001:[]
+003270_000023:[]
+011731_000027:[4, 12, 15]
+012190_000035:[4, 13, 17]
+007172_000020:[0]
+006165_000005:[0]
+000094_000006:[]
+004637_000021:[]
+019458_000031:[2]
+001493_000036:[0]
+023986_000026:[]
+019542_000015:[]
+016866_000015:[2, 4]
+012350_000018:[]
+017418_000001:[2, 3, 17]
+014646_000001:[7]
+013056_000011:[2]
+003658_000030:[]
+024853_000028:[]
+002789_000039:[9]
+017173_000003:[]
+022648_000039:[2]
+007938_000037:[14]
+001078_000019:[]
+015450_000039:[3, 6, 10, 15]
+023459_000004:[]
+016416_000002:[]
+012210_000005:[]
+003308_000034:[]
+013556_000001:[0, 6]
+000217_000013:[]
+001405_000005:[6, 15]
+011925_000031:[]
+008187_000015:[]
+000439_000018:[]
+015108_000016:[]
+009961_000028:[7]
+001715_000023:[]
+023802_000030:[19]
+013381_000028:[]
+008794_000026:[]
+005412_000009:[]
+006426_000015:[4, 8]
+015216_000010:[]
+022937_000022:[]
+007033_000021:[]
+012223_000028:[3, 4, 7]
+003559_000020:[]
+018616_000003:[]
+011839_000037:[0]
+005385_000025:[]
+023179_000001:[]
+009516_000039:[8]
+012042_000011:[]
+002472_000004:[0, 5, 6, 7]
+023955_000015:[]
+018447_000008:[18]
+004787_000033:[3]
+005494_000037:[]
+007295_000028:[]
+014224_000010:[]
+002326_000018:[]
+018609_000006:[]
+023312_000021:[13]
+012811_000021:[]
+010628_000038:[]
+013699_000022:[]
+010797_000008:[]
+001897_000015:[]
+003981_000032:[16]
+017221_000016:[0, 7, 13, 14]
+009677_000028:[]
+005850_000014:[]
+009686_000022:[]
+024704_000020:[]
+022146_000016:[6, 8, 11]
+004611_000036:[4, 11]
+009059_000018:[16, 19]
+020790_000029:[]
+014161_000039:[4, 12]
+008843_000017:[4]
+003908_000037:[]
+002979_000034:[]
+019646_000038:[]
+015374_000006:[]
+024367_000013:[]
+022831_000038:[1, 6, 8]
+019455_000025:[17]
+002923_000035:[]
+016227_000035:[18]
+009132_000023:[]
+024080_000003:[7, 11]
+001448_000035:[]
+018032_000020:[]
+012132_000034:[]
+010025_000027:[3, 4, 7, 11, 18]
+023322_000013:[]
+020089_000011:[2]
+014906_000024:[2, 7, 15, 16]
+021982_000032:[2]
+015953_000014:[5]
+016908_000024:[]
+020110_000005:[0]
+012111_000026:[]
+021782_000013:[]
+005027_000033:[6, 9]
+019984_000028:[]
+010800_000008:[]
+024463_000021:[15]
+007946_000019:[17]
+021160_000031:[]
+016799_000013:[0, 6, 13]
+007247_000007:[11, 14, 19]
+012529_000013:[]
+008255_000018:[]
+005347_000023:[]
+003834_000013:[5, 10, 19]
+014895_000037:[]
+016471_000027:[]
+023178_000031:[7, 8]
+015544_000038:[9, 18]
+014880_000011:[1]
+022168_000026:[0, 12, 17]
+019532_000017:[]
+019104_000022:[]
+003142_000036:[6]
+024639_000030:[6, 19]
+006316_000019:[]
+010682_000011:[]
+008050_000010:[]
+004332_000003:[3, 7]
+000718_000012:[0]
+008907_000017:[0, 1, 6, 14]
+020850_000004:[5, 15]
+009444_000038:[]
+020976_000001:[0]
+008863_000000:[2, 4, 8, 12, 14, 15, 19]
+002045_000011:[]
+002949_000031:[6]
+016803_000016:[]
+002362_000006:[]
+020524_000000:[]
+003870_000017:[]
+011820_000014:[4, 5, 8, 9, 11, 15, 16, 17]
+015669_000015:[]
+022870_000002:[]
+018008_000009:[7]
+022875_000016:[16]
+000440_000016:[]
+024117_000005:[11, 18]
+016883_000000:[]
+011749_000007:[8, 17]
+022205_000023:[5]
+021883_000020:[10]
+009215_000004:[]
+014885_000017:[]
+013481_000014:[16]
+007777_000027:[12]
+013908_000026:[1]
+013899_000008:[]
+015182_000005:[]
+014323_000003:[0, 3]
+014362_000032:[3]
+022970_000001:[6, 12]
+017615_000007:[]
+003919_000003:[]
+009218_000024:[5, 7, 8, 16, 17]
+019228_000005:[]
+007756_000034:[11]
+024856_000025:[]
+007105_000016:[16]
+023627_000032:[5, 13]
+023570_000033:[2]
+016263_000018:[1]
+018730_000006:[2, 5, 11, 12]
+023179_000031:[2]
+003162_000013:[]
+014920_000019:[]
+017383_000018:[]
+020581_000028:[11]
+016857_000039:[]
+005309_000032:[]
+015028_000039:[0, 4, 11, 16, 19]
+020484_000023:[0, 1, 6, 7, 8, 16]
+013595_000018:[]
+013495_000000:[0, 11, 13, 18]
+003272_000021:[7]
+003760_000003:[5]
+013469_000018:[]
+020315_000028:[12, 17, 19]
+008009_000027:[]
+015371_000001:[]
+016642_000039:[]
+007864_000028:[]
+013276_000037:[]
+001069_000027:[]
+010211_000032:[5, 7, 15, 18]
+011326_000002:[]
+017873_000005:[]
+005053_000003:[]
+018951_000038:[4]
+019887_000010:[]
+017824_000014:[]
+016143_000006:[8]
+018196_000001:[]
+010639_000035:[4]
+012388_000027:[]
+014341_000003:[]
+001506_000010:[2]
+013123_000023:[0, 3]
+007592_000003:[]
+011009_000021:[]
+017964_000033:[7]
+012500_000018:[13]
+003496_000038:[]
+009525_000035:[]
+021562_000033:[10]
+000732_000000:[4]
+015100_000022:[]
+008946_000031:[]
+013263_000033:[]
+014486_000026:[]
+010781_000031:[15, 18]
+017507_000004:[]
+001727_000008:[8]
+013393_000022:[]
+013312_000004:[]
+007211_000015:[4]
+024798_000033:[]
+021922_000020:[13]
+003647_000039:[13]
+009389_000027:[]
+004944_000011:[]
+017578_000036:[9, 10, 13]
+005212_000019:[]
+002812_000008:[2]
+012094_000013:[]
+011898_000033:[6]
+002986_000017:[]
+006992_000006:[5]
+000816_000039:[1]
+024176_000009:[]
+003401_000028:[0, 18]
+017640_000022:[0, 6]
+016878_000029:[6, 9, 16, 17, 19]
+010304_000008:[]
+021199_000007:[]
+015019_000008:[]
+021590_000003:[]
+012952_000023:[3, 5, 8, 9, 15, 19]
+021647_000019:[]
+015408_000018:[]
+011569_000013:[]
+023869_000032:[]
+006277_000017:[]
+023701_000009:[]
+007457_000020:[]
+009624_000003:[]
+004197_000012:[]
+014669_000036:[0]
+015795_000032:[10, 14, 15]
+009427_000037:[]
+019423_000024:[2, 6]
+008330_000011:[7]
+014793_000015:[]
+020826_000006:[]
+014931_000018:[]
+013428_000008:[2]
+017281_000012:[]
+008536_000007:[]
+020645_000005:[]
+003408_000039:[]
+007452_000029:[]
+005701_000010:[]
+008118_000039:[4]
+018875_000033:[]
+009530_000002:[]
+011728_000031:[5, 8, 12, 13]
+002170_000003:[]
+022784_000032:[]
+012247_000024:[7]
+015413_000031:[]
+012764_000029:[]
+021872_000039:[7, 14]
+000281_000015:[]
+006951_000039:[6]
+022324_000034:[]
+009361_000028:[]
+024652_000014:[17, 18]
+013833_000038:[]
+020311_000027:[0, 4, 10]
+003912_000026:[1, 7, 9]
+019715_000015:[0, 2, 11, 13]
+009460_000033:[2]
+014851_000015:[14]
+019718_000012:[5]
+020984_000038:[3, 4, 5, 7, 11, 14, 16]
+010904_000004:[]
+015194_000017:[]
+008892_000039:[]
+003836_000039:[0]
+008998_000008:[]
+014069_000008:[]
+012432_000031:[]
+010623_000027:[6]
+013343_000034:[]
+001581_000011:[1, 2, 3, 4, 7, 8, 13, 16]
+013054_000017:[]
+021758_000006:[]
+015401_000005:[11]
+009091_000014:[10]
+022208_000023:[]
+006537_000027:[]
+013762_000037:[6, 13, 14]
+005196_000031:[]
+010691_000002:[13, 14]
+023419_000007:[5]
+012634_000013:[0, 3, 5, 6, 12, 13]
+006323_000000:[6, 16, 19]
+019846_000034:[1, 3, 10, 17]
+006088_000031:[]
+000781_000023:[5]
+006480_000020:[]
+017317_000023:[5]
+003039_000030:[]
+021836_000033:[]
+010829_000007:[1, 2, 7, 13, 16, 17]
+021902_000038:[]
+003248_000007:[]
+016529_000011:[]
+001318_000004:[]
+005683_000009:[]
+009260_000003:[4]
+002725_000001:[17]
+004969_000024:[3]
+004462_000039:[1, 8, 12]
+018471_000027:[0, 1, 3, 13]
+014348_000026:[9]
+019762_000036:[]
+000333_000026:[6]
+005124_000015:[]
+023251_000015:[]
+022813_000017:[3]
+024006_000037:[]
+017647_000029:[0]
+000727_000018:[]
+002403_000009:[]
+014759_000029:[]
+002522_000032:[7, 16, 19]
+002146_000036:[]
+020596_000037:[]
+018106_000009:[]
+018241_000011:[]
+012370_000025:[18]
+010358_000020:[]
+011767_000010:[]
+019090_000009:[14]
+007469_000012:[]
+008583_000037:[9]
+017593_000005:[12]
+007972_000016:[4]
+006959_000003:[6, 11, 12]
+010726_000020:[]
+022534_000030:[]
+000037_000022:[0, 4]
+015780_000016:[]
+020747_000000:[8]
+020938_000025:[]
+016193_000015:[]
+015742_000027:[3]
+002483_000033:[]
+017996_000007:[9]
+006961_000037:[]
+017178_000004:[5, 11]
+014188_000021:[18]
+015695_000039:[17]
+016370_000005:[2, 3, 4, 7, 8, 9, 12, 19]
+007269_000022:[]
+003736_000007:[]
+004249_000000:[1, 2, 8]
+024603_000010:[]
+010385_000016:[]
+020399_000014:[3]
+010984_000003:[]
+001830_000011:[1, 8, 10, 16, 17, 18]
+023719_000037:[]
+012870_000015:[2, 3, 5, 9]
+006614_000015:[]
+024756_000017:[0, 2, 5, 11, 17]
+007057_000026:[]
+007282_000035:[0, 7]
+014065_000037:[]
+005078_000029:[]
+013856_000000:[]
+001944_000025:[8, 11, 16, 19]
+000690_000002:[0, 2, 3]
+022895_000024:[]
+006207_000025:[9, 13]
+017242_000002:[1, 2]
+019089_000034:[]
+002309_000018:[]
+017881_000000:[]
+020543_000019:[]
+007459_000006:[]
+013584_000034:[]
+012976_000013:[7]
+009652_000015:[1]
+000254_000038:[13]
+000231_000017:[]
+018500_000033:[0, 1, 4, 5, 6, 7, 12, 14, 18, 19]
+022874_000011:[]
+003690_000000:[]
+018530_000022:[14, 19]
+015841_000036:[]
+008652_000006:[]
+003440_000010:[]
+020530_000023:[1, 4, 5, 9, 10, 14, 15, 18]
+024752_000032:[]
+022178_000015:[]
+009635_000030:[5, 12]
+007749_000022:[]
+000763_000033:[19]
+012712_000028:[13]
+010498_000039:[10]
+021546_000001:[]
+021338_000009:[4]
+017796_000027:[16]
+002320_000029:[]
+011304_000013:[15]
+021213_000013:[6]
+022192_000027:[8, 9, 19]
+002119_000002:[]
+017856_000026:[]
+014050_000008:[]
+019130_000018:[]
+002249_000003:[]
+018662_000014:[]
+014647_000022:[]
+002428_000011:[6]
+002070_000000:[7]
+023883_000033:[]
+019538_000001:[1, 7, 12]
+006618_000031:[7]
+009899_000030:[]
+016926_000022:[]
+004026_000006:[]
+003286_000001:[1]
+013623_000025:[2]
+016671_000019:[14]
+013795_000009:[9]
+016228_000021:[7]
+010731_000011:[]
+009254_000030:[]
+002716_000018:[16]
+012809_000011:[]
+011204_000032:[]
+014632_000037:[0, 1, 3, 4, 9, 10]
+024351_000033:[]
+002845_000008:[5]
+007021_000031:[18]
+008133_000039:[]
+024103_000034:[]
+004747_000008:[]
+007292_000001:[]
+003826_000008:[]
+014363_000039:[]
+017784_000039:[3, 10, 12, 17, 19]
+004639_000020:[]
+009062_000038:[]
+016043_000026:[17]
+006319_000034:[]
+007813_000022:[]
+019636_000019:[16]
+011631_000021:[]
+012946_000004:[6, 7]
+009974_000032:[]
+020079_000006:[]
+007887_000027:[]
+019004_000005:[]
+019050_000034:[]
+014280_000027:[4, 18]
+019361_000009:[1, 13]
+019764_000022:[]
+019674_000033:[0, 1]
+003311_000020:[]
+001440_000002:[15]
+022997_000017:[12]
+000271_000033:[5]
+004337_000015:[]
+022109_000025:[]
+014404_000005:[10]
+021959_000033:[]
+022895_000030:[]
+021696_000017:[0]
+021845_000034:[3, 4]
+004483_000004:[1, 6]
+010243_000016:[3, 18, 19]
+002844_000000:[]
+011104_000016:[5, 10, 12]
+023177_000028:[1]
+009214_000000:[3, 4, 12, 18]
+024589_000010:[]
+010353_000018:[]
+000552_000000:[4, 5, 14]
+018112_000002:[7]
+000175_000020:[4, 19]
+013637_000037:[9, 11]
+020656_000010:[5, 7]
+015092_000032:[2, 3, 5, 8, 9, 18]
+003133_000012:[16]
+022463_000028:[]
+013071_000018:[17]
+016019_000024:[]
+020538_000014:[]
+016828_000012:[]
+014932_000022:[]
+015452_000005:[]
+020527_000028:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000285_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000285_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..35d4567c91758f5ac92c0c1e4e968493b8798bb5
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000285_corrupted_depths.txt
@@ -0,0 +1,500 @@
+010474_000016:[8]
+015721_000027:[]
+016140_000005:[]
+007327_000030:[]
+005028_000017:[]
+008986_000035:[7, 19]
+004168_000036:[]
+018280_000027:[13]
+012011_000039:[]
+009964_000008:[2, 4, 6, 9, 15]
+019793_000027:[]
+018782_000014:[]
+016504_000037:[]
+001096_000038:[19]
+011790_000015:[]
+017543_000039:[19]
+002406_000019:[]
+016082_000035:[4]
+024955_000037:[]
+020293_000009:[]
+015172_000003:[]
+002049_000024:[5, 12, 13, 15]
+014173_000009:[6]
+019394_000022:[]
+003627_000029:[]
+019645_000017:[]
+019788_000009:[]
+018148_000031:[]
+004241_000037:[0, 5, 7]
+019086_000016:[3]
+000088_000030:[17]
+004898_000033:[]
+013009_000039:[3]
+009658_000011:[4, 15]
+010341_000001:[]
+023972_000014:[]
+024431_000017:[]
+000355_000014:[]
+021029_000011:[0, 7]
+005258_000036:[]
+008598_000018:[]
+016173_000031:[]
+023446_000031:[1, 7, 14, 19]
+014036_000024:[]
+002244_000005:[]
+018314_000007:[]
+004381_000022:[5, 7]
+006273_000005:[13]
+015480_000039:[5]
+006816_000014:[]
+013858_000029:[]
+004481_000016:[10]
+011807_000039:[9, 13, 14]
+012024_000034:[1, 2]
+004754_000021:[10, 12]
+009727_000032:[]
+002711_000034:[]
+010583_000029:[]
+008671_000009:[5]
+024987_000030:[]
+010722_000025:[]
+010044_000026:[]
+006174_000030:[]
+013365_000028:[]
+009565_000010:[1, 6, 7, 15]
+008326_000018:[]
+022571_000024:[]
+006927_000029:[1, 14]
+017117_000032:[]
+015416_000034:[]
+000619_000028:[4, 11, 14, 17, 19]
+022945_000004:[]
+017387_000010:[]
+012781_000038:[]
+020143_000010:[]
+016980_000009:[1, 3]
+019204_000039:[12]
+007877_000017:[11]
+011704_000001:[]
+000078_000031:[4, 9]
+009253_000020:[]
+005519_000028:[4]
+007905_000038:[0]
+014334_000028:[0]
+015662_000007:[]
+020007_000013:[]
+018811_000015:[]
+007804_000031:[5]
+019367_000027:[]
+004514_000001:[]
+023941_000033:[14, 15]
+015615_000028:[]
+013538_000014:[]
+013288_000003:[]
+014499_000000:[]
+013733_000013:[14, 19]
+011122_000000:[14]
+011458_000038:[]
+021698_000017:[]
+000447_000022:[5]
+009201_000030:[4, 9, 13]
+020059_000036:[]
+015107_000027:[]
+000986_000016:[4]
+012564_000001:[5, 10]
+011085_000002:[]
+005096_000003:[]
+010959_000003:[]
+018397_000031:[0]
+023652_000024:[]
+010231_000008:[]
+000078_000039:[]
+021707_000008:[]
+003725_000008:[]
+016412_000031:[]
+003850_000003:[]
+008938_000027:[1, 2, 5, 10, 12, 13, 17, 19]
+024682_000026:[]
+024014_000001:[]
+003429_000011:[5]
+019702_000039:[3]
+024067_000038:[1, 5, 6, 9]
+022094_000029:[15]
+005632_000023:[]
+003771_000030:[8]
+007626_000029:[]
+012164_000025:[17]
+003544_000025:[1, 2, 6, 7, 15]
+003925_000009:[4, 5, 9, 17]
+012916_000000:[4, 10]
+001119_000001:[]
+022663_000022:[]
+023767_000039:[]
+023911_000005:[]
+012238_000000:[1, 3, 18]
+006747_000024:[]
+016526_000003:[]
+009191_000012:[]
+021418_000022:[]
+003863_000003:[7, 16]
+013200_000030:[4]
+009412_000011:[10, 17, 19]
+022783_000005:[]
+012619_000031:[2, 6, 12]
+020094_000033:[10, 14]
+010089_000005:[]
+011028_000012:[]
+003212_000008:[]
+010572_000018:[]
+013408_000006:[]
+006090_000026:[8]
+003960_000019:[]
+010709_000038:[19]
+023305_000026:[11]
+007777_000006:[]
+006267_000015:[2]
+013544_000012:[]
+002307_000020:[]
+015494_000012:[14]
+003020_000021:[]
+014988_000038:[]
+001016_000029:[16]
+016176_000002:[6]
+005649_000009:[]
+006238_000004:[16]
+007659_000016:[]
+015666_000034:[17]
+005859_000019:[]
+010730_000013:[]
+008390_000003:[]
+003495_000015:[3]
+000585_000020:[4]
+016393_000005:[]
+015180_000038:[11]
+018911_000004:[4]
+022108_000020:[3]
+003622_000004:[]
+011899_000031:[0, 5, 10]
+012304_000020:[]
+019069_000014:[]
+007001_000004:[8]
+023541_000008:[]
+021039_000017:[]
+007617_000014:[]
+020083_000033:[11]
+023934_000028:[4, 19]
+010979_000025:[17]
+020201_000025:[13]
+020695_000035:[]
+010893_000017:[]
+022312_000034:[]
+020034_000015:[]
+011285_000025:[]
+014321_000021:[]
+011279_000039:[]
+008659_000027:[]
+020666_000038:[19]
+004576_000016:[]
+006790_000034:[]
+011388_000029:[2, 3, 9, 10, 14]
+024220_000002:[]
+023223_000008:[]
+009352_000027:[18]
+009946_000028:[14]
+022500_000024:[15, 17]
+011864_000032:[]
+011167_000005:[]
+018580_000001:[0, 5, 7, 11, 14]
+017512_000004:[0]
+013798_000021:[]
+017838_000007:[]
+005426_000015:[]
+022440_000037:[10]
+023619_000001:[]
+010202_000001:[]
+020743_000029:[]
+002729_000029:[]
+023240_000032:[]
+020581_000035:[]
+012604_000016:[5, 14]
+023103_000024:[]
+006270_000002:[3, 6, 19]
+013557_000036:[]
+004526_000033:[0]
+022873_000032:[]
+006947_000028:[]
+007447_000002:[]
+010635_000019:[]
+018651_000020:[12]
+009419_000017:[]
+002473_000007:[]
+003618_000030:[]
+004345_000020:[7, 12]
+013807_000009:[]
+002490_000010:[]
+007979_000010:[16]
+007751_000034:[8, 17]
+009336_000017:[]
+017409_000009:[]
+009878_000037:[0, 6, 8, 13, 15, 16, 18, 19]
+000215_000030:[3, 4, 6, 8, 9, 19]
+018436_000030:[]
+021364_000012:[4]
+000767_000039:[]
+022243_000039:[]
+008582_000030:[9, 13]
+006289_000007:[7, 10, 15, 17]
+015257_000025:[]
+003237_000039:[6]
+008923_000012:[11]
+012801_000013:[]
+005997_000005:[]
+009449_000002:[]
+022021_000029:[]
+006127_000026:[7]
+014753_000011:[]
+003716_000006:[4, 5, 11, 12]
+010476_000027:[1, 3, 12]
+012041_000009:[]
+015350_000035:[1, 9]
+008072_000009:[]
+004859_000031:[]
+020412_000017:[]
+006757_000005:[0, 13]
+020455_000029:[8, 10]
+016972_000022:[]
+018696_000010:[]
+014398_000012:[]
+015714_000023:[]
+000598_000027:[]
+012828_000033:[5]
+000531_000027:[7]
+006285_000019:[16]
+009549_000028:[]
+008166_000025:[]
+024746_000006:[0, 4, 8, 9, 11, 15]
+001473_000021:[]
+004281_000026:[]
+019387_000033:[0]
+006215_000019:[]
+010154_000034:[19]
+021044_000031:[]
+000353_000013:[2]
+008781_000020:[]
+007798_000016:[2, 6]
+010098_000038:[17]
+023987_000038:[0, 4, 7, 9, 10, 13, 14, 18]
+016859_000036:[3, 14]
+005112_000020:[]
+008260_000021:[]
+002407_000017:[]
+020204_000039:[0]
+010053_000010:[]
+001234_000030:[0, 13]
+001525_000023:[3, 6]
+022725_000037:[0, 3, 12]
+005226_000008:[7]
+014931_000001:[]
+011298_000017:[]
+022226_000005:[]
+010119_000028:[]
+019749_000033:[3, 6, 11, 17]
+017884_000004:[]
+010233_000031:[]
+002538_000015:[7]
+000734_000028:[]
+001445_000038:[2, 3]
+015683_000012:[5]
+018861_000035:[]
+013640_000009:[]
+016220_000012:[]
+014254_000014:[]
+023720_000004:[0, 7]
+015273_000016:[8]
+023806_000036:[]
+022791_000013:[]
+021593_000009:[2, 9]
+015989_000019:[]
+021854_000009:[0]
+012038_000019:[]
+009821_000019:[0, 1, 4, 5, 9, 17]
+021610_000009:[]
+020771_000003:[]
+013127_000012:[]
+020017_000031:[]
+004753_000016:[13]
+015086_000018:[]
+020718_000012:[]
+013390_000005:[]
+008627_000003:[]
+017890_000005:[]
+022762_000029:[2, 19]
+002484_000019:[1]
+002484_000002:[4]
+019364_000009:[10]
+010471_000009:[]
+012427_000035:[]
+000229_000023:[1]
+006793_000000:[]
+022623_000010:[]
+024504_000035:[]
+016443_000027:[3, 18]
+011342_000011:[]
+017153_000020:[]
+023053_000027:[3]
+007557_000020:[]
+000336_000035:[18]
+021943_000001:[8]
+007282_000012:[]
+018640_000020:[]
+015795_000028:[]
+017456_000001:[]
+024080_000022:[2]
+000739_000008:[0]
+006727_000031:[1, 5, 6, 7, 8, 9, 19]
+010133_000031:[2, 3, 5, 6, 8, 15, 17, 18, 19]
+012483_000011:[2]
+019684_000004:[]
+016609_000031:[14]
+019014_000026:[]
+008411_000029:[0, 2, 17]
+019054_000024:[]
+000306_000010:[11]
+024750_000003:[]
+001993_000029:[]
+013778_000012:[]
+019727_000014:[17]
+012501_000020:[]
+007652_000015:[]
+009064_000024:[]
+024420_000023:[]
+008228_000035:[14]
+006809_000012:[]
+003598_000005:[]
+005477_000016:[14]
+002406_000007:[15]
+024941_000000:[]
+009989_000039:[10, 13, 15]
+002846_000019:[6]
+002198_000017:[]
+018168_000021:[]
+020380_000024:[8, 12]
+000513_000019:[3, 12]
+016049_000003:[]
+013259_000032:[16]
+000872_000004:[]
+021160_000017:[]
+006358_000035:[1]
+021384_000036:[]
+005401_000030:[]
+011285_000018:[]
+000167_000024:[14]
+000250_000010:[2, 15, 19]
+012734_000010:[]
+020700_000014:[16]
+015533_000004:[]
+003519_000029:[2, 4, 5, 16]
+001725_000003:[]
+020171_000037:[]
+005911_000006:[]
+024843_000030:[4]
+015885_000014:[]
+002982_000035:[6]
+013658_000004:[]
+020004_000024:[15]
+003738_000028:[]
+015144_000029:[10]
+007951_000016:[]
+011849_000039:[]
+006117_000014:[]
+011581_000026:[]
+020794_000019:[0, 2, 5, 10, 13, 16]
+009445_000028:[]
+003398_000025:[]
+016848_000015:[9]
+023865_000003:[14]
+013819_000036:[0, 2, 5, 12, 13]
+020954_000035:[8, 14, 18]
+011588_000008:[7]
+007896_000031:[13]
+006288_000013:[]
+008046_000001:[]
+003168_000010:[]
+013788_000038:[2, 6, 8, 11, 12, 14, 16]
+015392_000034:[5, 9, 15]
+013852_000024:[3, 5, 7, 11, 16]
+002798_000030:[]
+024705_000025:[]
+023362_000021:[17]
+004346_000012:[]
+011932_000008:[]
+014807_000028:[]
+002257_000002:[]
+013054_000013:[]
+014638_000024:[]
+004398_000022:[12]
+012977_000031:[9]
+007789_000000:[4, 11]
+024491_000005:[0]
+013329_000004:[]
+002383_000029:[]
+023805_000000:[]
+004810_000014:[4, 5, 8, 11]
+008134_000017:[9]
+013056_000039:[1, 2, 7, 10, 11, 16, 17, 19]
+019560_000007:[]
+020355_000023:[]
+004734_000036:[]
+014768_000002:[15]
+009005_000017:[4, 7]
+007594_000033:[]
+020206_000012:[0, 3]
+000451_000016:[]
+019726_000014:[3, 17, 18]
+024882_000017:[]
+020340_000031:[9, 14]
+020156_000006:[]
+009446_000003:[1, 14]
+005252_000013:[]
+020804_000023:[13]
+001314_000022:[]
+011092_000038:[]
+014949_000034:[]
+021445_000005:[9]
+002404_000019:[6]
+000668_000005:[]
+005893_000037:[0, 12]
+016826_000014:[8]
+011448_000026:[]
+008302_000003:[]
+011786_000011:[]
+021100_000032:[15]
+018428_000019:[18]
+012062_000007:[]
+016027_000012:[]
+021346_000018:[10]
+014901_000008:[0, 2, 7, 8, 10, 15]
+017217_000014:[]
+018153_000000:[]
+015861_000002:[]
+023331_000018:[1, 5, 9, 11, 12, 13, 16]
+015921_000002:[]
+024876_000022:[]
+014250_000011:[1, 8, 13, 14, 18]
+007500_000033:[]
+002099_000017:[]
+014972_000001:[13]
+022613_000024:[]
+011005_000039:[10]
+013263_000038:[15]
+024577_000013:[9]
+022721_000016:[]
+014242_000005:[]
+008285_000022:[3, 8, 15]
+018578_000015:[1, 12]
+014579_000036:[5]
+006277_000039:[]
+011979_000008:[]
+015387_000012:[13]
+002920_000000:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000301_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000301_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8d239cef5b9b2d0263127f4f8b6929f49a95ca20
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000301_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+003763_000020:[]
+024054_000015:[]
+024932_000037:[4, 14, 16]
+008532_000024:[6, 13]
+014201_000008:[]
+005423_000033:[7]
+000610_000003:[]
+011349_000026:[]
+015831_000021:[15, 18]
+003830_000015:[]
+020398_000009:[]
+002556_000039:[5, 10]
+009582_000028:[]
+017230_000034:[1, 19]
+000437_000019:[]
+022616_000038:[]
+010037_000025:[11, 12, 13, 17]
+007506_000022:[]
+005511_000033:[]
+000169_000016:[2, 4, 12]
+015653_000038:[6]
+014811_000029:[10]
+014115_000023:[4, 9, 17, 18]
+006741_000027:[]
+000483_000011:[]
+006830_000008:[]
+018563_000011:[]
+019709_000004:[]
+008288_000016:[]
+017057_000033:[9, 15]
+014568_000032:[4, 5, 10, 13, 14, 19]
+015320_000038:[10, 17]
+005553_000039:[]
+020602_000032:[]
+011356_000020:[]
+000909_000002:[]
+010736_000002:[3, 5, 7, 8, 14]
+015390_000039:[10]
+014863_000028:[2, 15, 19]
+016854_000035:[]
+019875_000036:[14]
+003666_000023:[2]
+022109_000008:[4, 8]
+009297_000010:[16]
+009333_000037:[]
+013050_000026:[1, 5, 10, 11, 18, 19]
+022768_000002:[3]
+004502_000015:[16]
+004059_000025:[1]
+000592_000038:[]
+009497_000017:[0, 7, 10]
+016885_000015:[]
+014431_000028:[1]
+015451_000027:[11]
+023530_000021:[]
+007550_000015:[11]
+016042_000024:[17, 18]
+018544_000023:[5]
+007537_000035:[9]
+022751_000006:[14]
+022549_000022:[]
+017603_000035:[]
+018065_000008:[]
+002127_000020:[2, 10, 17, 18]
+002595_000015:[4, 6, 15]
+003766_000010:[]
+005490_000007:[0, 13]
+012001_000016:[]
+013029_000007:[]
+013229_000007:[]
+008512_000034:[11, 12, 13, 16]
+024674_000030:[3]
+012327_000005:[]
+017538_000010:[]
+014253_000011:[]
+003472_000005:[3]
+010697_000011:[]
+022516_000003:[5]
+000796_000012:[]
+021732_000008:[]
+011364_000001:[]
+008062_000005:[]
+004646_000004:[9]
+003999_000034:[5, 11]
+014972_000024:[]
+018795_000001:[]
+011302_000016:[0]
+009681_000036:[]
+020777_000031:[]
+018408_000019:[6]
+009681_000027:[]
+013995_000039:[]
+001046_000009:[15, 16, 17]
+018103_000016:[]
+002203_000013:[]
+024706_000026:[6, 17]
+004465_000026:[]
+010424_000021:[15]
+006104_000020:[]
+018074_000024:[]
+014044_000020:[]
+005247_000034:[]
+019327_000031:[]
+008992_000038:[]
+010206_000019:[]
+021595_000032:[19]
+006124_000023:[]
+004546_000025:[4, 15]
+003701_000031:[]
+008758_000012:[]
+004952_000034:[]
+019173_000030:[6]
+010216_000009:[16, 17]
+009136_000014:[5]
+019114_000022:[]
+014611_000007:[]
+012209_000005:[]
+003985_000013:[]
+016129_000009:[0, 2, 3, 7, 15]
+004326_000004:[]
+016835_000009:[]
+000827_000015:[14]
+004821_000004:[]
+007554_000013:[]
+013673_000035:[1, 5, 16]
+000213_000031:[]
+000000_000024:[2]
+007660_000014:[]
+018500_000019:[0, 9, 11, 14]
+012589_000037:[]
+011045_000039:[1]
+011475_000006:[]
+004371_000023:[9]
+019545_000011:[]
+011245_000030:[]
+010969_000019:[9]
+018795_000021:[]
+007915_000016:[3, 14]
+000309_000039:[]
+009295_000037:[19]
+016787_000004:[6]
+011425_000018:[]
+024089_000027:[]
+015445_000037:[2]
+005321_000003:[13]
+022367_000018:[]
+018198_000020:[16]
+021511_000006:[]
+004961_000037:[]
+004291_000030:[9, 16, 19]
+020550_000007:[]
+019411_000025:[4, 9, 11, 18]
+024646_000038:[]
+003779_000003:[]
+022161_000022:[]
+003080_000029:[]
+009729_000020:[18]
+001235_000006:[]
+007162_000017:[]
+000652_000032:[]
+008166_000035:[10]
+012978_000028:[]
+002782_000000:[]
+013876_000002:[]
+022605_000006:[3, 5, 9]
+006960_000027:[]
+005802_000004:[]
+013073_000036:[0, 2, 4, 5, 6, 10, 13]
+004484_000028:[]
+014953_000024:[19]
+022264_000031:[]
+024334_000020:[16]
+001099_000001:[]
+014226_000020:[]
+013897_000006:[0, 1, 3, 4, 6, 8, 9, 18]
+004135_000033:[8]
+000523_000010:[]
+002072_000008:[5]
+005948_000004:[14]
+018983_000014:[6, 10, 14]
+024854_000001:[15]
+013225_000004:[]
+001567_000024:[2, 4, 8, 18]
+020370_000012:[]
+011637_000001:[]
+000924_000022:[]
+003655_000039:[2]
+012929_000009:[2, 17]
+019094_000011:[1, 2, 14]
+022323_000003:[19]
+019380_000017:[]
+008724_000014:[2, 10, 15, 18]
+015877_000039:[1]
+012104_000029:[2, 10, 11]
+024134_000035:[14]
+015999_000017:[]
+020117_000032:[0, 2, 4, 6, 8, 9, 10, 11, 16, 17, 19]
+012025_000022:[]
+018865_000003:[]
+018681_000038:[7]
+009982_000020:[]
+022494_000035:[]
+007371_000039:[]
+017227_000006:[]
+015995_000030:[5]
+020065_000033:[4, 7, 17, 18, 19]
+023920_000001:[11]
+015687_000011:[]
+014203_000022:[0]
+010761_000034:[]
+016002_000021:[10, 13, 14]
+000351_000034:[]
+008090_000001:[]
+013938_000006:[18]
+016419_000012:[]
+011539_000023:[0, 12, 17]
+008059_000004:[10]
+017141_000031:[]
+006556_000010:[]
+017929_000009:[]
+021287_000039:[15]
+011063_000024:[]
+003858_000028:[]
+023049_000001:[]
+005515_000021:[]
+000551_000025:[]
+003661_000005:[2, 18]
+004329_000023:[1]
+010301_000035:[9]
+024300_000027:[0]
+005873_000003:[]
+005207_000014:[]
+000280_000005:[]
+015364_000018:[0]
+013960_000038:[4, 11]
+022704_000004:[]
+016532_000030:[2]
+018885_000027:[3, 9]
+007615_000014:[]
+023036_000026:[]
+008455_000004:[0, 4, 6, 11, 16]
+009536_000014:[]
+006896_000038:[]
+023347_000007:[]
+015779_000008:[10]
+005531_000003:[2]
+012442_000002:[9, 17]
+013055_000036:[]
+000316_000025:[]
+010206_000022:[8, 19]
+017680_000001:[]
+005071_000028:[]
+002274_000010:[]
+016096_000028:[]
+007131_000004:[13]
+002774_000036:[]
+019184_000003:[15]
+024836_000021:[]
+018692_000010:[]
+021525_000038:[]
+013113_000016:[13]
+001874_000008:[7]
+000905_000027:[8, 12, 18]
+023653_000000:[]
+001748_000010:[7, 11, 13]
+013111_000020:[]
+018284_000012:[]
+024647_000037:[]
+021804_000034:[]
+005701_000003:[17]
+015197_000021:[]
+001486_000014:[]
+015251_000018:[]
+011159_000001:[]
+013199_000035:[7, 9]
+020640_000005:[]
+008383_000039:[]
+007438_000002:[4, 15, 19]
+000058_000016:[10]
+020602_000024:[]
+018830_000026:[3, 16]
+017478_000036:[6, 11]
+014585_000002:[]
+000316_000038:[1, 17]
+003862_000021:[9, 14, 19]
+004286_000036:[]
+013088_000013:[]
+003302_000032:[19]
+020017_000025:[]
+019020_000022:[4]
+015248_000019:[]
+020897_000002:[8, 10, 18]
+009711_000038:[]
+005709_000034:[7]
+006689_000011:[6]
+007897_000004:[]
+000395_000031:[]
+004881_000035:[]
+002350_000028:[]
+018393_000037:[0]
+004691_000006:[]
+017821_000005:[]
+023010_000019:[]
+009549_000025:[5]
+024773_000039:[12]
+013904_000036:[]
+003777_000034:[1, 2, 3, 5]
+004897_000001:[]
+013214_000022:[1, 11]
+007081_000009:[15]
+011683_000020:[]
+001967_000016:[16]
+023744_000018:[]
+019498_000009:[0, 3, 4, 5, 10, 11, 17, 19]
+020814_000037:[]
+001937_000014:[]
+007113_000038:[]
+012944_000032:[]
+014297_000016:[]
+019375_000018:[]
+009778_000032:[]
+022834_000033:[]
+012552_000037:[]
+017818_000005:[13]
+024494_000004:[6, 14, 16]
+017302_000015:[6]
+003779_000021:[]
+009898_000018:[]
+003217_000018:[]
+001573_000030:[15]
+004120_000038:[]
+018430_000021:[]
+021781_000014:[]
+021570_000021:[4]
+000587_000001:[18]
+021299_000039:[]
+010650_000013:[0, 4, 18]
+002342_000027:[2, 4, 7]
+014851_000002:[]
+002219_000034:[5]
+016591_000030:[]
+000410_000032:[9, 10]
+024869_000034:[1]
+006381_000021:[]
+005345_000006:[]
+019714_000036:[0, 3, 4, 8, 9, 10, 14, 19]
+015643_000037:[]
+002870_000036:[]
+011875_000034:[11]
+001215_000037:[10]
+018700_000018:[4, 10, 17]
+004242_000015:[0, 4]
+004330_000009:[]
+015801_000033:[1]
+018112_000036:[]
+015486_000024:[]
+019167_000005:[3, 12, 14]
+018757_000004:[]
+021723_000011:[11, 17, 18]
+011287_000006:[]
+002450_000014:[]
+003330_000039:[11]
+024764_000015:[]
+007880_000032:[]
+009307_000027:[0, 5, 11, 15]
+005269_000004:[]
+022240_000021:[]
+020802_000008:[]
+015875_000018:[3, 4, 6, 10, 11, 15]
+004502_000007:[]
+010708_000036:[]
+020185_000030:[]
+014396_000029:[3, 16]
+020007_000036:[]
+016835_000020:[]
+012247_000013:[]
+009698_000024:[]
+003898_000010:[]
+019088_000010:[12, 13, 14]
+016723_000027:[]
+006425_000033:[]
+024457_000015:[9]
+016291_000021:[5]
+022566_000022:[0]
+017278_000021:[]
+005287_000029:[]
+019412_000035:[4, 6, 13]
+014639_000010:[]
+021388_000019:[13]
+017565_000025:[]
+021744_000034:[]
+012764_000028:[]
+002860_000003:[]
+024325_000018:[]
+002999_000013:[]
+021010_000035:[]
+000988_000033:[]
+003817_000032:[]
+006058_000021:[]
+023019_000022:[19]
+002263_000031:[]
+014898_000003:[]
+015408_000001:[]
+013286_000020:[0, 1, 12, 14]
+017964_000027:[]
+020433_000006:[10, 11, 17, 18]
+012467_000002:[8, 9, 19]
+007869_000009:[]
+005968_000015:[5]
+015033_000025:[2]
+020097_000025:[13]
+023927_000035:[]
+004316_000001:[]
+005316_000009:[]
+019089_000039:[]
+010552_000011:[3]
+023884_000025:[]
+016423_000033:[]
+020854_000010:[]
+008809_000036:[4, 18]
+001360_000029:[]
+003417_000037:[8]
+005661_000018:[]
+003673_000028:[]
+009920_000018:[]
+001483_000038:[11]
+008012_000005:[]
+018348_000005:[]
+003502_000034:[]
+019215_000019:[]
+011170_000030:[15]
+021339_000028:[10]
+022616_000021:[5, 6, 17]
+005622_000022:[]
+012683_000005:[]
+007180_000024:[13]
+014909_000002:[]
+002255_000023:[]
+009324_000019:[2, 4, 5, 7, 11, 13, 14]
+004964_000037:[]
+019203_000011:[13, 19]
+013874_000013:[1]
+023286_000003:[2, 12]
+013522_000034:[0, 4]
+019712_000009:[5, 8, 15, 17]
+015921_000012:[7]
+018319_000031:[]
+012959_000030:[]
+022921_000005:[1, 6, 9, 10]
+006850_000017:[]
+017878_000002:[7]
+003672_000015:[12]
+014040_000028:[]
+024619_000004:[10]
+016206_000032:[2]
+009139_000038:[]
+011213_000022:[]
+019677_000019:[]
+011648_000023:[]
+009299_000007:[]
+020666_000012:[]
+001765_000000:[11]
+016699_000004:[]
+014881_000011:[]
+004219_000025:[]
+001319_000035:[]
+007334_000018:[12]
+014683_000002:[]
+013960_000014:[12]
+013359_000028:[]
+022738_000014:[17]
+019933_000003:[]
+004270_000026:[]
+022340_000015:[11]
+000966_000000:[1, 15, 19]
+004000_000008:[]
+018795_000024:[]
+000517_000031:[8, 12]
+007351_000036:[]
+011899_000014:[]
+010330_000029:[4, 12, 13, 14, 15]
+009695_000006:[]
+019566_000008:[]
+009267_000038:[]
+009698_000037:[]
+014085_000029:[14]
+003499_000011:[1, 8, 9, 10, 11, 13]
+010804_000036:[]
+023809_000031:[0, 1, 5, 15, 18, 19]
+010538_000038:[2]
+023657_000026:[15]
+020508_000036:[6, 9, 12, 19]
+024608_000031:[16]
+007194_000039:[]
+017697_000013:[]
+020493_000020:[0, 15, 19]
+003196_000011:[]
+021434_000021:[0, 1, 3, 5, 8, 9, 10, 13, 14, 16, 17, 18, 19]
+022717_000039:[7]
+002269_000030:[19]
+017543_000034:[]
+003402_000023:[]
+014129_000036:[]
+020922_000011:[]
+010411_000031:[0]
+022709_000009:[1]
+018954_000012:[]
+008178_000013:[15]
+010502_000020:[]
+022767_000029:[]
+014467_000017:[1]
+015856_000003:[18]
+002035_000000:[0, 11]
+018403_000018:[1, 12, 16]
+016850_000011:[7]
+018538_000038:[7, 13]
+019227_000027:[0, 7, 8, 16, 17]
+010184_000018:[]
+000546_000005:[]
+010574_000017:[]
+013588_000036:[3, 5, 13, 18]
+021502_000024:[]
+019063_000019:[]
+013488_000012:[3]
+010401_000030:[]
+004437_000024:[]
+022981_000037:[]
+023354_000030:[]
+005589_000014:[]
+023288_000002:[6, 7, 13, 14, 16, 18, 19]
+007151_000020:[12, 14]
+007925_000033:[]
+000011_000030:[4]
+016221_000009:[]
+010358_000015:[17]
+004624_000022:[]
+003541_000036:[]
+002782_000013:[]
+004736_000026:[10, 18]
+010141_000005:[10]
+015621_000022:[]
+012462_000008:[4, 5, 14, 18]
+016852_000031:[3, 5, 6, 16, 17]
+001745_000032:[]
+009112_000038:[3]
+023229_000011:[]
+019834_000027:[]
+004345_000023:[]
+021302_000001:[]
+005202_000032:[0, 1, 5, 11, 13, 17]
+023180_000032:[0]
+004097_000036:[]
+000294_000014:[3]
+004821_000001:[]
+010156_000031:[]
+019056_000022:[8]
+019660_000035:[2]
+014824_000017:[1, 8, 17]
+018091_000006:[7]
+012221_000021:[]
+005657_000025:[3]
+016715_000025:[]
+010810_000037:[10, 11, 13, 15]
+017489_000015:[]
+006136_000016:[1]
+024957_000035:[9, 10]
+017321_000010:[]
+005915_000039:[4]
+011384_000031:[]
+007418_000039:[]
+005781_000026:[]
+013613_000008:[5]
+023906_000007:[]
+024767_000027:[]
+002661_000015:[]
+023381_000002:[]
+012350_000002:[]
+002702_000029:[]
+021174_000021:[6]
+014833_000006:[0]
+009045_000039:[]
+013099_000009:[]
+020487_000037:[]
+010724_000016:[3, 17]
+021378_000004:[]
+013675_000014:[]
+000370_000022:[]
+021036_000005:[]
+019211_000012:[10]
+004509_000031:[3, 4, 19]
+023971_000030:[]
+006291_000033:[12, 17]
+012581_000026:[1, 8, 11]
+015835_000008:[]
+006610_000005:[]
+005754_000018:[17]
+019266_000002:[14]
+009190_000014:[12]
+000653_000009:[]
+005686_000035:[6, 13, 19]
+005552_000035:[2]
+002838_000009:[]
+016139_000019:[]
+000371_000011:[1]
+021007_000030:[]
+022389_000038:[5, 10, 15]
+021259_000015:[]
+008563_000032:[]
+004116_000025:[]
+013913_000008:[]
+019878_000034:[]
+021762_000024:[]
+015254_000024:[8]
+012883_000011:[]
+007791_000020:[]
+019817_000005:[]
+018754_000010:[3]
+017854_000031:[]
+002364_000020:[]
+019965_000038:[17]
+001784_000023:[1]
+011557_000002:[1, 15]
+014372_000037:[2, 11]
+011582_000039:[]
+005526_000007:[]
+010975_000015:[]
+009334_000029:[]
+002729_000000:[0]
+024417_000031:[8, 14]
+004422_000010:[]
+018796_000010:[9]
+016350_000016:[2, 5]
+001199_000021:[]
+004347_000039:[4]
+007519_000000:[]
+006067_000010:[]
+013988_000037:[]
+014907_000018:[7]
+021080_000000:[]
+009416_000002:[10]
+011680_000024:[4]
+014197_000001:[6]
+015421_000037:[]
+006239_000033:[1, 12, 18]
+003034_000014:[1, 8]
+007960_000025:[]
+017984_000015:[18]
+023089_000020:[]
+008533_000031:[11]
+011920_000014:[]
+005649_000008:[]
+009864_000010:[2, 8, 11, 13]
+016084_000029:[3]
+012700_000003:[]
+008319_000004:[1, 5, 6, 8, 12, 19]
+004090_000016:[]
+005332_000017:[0, 8]
+001215_000039:[]
+014823_000021:[14]
+000497_000028:[]
+007218_000018:[17]
+009328_000007:[16]
+019826_000018:[10, 15, 16]
+014175_000028:[]
+003403_000014:[]
+006469_000014:[]
+024720_000005:[6, 17]
+019088_000033:[]
+001070_000035:[15]
+007814_000004:[15]
+002820_000028:[]
+017854_000008:[]
+014705_000028:[2, 9, 19]
+008801_000026:[13]
+019779_000002:[]
+019145_000011:[14]
+005995_000027:[]
+001157_000017:[]
+003935_000016:[]
+017717_000037:[]
+012737_000007:[1, 4, 5, 12, 16]
+000055_000020:[3]
+014283_000000:[0, 15]
+007473_000009:[11, 14]
+014001_000033:[]
+014219_000020:[1, 2, 7, 9, 10, 14, 15, 19]
+017781_000018:[12]
+012528_000023:[]
+016799_000032:[0, 8]
+022439_000010:[19]
+003411_000038:[]
+009372_000023:[]
+008299_000001:[7, 12]
+009510_000016:[13]
+008136_000026:[]
+010939_000023:[]
+000871_000016:[8]
+015689_000005:[]
+000512_000009:[0, 5]
+024790_000036:[9, 10, 11, 12, 15, 17]
+012540_000034:[0, 3, 12, 18]
+011773_000018:[]
+014387_000018:[3, 14, 15]
+011096_000028:[]
+007383_000012:[0, 3, 4, 7, 10, 12]
+021279_000020:[1, 15]
+013229_000034:[]
+013558_000034:[7]
+015317_000003:[]
+016642_000017:[2, 3, 8]
+021878_000021:[]
+017773_000012:[2, 18]
+021735_000035:[]
+007529_000030:[5, 6, 11, 14]
+024695_000023:[2]
+021495_000029:[11]
+021518_000036:[11]
+015331_000038:[1, 2]
+007253_000021:[]
+014182_000022:[7, 8]
+022305_000003:[17, 19]
+024511_000014:[]
+007985_000039:[]
+024687_000030:[]
+001727_000036:[18]
+012506_000001:[10]
+008591_000017:[]
+020472_000016:[]
+017197_000037:[]
+023265_000038:[14]
+024551_000007:[16]
+001073_000028:[0, 2, 7, 10, 18]
+024871_000025:[]
+012361_000025:[]
+003657_000025:[4, 13]
+009112_000021:[3]
+014690_000000:[]
+006274_000022:[]
+015838_000003:[]
+011117_000031:[7]
+021072_000013:[]
+002605_000004:[]
+012398_000000:[]
+011847_000018:[11]
+023315_000028:[14]
+012200_000036:[]
+017382_000011:[]
+001297_000007:[12]
+022259_000022:[12]
+004037_000032:[7]
+006670_000018:[10, 17]
+020864_000005:[]
+018822_000010:[]
+001151_000003:[]
+000666_000015:[0, 3]
+012291_000028:[6, 19]
+010972_000005:[]
+008684_000023:[]
+002985_000023:[]
+010012_000009:[]
+002580_000012:[18]
+018646_000031:[]
+014794_000019:[]
+001553_000009:[]
+000286_000005:[3]
+012113_000038:[0, 1, 4, 6, 12, 16, 19]
+024043_000003:[]
+017988_000027:[]
+005960_000035:[19]
+023342_000036:[4]
+007720_000030:[]
+003696_000011:[16, 18]
+020544_000004:[]
+022659_000030:[]
+020534_000027:[13]
+023795_000027:[]
+018248_000024:[3, 10, 11]
+023388_000005:[]
+004227_000013:[3]
+011600_000028:[11]
+000297_000000:[]
+000076_000034:[]
+004692_000030:[]
+022916_000010:[]
+015558_000004:[]
+004792_000017:[]
+015687_000034:[]
+002605_000019:[]
+023820_000015:[2, 7, 8, 13]
+003200_000004:[13]
+016193_000016:[]
+000590_000023:[]
+021914_000002:[]
+022357_000002:[3, 8, 10, 15]
+024356_000017:[]
+000170_000003:[]
+007984_000037:[]
+021631_000032:[]
+020389_000022:[]
+004374_000035:[]
+015910_000020:[]
+002882_000027:[]
+024414_000009:[]
+009265_000037:[10, 16]
+004840_000034:[7]
+009892_000024:[3, 18]
+021404_000012:[1]
+019133_000026:[13]
+008169_000015:[6, 12]
+015134_000025:[8]
+011318_000026:[]
+007757_000011:[]
+007841_000034:[]
+001086_000003:[2, 13, 15]
+010402_000033:[18]
+009919_000000:[2]
+012810_000038:[10, 12, 16, 17]
+018032_000032:[]
+023428_000016:[13]
+012607_000007:[]
+015623_000025:[2, 5, 10, 19]
+003167_000037:[]
+024253_000039:[]
+011628_000000:[3, 10, 12]
+022168_000007:[0, 16, 19]
+022809_000023:[]
+001376_000008:[]
+013748_000010:[]
+007040_000036:[]
+002941_000000:[]
+012760_000028:[17]
+007876_000027:[]
+007881_000025:[5]
+022125_000036:[9]
+007699_000002:[0, 1, 3, 5, 7, 13, 14, 16, 18]
+013775_000036:[]
+007026_000034:[]
+008030_000019:[1, 19]
+008168_000019:[]
+001714_000007:[7, 11]
+018471_000009:[]
+002990_000038:[]
+000438_000038:[17]
+004839_000034:[17]
+017428_000015:[19]
+018309_000003:[]
+024324_000036:[15, 19]
+018392_000038:[]
+019811_000007:[8]
+024786_000031:[4, 18]
+001666_000023:[7]
+023247_000029:[]
+008047_000010:[4, 15]
+017067_000010:[]
+006644_000036:[]
+003368_000020:[2]
+016487_000013:[]
+007093_000013:[]
+005320_000018:[5]
+015373_000022:[4, 13]
+002772_000038:[]
+021869_000033:[4]
+010378_000014:[]
+020718_000024:[]
+019934_000023:[11]
+005246_000011:[12, 13, 19]
+013973_000018:[]
+020347_000007:[2]
+001551_000030:[]
+011826_000035:[]
+020185_000017:[2, 16]
+001161_000021:[]
+018097_000012:[]
+010301_000019:[]
+016884_000020:[]
+002651_000020:[]
+007269_000003:[9]
+014657_000014:[]
+005682_000019:[0, 9]
+010333_000006:[1, 4, 6, 9, 14, 16, 17]
+007780_000012:[]
+013527_000026:[]
+006512_000038:[]
+014658_000018:[17]
+013344_000035:[]
+019355_000033:[]
+015758_000016:[]
+017290_000029:[]
+000210_000025:[1, 3, 9, 12]
+017842_000026:[]
+021147_000018:[]
+022493_000004:[]
+023831_000013:[]
+024391_000032:[]
+022021_000030:[16]
+013474_000024:[]
+002732_000010:[]
+013412_000001:[11]
+012580_000011:[]
+024183_000005:[]
+021425_000017:[]
+012114_000039:[11]
+006509_000007:[]
+021069_000024:[]
+020019_000034:[6, 16]
+009231_000015:[]
+002085_000016:[]
+013898_000005:[]
+008553_000018:[1, 7, 10, 16]
+005328_000011:[16]
+001177_000014:[]
+020020_000036:[]
+009846_000030:[]
+004990_000026:[]
+013715_000035:[3, 4, 6, 8, 9, 10, 14]
+005187_000007:[3]
+023471_000032:[]
+017019_000025:[]
+008621_000035:[]
+002271_000014:[13]
+020949_000028:[11]
+014245_000002:[1]
+023904_000000:[12, 14, 16]
+019128_000008:[0, 4]
+004443_000027:[]
+006359_000007:[6, 19]
+016624_000014:[]
+010980_000036:[]
+013322_000012:[]
+006542_000029:[]
+016825_000001:[1]
+022189_000035:[12, 16]
+020616_000008:[5]
+021484_000033:[7]
+000111_000013:[]
+021015_000022:[]
+005287_000028:[3]
+012061_000039:[]
+004153_000017:[]
+012434_000030:[]
+013614_000007:[]
+010344_000020:[]
+010885_000013:[]
+007165_000014:[]
+002726_000029:[3]
+020653_000023:[9, 11, 19]
+005753_000003:[13]
+013905_000014:[7, 10]
+007639_000034:[]
+023819_000022:[]
+010847_000001:[]
+022951_000026:[2, 5, 8, 9, 11, 12, 15, 16]
+023521_000032:[7]
+015559_000015:[18]
+011427_000009:[]
+015653_000012:[13]
+020611_000006:[0, 2, 4, 17]
+024477_000032:[]
+006840_000009:[]
+008029_000031:[13]
+006185_000005:[3, 5, 13, 18]
+016750_000014:[6]
+003148_000001:[5, 10]
+009288_000026:[7, 11, 19]
+010779_000023:[]
+023049_000023:[]
+024517_000032:[1, 5, 9, 10, 17]
+010878_000006:[]
+003497_000022:[]
+010944_000020:[]
+012720_000031:[]
+023960_000036:[]
+020696_000017:[10, 15, 18]
+005199_000032:[]
+012892_000023:[0, 19]
+019767_000027:[]
+018512_000019:[]
+007617_000001:[0]
+019437_000018:[3]
+016531_000033:[2, 7, 9, 14]
+004942_000012:[]
+007340_000023:[13]
+000384_000034:[]
+015355_000038:[]
+004647_000004:[]
+000677_000035:[1, 3, 4, 10, 11, 13, 15, 18]
+008693_000035:[]
+015976_000035:[]
+005823_000019:[]
+011244_000007:[2, 19]
+024148_000011:[]
+017350_000023:[]
+002929_000012:[2, 5, 13]
+023925_000011:[]
+021332_000016:[]
+010245_000032:[]
+007608_000023:[7, 15, 16]
+004154_000022:[]
+014194_000009:[6]
+007217_000012:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000323_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000323_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a237a30f42f552afeac66be1e3643a9c0f0d563d
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000323_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+018042_000007:[]
+008838_000031:[]
+009003_000018:[0, 4, 13]
+011942_000011:[]
+022932_000039:[6]
+022674_000011:[]
+010474_000019:[8, 12]
+020299_000026:[0]
+016648_000028:[16]
+002326_000024:[]
+006075_000035:[]
+008579_000011:[1, 5, 7, 10]
+011192_000031:[]
+009906_000027:[1, 6, 9]
+009199_000013:[]
+017553_000008:[]
+023381_000022:[]
+001676_000000:[19]
+018173_000017:[1, 8, 15, 18]
+011204_000009:[]
+024886_000032:[]
+001124_000008:[1, 6]
+014658_000032:[4]
+016010_000028:[5, 8]
+011715_000033:[0, 2, 12, 14, 15, 17]
+001060_000036:[14, 15]
+011813_000000:[9]
+016849_000026:[17]
+013259_000028:[]
+001118_000007:[]
+006900_000018:[]
+015127_000009:[]
+010607_000014:[1]
+017388_000023:[]
+017386_000034:[]
+007281_000022:[2, 17]
+005854_000033:[]
+013289_000027:[]
+013253_000021:[1, 13]
+003134_000025:[]
+015726_000001:[]
+014709_000020:[0]
+017693_000000:[10]
+014569_000036:[]
+007708_000001:[17]
+007342_000038:[6, 11, 13]
+016766_000023:[19]
+006557_000018:[]
+008390_000005:[]
+017800_000005:[]
+010598_000008:[1, 7, 8, 10, 11, 18]
+016085_000039:[]
+023676_000038:[]
+016049_000018:[]
+017015_000024:[]
+000579_000012:[14]
+021383_000016:[]
+009785_000013:[]
+022125_000001:[]
+024328_000023:[]
+002144_000020:[3, 6]
+010952_000028:[]
+015854_000033:[3]
+018430_000031:[10, 12, 16]
+006960_000036:[]
+010723_000013:[9]
+017799_000019:[0, 6, 9]
+000450_000039:[]
+010915_000039:[]
+003897_000010:[16]
+002029_000032:[11, 15]
+006676_000005:[]
+018265_000023:[13]
+013567_000014:[]
+023374_000001:[]
+007769_000032:[]
+004698_000033:[]
+014497_000020:[4]
+005915_000013:[4, 17]
+004199_000015:[]
+023864_000034:[1, 12]
+012214_000021:[]
+010584_000020:[]
+010504_000002:[10]
+022529_000021:[5]
+024596_000020:[]
+009995_000038:[]
+018599_000015:[]
+015693_000007:[5, 9, 15]
+004984_000035:[2]
+020153_000025:[2, 15]
+012613_000022:[5]
+003975_000009:[9]
+012585_000028:[]
+024671_000003:[]
+008860_000035:[7, 8, 11, 15, 16, 19]
+006546_000016:[18]
+013855_000003:[]
+000494_000022:[0, 2, 6, 10, 12, 14, 15, 16, 18]
+001881_000025:[]
+007101_000039:[]
+014325_000036:[]
+010621_000022:[]
+010943_000001:[]
+012180_000031:[]
+007370_000023:[]
+022607_000036:[]
+009558_000013:[6]
+023201_000025:[14, 18]
+005222_000036:[]
+008126_000003:[0]
+001014_000028:[16]
+019171_000021:[]
+008639_000015:[]
+008080_000009:[6]
+011560_000009:[]
+023512_000003:[3, 4]
+013162_000013:[]
+004967_000039:[]
+022038_000013:[]
+005008_000004:[6]
+021254_000007:[6]
+021721_000035:[]
+011754_000029:[]
+018200_000033:[19]
+018406_000004:[16]
+001085_000022:[3, 4, 13, 15, 18, 19]
+014300_000013:[]
+008678_000010:[]
+021367_000004:[]
+002317_000026:[]
+021744_000002:[19]
+017408_000034:[]
+003992_000036:[11, 12]
+009057_000030:[]
+000787_000015:[]
+010785_000007:[8]
+022647_000015:[1, 10, 11, 12, 15]
+021478_000004:[]
+006440_000034:[3, 5, 10, 15]
+000146_000037:[]
+021701_000003:[13]
+010674_000039:[]
+020070_000004:[0, 1, 2, 3, 9, 11]
+011287_000028:[]
+006745_000028:[9, 12]
+014752_000004:[2, 18]
+014032_000025:[10]
+011362_000033:[]
+022064_000004:[0, 2, 7, 8, 14, 16]
+016951_000011:[]
+003144_000024:[]
+011348_000020:[7, 8]
+011202_000035:[9, 14, 16]
+011138_000022:[0, 3, 12, 13]
+001539_000021:[]
+022672_000004:[]
+010654_000009:[19]
+017481_000039:[1, 10]
+020203_000016:[2, 9, 11, 15]
+003709_000003:[]
+003227_000024:[]
+009260_000023:[6]
+009993_000021:[]
+003150_000023:[4, 6, 9, 16, 17]
+020450_000010:[12]
+003217_000013:[]
+004358_000007:[16]
+020080_000009:[]
+007503_000011:[]
+009652_000035:[1, 9, 15, 19]
+004149_000000:[1, 18]
+023735_000017:[18]
+015549_000020:[]
+010487_000003:[0, 8]
+005309_000033:[6, 8, 18]
+019349_000015:[]
+009277_000016:[3, 14]
+004138_000029:[]
+019101_000001:[]
+008072_000037:[17]
+001363_000013:[]
+017917_000018:[4]
+012881_000026:[]
+015983_000031:[0, 1, 5, 13]
+024208_000034:[]
+024028_000022:[11]
+001577_000029:[]
+001568_000018:[]
+010790_000004:[]
+007273_000023:[14]
+013380_000028:[0]
+021592_000037:[]
+013301_000014:[]
+020041_000030:[5]
+002135_000034:[12]
+020098_000000:[]
+006106_000028:[]
+005679_000024:[9]
+004334_000039:[]
+019398_000036:[]
+021246_000029:[12]
+015877_000031:[1, 5]
+019178_000038:[14]
+006791_000027:[12]
+016627_000003:[]
+011834_000004:[4]
+014873_000033:[]
+016478_000024:[10, 13, 15]
+008609_000016:[]
+003653_000022:[]
+002259_000023:[4, 6, 16, 19]
+003243_000036:[]
+015971_000018:[]
+023176_000030:[]
+011501_000026:[]
+020985_000021:[3, 9, 11, 14]
+002750_000033:[]
+002888_000017:[]
+021322_000016:[]
+024058_000000:[]
+004377_000009:[]
+018285_000030:[3, 5, 6, 10, 19]
+023444_000029:[]
+013753_000008:[]
+007127_000024:[1, 4, 11]
+001193_000035:[]
+001709_000003:[19]
+020348_000001:[4]
+000372_000009:[]
+010353_000013:[]
+011666_000017:[8]
+012879_000022:[]
+005022_000025:[]
+001373_000000:[10, 12, 16]
+019783_000019:[11]
+018055_000038:[]
+011554_000007:[0, 15, 19]
+004579_000035:[]
+018909_000017:[2, 4]
+001074_000010:[]
+010699_000014:[14]
+006978_000001:[]
+018682_000037:[]
+000326_000006:[9]
+004817_000027:[]
+012878_000004:[]
+023955_000021:[0, 3, 5, 6, 7, 10, 14, 17, 19]
+017301_000023:[7, 11, 15]
+014338_000003:[]
+003986_000020:[3, 6, 7, 10, 11, 17]
+002885_000033:[0]
+013683_000000:[]
+004716_000028:[9, 13]
+013512_000023:[14]
+009696_000022:[]
+017040_000005:[9]
+007631_000000:[]
+001401_000018:[7]
+012840_000018:[]
+019725_000038:[16]
+004732_000018:[]
+004926_000033:[19]
+000319_000016:[]
+002125_000009:[]
+000334_000039:[5]
+012596_000038:[2, 3, 15]
+013132_000015:[]
+007141_000029:[14]
+011503_000031:[3]
+003447_000000:[]
+011062_000028:[19]
+000702_000008:[4]
+004782_000018:[8]
+004943_000027:[3, 9, 18]
+022940_000029:[]
+017798_000022:[]
+017467_000031:[5, 14, 19]
+017601_000035:[3, 5, 9, 17]
+000443_000021:[6, 13]
+017025_000026:[]
+001913_000029:[5, 19]
+017450_000033:[]
+014667_000027:[16]
+009256_000030:[]
+014557_000007:[]
+004647_000038:[]
+017562_000030:[]
+004116_000028:[5]
+002385_000035:[]
+024629_000034:[]
+012862_000039:[]
+000829_000010:[]
+015566_000007:[]
+019146_000019:[12]
+014286_000020:[]
+009611_000038:[]
+019933_000026:[]
+018217_000023:[3]
+004622_000011:[2]
+007704_000019:[18]
+009559_000010:[17]
+010756_000027:[]
+001176_000029:[]
+017147_000036:[]
+008452_000010:[1, 7, 8]
+009298_000030:[]
+012474_000016:[]
+002787_000000:[0, 4, 5, 16]
+019210_000025:[]
+018158_000019:[]
+020976_000037:[0, 1, 2, 3]
+005384_000035:[]
+006308_000000:[]
+019857_000011:[7]
+001145_000013:[]
+009994_000015:[]
+001736_000005:[3]
+000317_000021:[4]
+000374_000021:[9]
+008960_000015:[]
+018431_000019:[]
+015929_000021:[]
+012195_000029:[]
+019666_000010:[1, 2, 17]
+013664_000022:[3, 16]
+005246_000014:[3, 11]
+024615_000033:[]
+004374_000014:[14]
+016649_000014:[7, 8]
+011613_000016:[1]
+007040_000027:[0]
+001578_000031:[]
+017188_000015:[]
+018750_000031:[2]
+013836_000029:[]
+011553_000016:[]
+003253_000023:[3]
+010716_000031:[]
+002030_000025:[10, 19]
+021910_000037:[]
+006746_000016:[9]
+018994_000004:[18]
+006504_000030:[]
+024166_000018:[12]
+013088_000033:[]
+004841_000007:[4]
+015883_000027:[0, 2, 7, 17]
+006626_000037:[]
+003808_000034:[15]
+016278_000018:[]
+005971_000036:[]
+013611_000028:[]
+016197_000016:[]
+018199_000017:[]
+020932_000005:[]
+021222_000015:[5, 14, 16]
+015064_000037:[]
+003496_000009:[]
+016881_000038:[]
+014020_000015:[1, 3, 9, 14]
+014945_000023:[]
+017985_000029:[]
+000646_000002:[]
+019892_000009:[0, 14, 15, 18]
+020679_000000:[2, 9, 12, 13, 18]
+004566_000011:[]
+002689_000025:[]
+005484_000007:[]
+015081_000002:[]
+016251_000003:[]
+009697_000013:[]
+010094_000025:[]
+013882_000013:[]
+023905_000014:[]
+019304_000020:[14]
+024226_000027:[]
+005676_000004:[]
+014767_000030:[11, 13]
+019973_000025:[13]
+006663_000026:[]
+014169_000017:[4, 5, 10, 13, 14]
+020102_000023:[2, 11, 16, 18, 19]
+018872_000028:[]
+008486_000001:[8, 16]
+017346_000008:[4, 9, 11]
+000138_000005:[9]
+015430_000026:[]
+004554_000014:[]
+007598_000024:[10]
+017859_000025:[3]
+011012_000021:[0, 9, 11]
+022417_000012:[2]
+014417_000019:[]
+001308_000025:[3]
+004391_000006:[]
+009841_000009:[]
+020478_000014:[]
+004546_000023:[]
+010062_000010:[8, 13]
+004732_000005:[0, 6, 7, 19]
+023897_000021:[]
+001375_000031:[]
+001875_000007:[]
+014398_000017:[]
+002179_000035:[]
+017537_000033:[9, 11]
+008827_000036:[3]
+013316_000022:[]
+007049_000009:[]
+024803_000015:[0, 1, 10, 12, 16, 19]
+005434_000033:[15]
+024914_000029:[1, 8, 9]
+013930_000025:[]
+012103_000022:[10]
+003318_000018:[3]
+002537_000012:[]
+024989_000000:[]
+022353_000025:[4, 15]
+000830_000034:[6]
+005109_000027:[4, 6, 8, 9, 19]
+002399_000013:[10]
+015594_000019:[]
+019664_000011:[]
+009957_000000:[]
+012325_000003:[]
+005708_000011:[8]
+021700_000034:[]
+022632_000026:[]
+000453_000023:[]
+023920_000007:[]
+015928_000006:[]
+020434_000005:[3, 7, 10, 12, 13, 17, 18, 19]
+007199_000010:[1]
+013012_000008:[]
+019370_000014:[]
+011855_000034:[]
+024197_000022:[]
+003220_000013:[6]
+009958_000032:[]
+008552_000003:[6, 17, 18]
+023445_000012:[4, 16, 17]
+024125_000012:[15]
+013745_000038:[18]
+010171_000023:[6, 9, 11]
+015979_000001:[3]
+014962_000038:[5, 13]
+012575_000013:[]
+013305_000003:[]
+010776_000003:[9]
+007688_000024:[3]
+006364_000016:[]
+019943_000003:[]
+013474_000014:[11]
+017109_000037:[]
+016554_000018:[]
+018757_000008:[]
+024092_000012:[]
+021672_000013:[7]
+020009_000019:[]
+007340_000012:[]
+010356_000031:[]
+014869_000014:[]
+007977_000018:[]
+002205_000016:[]
+001041_000020:[3]
+002156_000007:[2, 16]
+019734_000034:[]
+017061_000004:[13, 17, 18]
+017867_000002:[1, 3]
+007094_000010:[]
+024137_000038:[13]
+011929_000006:[]
+021278_000003:[]
+011921_000004:[]
+022646_000034:[]
+015703_000002:[1]
+014664_000032:[2, 8]
+018890_000016:[]
+014319_000012:[6]
+024188_000001:[]
+015193_000029:[15]
+017581_000011:[1, 5, 12, 18]
+001314_000025:[]
+008133_000024:[6]
+008257_000011:[]
+001832_000038:[]
+005259_000031:[]
+010188_000019:[]
+017997_000029:[]
+011091_000035:[]
+013075_000033:[1, 5, 14, 19]
+009447_000033:[]
+012695_000019:[0, 5]
+001279_000004:[2, 15, 16]
+020196_000032:[]
+018581_000037:[2, 13, 18]
+022276_000008:[]
+003389_000031:[]
+016710_000026:[]
+015301_000033:[]
+019730_000038:[8, 11]
+006263_000019:[13, 15]
+014341_000025:[]
+003414_000027:[]
+008709_000018:[0, 4, 10, 12, 14, 17]
+006043_000005:[12]
+001038_000007:[]
+010059_000005:[]
+010509_000011:[5, 14]
+010944_000033:[]
+018929_000022:[]
+008447_000015:[1, 8]
+023036_000034:[9, 19]
+013825_000029:[]
+017634_000008:[2, 4, 11]
+013500_000028:[]
+011470_000004:[9]
+001026_000028:[2]
+010087_000019:[]
+000326_000036:[9, 17]
+013410_000032:[18]
+003872_000000:[]
+006236_000030:[11]
+024305_000019:[3]
+002448_000031:[0, 2, 7, 11, 14, 15, 19]
+011361_000003:[]
+021598_000029:[0, 2, 6, 7, 9, 10, 11, 14, 17]
+022924_000004:[5]
+019125_000038:[]
+013978_000030:[]
+006165_000009:[4, 7, 16, 18]
+007288_000032:[8]
+010452_000025:[]
+000218_000039:[6, 18]
+012739_000024:[]
+015239_000033:[]
+022961_000016:[]
+015790_000016:[]
+008962_000027:[]
+008365_000032:[0, 4, 8, 9, 10, 14, 17, 18]
+016753_000033:[]
+004556_000026:[]
+024024_000029:[]
+008585_000037:[0, 1, 3, 5, 17]
+018457_000038:[12]
+017529_000005:[]
+016387_000001:[]
+020360_000024:[]
+012797_000010:[]
+007773_000006:[]
+015767_000021:[3]
+006501_000004:[7]
+019509_000036:[]
+005281_000001:[8, 18]
+000112_000008:[0]
+000697_000007:[]
+023826_000032:[]
+002377_000009:[]
+004415_000033:[13]
+020132_000001:[]
+021374_000024:[0, 15]
+003477_000031:[5]
+017626_000039:[]
+000328_000024:[16]
+006589_000035:[15]
+023316_000034:[6, 9]
+018494_000033:[2, 17]
+023312_000023:[]
+011548_000034:[0, 2, 5, 12, 14, 16]
+018702_000011:[17]
+004468_000010:[]
+024224_000008:[1]
+015822_000021:[]
+023103_000003:[]
+021475_000038:[2]
+016010_000031:[1, 9, 17]
+010568_000000:[5]
+016690_000023:[]
+022231_000021:[]
+004317_000018:[13]
+013682_000038:[19]
+005128_000020:[]
+008952_000006:[12, 19]
+011020_000007:[]
+022758_000008:[11, 18]
+009333_000018:[]
+024973_000019:[]
+000837_000029:[18]
+004097_000009:[7]
+011025_000005:[]
+018234_000006:[3, 9]
+004431_000020:[0, 2, 7, 10, 16, 19]
+010151_000023:[]
+005325_000021:[1, 14]
+023093_000031:[1]
+016370_000007:[]
+013306_000007:[]
+011267_000016:[]
+012960_000010:[4, 5, 6, 8, 19]
+023561_000031:[2, 19]
+024554_000008:[]
+014485_000003:[1, 11, 14]
+017022_000013:[19]
+008378_000019:[4]
+023302_000014:[]
+002970_000000:[]
+011804_000022:[]
+022033_000016:[14, 17]
+020733_000000:[]
+006941_000018:[16]
+008956_000022:[]
+006135_000015:[]
+009144_000022:[]
+020853_000014:[7]
+008556_000004:[]
+002700_000034:[]
+005519_000017:[]
+000836_000021:[1, 2]
+015247_000010:[]
+014905_000030:[7, 14]
+010299_000000:[]
+009740_000024:[]
+003706_000001:[]
+006416_000039:[]
+010408_000017:[13, 16]
+014062_000029:[]
+006118_000026:[]
+014362_000031:[4]
+016388_000023:[]
+010048_000003:[18]
+022895_000031:[]
+011849_000005:[]
+017405_000017:[]
+015265_000007:[13]
+005859_000016:[]
+004222_000018:[]
+002734_000009:[]
+015691_000039:[]
+017062_000012:[4, 6, 13, 19]
+008646_000017:[]
+019730_000031:[11, 15]
+001213_000015:[]
+017464_000005:[5, 7, 9, 11, 18]
+001612_000018:[3, 6, 8, 10, 14, 16]
+001258_000006:[]
+010805_000024:[]
+007108_000027:[]
+024734_000010:[]
+004372_000035:[2, 4, 8, 12, 19]
+004967_000000:[16]
+008239_000019:[]
+002861_000002:[]
+006458_000023:[17]
+003625_000031:[]
+024052_000027:[15]
+001758_000016:[12]
+020479_000025:[15]
+002428_000023:[]
+003466_000003:[]
+016633_000027:[]
+014380_000027:[]
+014009_000027:[]
+021605_000025:[]
+016880_000019:[]
+021492_000008:[]
+013205_000021:[11, 15]
+013863_000034:[]
+010787_000033:[5]
+017360_000034:[0]
+010003_000004:[]
+024537_000014:[16]
+022132_000035:[1, 12, 19]
+019213_000007:[6, 9, 10]
+015419_000028:[]
+002898_000026:[3, 12, 15]
+022262_000023:[1, 8, 10, 11]
+012720_000021:[4]
+009322_000037:[5, 7, 11, 13]
+008550_000021:[]
+011712_000002:[]
+017021_000001:[6]
+015474_000037:[7, 9, 14, 19]
+016391_000019:[]
+024810_000026:[]
+014019_000001:[6]
+004262_000009:[]
+021579_000019:[2]
+018571_000016:[0, 1]
+013428_000029:[2]
+009894_000009:[]
+010277_000020:[2, 7]
+014174_000037:[10]
+019973_000019:[]
+003049_000027:[]
+014267_000025:[]
+012920_000035:[15]
+018180_000018:[1, 12, 13]
+001139_000000:[3, 6, 12, 18]
+010432_000008:[2, 3, 4, 6, 8, 18]
+006523_000039:[3]
+004416_000025:[]
+012176_000018:[15]
+003655_000002:[]
+024224_000015:[11]
+020546_000007:[]
+022114_000037:[]
+000318_000011:[]
+009261_000036:[5]
+014434_000000:[7, 9]
+003286_000035:[15]
+023509_000020:[]
+008482_000032:[]
+021280_000037:[4]
+010024_000026:[]
+013769_000028:[11]
+016424_000018:[]
+001163_000022:[]
+002097_000010:[]
+005536_000025:[]
+018094_000006:[]
+021658_000008:[]
+024301_000012:[]
+018967_000007:[17, 19]
+012385_000007:[]
+004299_000017:[]
+004684_000006:[]
+010720_000024:[6]
+005379_000027:[4]
+015153_000019:[8]
+003219_000007:[9]
+000615_000029:[19]
+002903_000019:[]
+014243_000019:[]
+009093_000011:[0]
+021754_000029:[]
+023857_000015:[]
+006077_000035:[]
+023763_000018:[]
+017386_000016:[]
+003580_000024:[4]
+003508_000032:[11, 16, 17]
+021464_000034:[0, 1, 7, 14, 17]
+001659_000013:[]
+001395_000009:[]
+002148_000012:[5]
+005142_000037:[]
+004609_000018:[]
+003628_000034:[5]
+008108_000021:[]
+002406_000021:[]
+017892_000029:[6]
+024211_000002:[3, 13, 14, 16]
+001640_000011:[]
+003296_000038:[16]
+023962_000019:[]
+024294_000019:[]
+001798_000035:[0]
+017904_000017:[]
+003218_000032:[]
+007835_000015:[]
+022274_000015:[]
+023069_000012:[]
+004075_000010:[8]
+018226_000012:[]
+019403_000004:[]
+012154_000038:[11]
+004025_000003:[2, 10, 19]
+014423_000000:[]
+020631_000012:[]
+020153_000013:[11]
+021051_000021:[]
+008240_000013:[4]
+006757_000006:[]
+022232_000000:[1, 10, 12]
+005410_000026:[]
+014676_000028:[18]
+018041_000026:[]
+017292_000015:[]
+006736_000027:[7]
+016375_000006:[]
+023858_000019:[]
+023889_000031:[4, 8]
+003317_000017:[]
+005547_000024:[]
+001283_000025:[6]
+015462_000023:[]
+006359_000036:[]
+004934_000013:[2, 3, 7, 17, 19]
+006089_000033:[8, 11, 17]
+010721_000017:[]
+000268_000015:[]
+015653_000021:[6]
+023977_000008:[]
+019086_000007:[10]
+003624_000024:[1, 10, 16]
+019505_000005:[]
+023493_000036:[]
+016850_000022:[12]
+010041_000008:[4, 11]
+016716_000016:[]
+023430_000009:[]
+011915_000030:[]
+009918_000009:[4, 7, 8]
+001982_000003:[3, 6, 11]
+006619_000009:[16]
+007575_000032:[12, 14]
+020735_000028:[]
+013866_000038:[]
+001527_000019:[2, 3, 13, 15]
+004386_000002:[]
+017659_000000:[3]
+018434_000037:[16, 17]
+016996_000015:[]
+000774_000010:[16]
+022647_000004:[]
+020952_000012:[]
+002821_000006:[]
+001535_000006:[]
+015093_000001:[]
+016712_000015:[16]
+015980_000017:[11]
+011563_000003:[]
+001621_000032:[]
+008192_000016:[]
+016286_000033:[5]
+000797_000014:[]
+020477_000015:[]
+009995_000027:[]
+000446_000000:[]
+021181_000021:[14]
+015648_000020:[3]
+016386_000000:[13]
+000725_000032:[0, 15]
+022462_000034:[]
+024447_000032:[0, 6, 9]
+005055_000035:[]
+012704_000029:[]
+016781_000036:[]
+003501_000021:[1]
+011576_000026:[]
+004647_000020:[3, 6, 7, 8, 14, 16, 19]
+008364_000025:[]
+017276_000012:[]
+009445_000013:[]
+004083_000028:[]
+004907_000026:[]
+012501_000015:[12]
+005907_000010:[]
+006954_000023:[19]
+006779_000026:[]
+023250_000032:[]
+013194_000027:[]
+022962_000027:[]
+000636_000031:[]
+008476_000005:[]
+023625_000004:[]
+010811_000023:[9, 11]
+019653_000024:[]
+019235_000027:[]
+001399_000026:[]
+015160_000027:[12]
+014077_000023:[]
+018437_000002:[1, 5]
+002931_000021:[]
+006568_000026:[]
+006135_000022:[]
+022876_000018:[]
+021027_000022:[16]
+022050_000027:[7, 13]
+012482_000038:[10, 11]
+018424_000006:[]
+010406_000024:[]
+008478_000005:[5, 12, 19]
+002776_000015:[]
+000159_000039:[]
+006389_000006:[]
+012315_000008:[]
+004787_000026:[1]
+016224_000011:[]
+007931_000016:[]
+016893_000037:[2]
+000405_000020:[]
+009534_000036:[10, 12, 17]
+017236_000005:[2, 9, 11, 15, 18]
+022091_000032:[]
+005224_000031:[]
+018303_000024:[]
+016887_000027:[]
+013776_000035:[10, 15]
+003516_000008:[11]
+001756_000024:[4, 5, 6, 10, 17]
+015937_000032:[]
+021199_000023:[]
+015211_000014:[]
+022348_000000:[]
+016409_000002:[]
+014068_000011:[]
+014683_000013:[]
+007298_000037:[10]
+017691_000037:[]
+019922_000013:[]
+021817_000012:[]
+013789_000016:[1, 2, 5, 11]
+004668_000014:[0, 8]
+009573_000034:[]
+017689_000022:[]
+013339_000011:[]
+016794_000036:[]
+004852_000028:[10]
+023493_000034:[]
+004026_000038:[]
+022517_000024:[6]
+008528_000032:[]
+006791_000039:[]
+014034_000012:[]
+002405_000025:[]
+003871_000008:[1]
+018072_000028:[15]
+013010_000019:[10, 11, 16]
+014306_000016:[19]
+004208_000017:[15]
+001560_000031:[]
+009309_000011:[3]
+013628_000022:[0, 3, 11, 12, 16]
+023154_000019:[]
+015169_000006:[]
+006400_000001:[10, 12]
+001382_000007:[]
+003630_000039:[]
+007700_000004:[2, 3, 4, 5, 7, 12]
+015201_000003:[]
+001299_000003:[2, 5, 18]
+014447_000021:[12]
+018440_000034:[]
+019816_000015:[]
+014301_000019:[]
+012111_000013:[0, 3, 10, 11, 18]
+024486_000014:[4, 10, 14]
+004018_000002:[8, 13]
+000968_000036:[2, 16]
+010193_000004:[1, 17, 19]
+015264_000015:[1]
+004242_000034:[4]
+014336_000011:[7, 13, 15]
+007174_000005:[]
+021083_000019:[]
+001178_000012:[14]
+015633_000028:[11]
+011858_000005:[]
+024003_000014:[10]
+021703_000002:[1, 2, 4, 7]
+021063_000013:[5, 8]
+011101_000022:[1]
+003062_000010:[15]
+004379_000020:[8, 14, 17]
+023068_000006:[9]
+012122_000028:[18]
+023465_000027:[]
+000502_000035:[2, 5, 7, 9, 13, 15, 16, 18]
+012484_000000:[2, 3, 6, 19]
+005565_000019:[]
+004969_000033:[]
+003198_000008:[2, 16]
+020814_000036:[10]
+010536_000021:[]
+020046_000000:[]
+014889_000024:[8]
+018100_000034:[]
+023623_000013:[]
+018308_000018:[]
+022723_000025:[0, 17]
+020306_000009:[1, 4, 10, 15, 19]
+017377_000024:[]
+020289_000005:[1]
+019315_000016:[9]
+003016_000015:[]
+000927_000026:[1]
+019578_000035:[]
+007111_000032:[]
+019765_000027:[0]
+016169_000013:[]
+007185_000007:[15]
+009957_000025:[]
+019070_000026:[]
+020228_000003:[]
+019337_000021:[]
+004138_000012:[]
+005324_000033:[]
+004563_000000:[]
+000655_000034:[3, 11, 13]
+017920_000005:[3, 5, 10, 16]
+012643_000034:[3, 15]
+009445_000034:[]
+006513_000000:[1, 5, 8, 11, 12, 15]
+000466_000013:[]
+012688_000000:[]
+001007_000027:[]
+019546_000002:[]
+000286_000015:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000328_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000328_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f11811ad1071bacb793ce1cc607bc489cdbbb6fa
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000328_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+010435_000036:[]
+015819_000000:[16]
+022232_000001:[1, 9, 13, 16]
+005959_000036:[]
+001432_000005:[17, 19]
+015174_000000:[8]
+019244_000013:[]
+001649_000037:[4, 19]
+011596_000010:[14]
+014625_000030:[]
+002012_000014:[]
+015033_000035:[16, 17]
+006578_000009:[]
+021263_000018:[8, 19]
+011958_000035:[10]
+006715_000029:[]
+007077_000020:[]
+007616_000021:[]
+023940_000025:[]
+006384_000003:[9, 16]
+014854_000014:[12]
+024035_000038:[7, 16, 17]
+020278_000010:[]
+022522_000007:[]
+009147_000004:[]
+003578_000018:[]
+013570_000011:[]
+012386_000018:[]
+004217_000019:[]
+013407_000015:[]
+003487_000014:[]
+008826_000027:[]
+008286_000007:[]
+022685_000014:[]
+012589_000022:[12]
+015012_000029:[1, 13, 15, 16]
+013157_000028:[]
+017325_000032:[2]
+005084_000013:[12]
+000738_000000:[]
+024784_000018:[3, 5, 6, 7, 10, 12, 16]
+004720_000000:[]
+014418_000034:[]
+018973_000038:[]
+002105_000029:[]
+023714_000020:[]
+021763_000030:[]
+023893_000016:[4, 5, 15, 19]
+016305_000008:[]
+023690_000005:[]
+005837_000029:[]
+009089_000024:[]
+016457_000031:[]
+012800_000019:[]
+011547_000026:[2]
+007133_000024:[3, 5, 6, 7, 12]
+018886_000009:[5, 11, 12]
+015767_000022:[]
+008921_000020:[2, 9, 10, 16]
+019952_000035:[19]
+017692_000002:[]
+023456_000002:[]
+008793_000027:[4]
+009992_000037:[]
+005738_000000:[6]
+016871_000035:[13]
+020650_000009:[]
+023325_000023:[]
+024082_000011:[]
+012505_000024:[]
+018110_000013:[11, 16, 18]
+011263_000000:[11, 13]
+009027_000010:[4, 12]
+004550_000025:[]
+008311_000031:[]
+006233_000014:[]
+024723_000029:[]
+004963_000007:[14]
+022684_000012:[15]
+002795_000023:[4]
+013240_000018:[]
+010906_000030:[]
+020962_000025:[]
+019993_000000:[]
+022191_000036:[]
+002946_000024:[]
+016445_000025:[4, 7]
+022341_000007:[2]
+023966_000011:[2, 5]
+008359_000017:[0, 15]
+024788_000003:[]
+016484_000023:[]
+002894_000022:[4]
+015518_000028:[3, 15, 16]
+010899_000039:[]
+004456_000004:[7, 8, 10]
+019384_000003:[8]
+022375_000017:[18]
+021457_000006:[9, 13]
+010780_000038:[]
+014591_000031:[]
+008068_000030:[]
+010704_000039:[]
+002383_000030:[8]
+014222_000013:[]
+018663_000012:[]
+007998_000026:[]
+022688_000017:[]
+011272_000023:[]
+021023_000039:[]
+002061_000031:[]
+012083_000021:[]
+018825_000002:[]
+009611_000033:[]
+018811_000009:[]
+008817_000009:[]
+020854_000031:[]
+016459_000019:[6]
+001744_000028:[]
+016634_000025:[]
+022549_000035:[4, 10, 19]
+023005_000027:[]
+007226_000000:[]
+021851_000034:[]
+000922_000025:[]
+021478_000031:[8, 17]
+010184_000027:[]
+005962_000031:[]
+003622_000003:[]
+016513_000037:[]
+015462_000022:[]
+007393_000017:[10]
+004569_000002:[]
+012569_000015:[]
+013612_000023:[]
+006231_000020:[]
+016673_000021:[]
+008067_000034:[1]
+008898_000014:[19]
+001616_000019:[0]
+019278_000003:[16, 18, 19]
+012468_000001:[]
+018871_000020:[6, 13]
+009264_000001:[]
+017591_000027:[]
+005251_000037:[]
+014807_000007:[]
+009132_000005:[18]
+007775_000022:[2, 10, 12]
+011586_000017:[12]
+014920_000039:[]
+011547_000013:[2]
+023266_000005:[1, 2, 4, 14, 16, 17]
+017169_000021:[]
+007104_000019:[2]
+002563_000026:[17]
+015120_000020:[]
+018104_000003:[]
+019086_000035:[2]
+012081_000028:[14]
+017221_000011:[]
+015527_000007:[]
+007204_000028:[]
+014174_000007:[]
+024877_000035:[]
+001763_000002:[0]
+022012_000011:[0]
+023595_000030:[13, 19]
+014069_000022:[5]
+010470_000035:[]
+012514_000035:[]
+005530_000008:[]
+000456_000012:[3]
+013342_000033:[7]
+014942_000025:[]
+005755_000015:[]
+015540_000004:[4, 14]
+006573_000019:[5, 9, 10]
+003910_000022:[3, 12]
+022003_000009:[]
+022341_000019:[10]
+012072_000013:[]
+020930_000026:[]
+022182_000006:[7]
+023703_000027:[]
+001990_000015:[]
+001823_000018:[]
+002652_000035:[]
+019158_000023:[18]
+008921_000005:[]
+012057_000025:[13]
+004214_000002:[1, 7, 12, 14, 16, 19]
+022703_000016:[18]
+007837_000019:[0]
+011995_000007:[]
+001097_000025:[18]
+009772_000003:[]
+002459_000030:[9]
+022997_000019:[2, 16]
+003579_000013:[6]
+020649_000002:[]
+018059_000029:[]
+008842_000033:[13]
+000010_000001:[10]
+011292_000019:[]
+017919_000003:[]
+011541_000033:[18]
+013601_000031:[]
+023078_000012:[7, 11, 13]
+021447_000024:[8]
+001368_000008:[6]
+001736_000012:[3]
+022172_000004:[7, 11]
+014381_000025:[]
+012745_000033:[]
+010801_000024:[]
+013990_000032:[5]
+022815_000001:[0]
+005685_000025:[]
+015026_000011:[]
+020691_000029:[]
+008230_000024:[11]
+007486_000035:[]
+009432_000011:[]
+016679_000035:[]
+022455_000021:[]
+016938_000024:[1, 5, 19]
+024546_000023:[]
+020355_000009:[4, 18]
+017983_000006:[]
+021694_000015:[7, 15]
+010948_000037:[9, 17]
+005212_000032:[]
+016252_000003:[]
+012801_000027:[]
+021480_000035:[6]
+018236_000008:[]
+022693_000008:[8, 16]
+011978_000034:[]
+010315_000016:[6, 9, 19]
+005987_000012:[18]
+001702_000029:[17]
+000588_000031:[0, 1, 3, 5, 13, 15, 16, 17, 19]
+020561_000001:[0, 11]
+020754_000002:[13]
+010640_000013:[]
+005737_000020:[0, 19]
+006330_000015:[]
+005939_000011:[]
+005430_000032:[4, 10]
+024687_000013:[]
+007851_000016:[]
+017984_000002:[]
+011120_000028:[]
+008659_000005:[]
+015136_000017:[]
+023419_000011:[2]
+014158_000027:[6, 14, 15, 16]
+019682_000039:[]
+017346_000028:[11, 14]
+003416_000025:[0]
+013104_000007:[]
+007277_000037:[6]
+019689_000012:[4, 12]
+010373_000011:[13]
+003972_000035:[]
+012746_000036:[19]
+008515_000009:[]
+020074_000030:[5, 16, 19]
+023191_000003:[]
+012096_000025:[10]
+015801_000037:[]
+010658_000037:[11, 12]
+010395_000033:[]
+001374_000023:[4]
+007079_000028:[]
+006602_000004:[]
+008317_000012:[19]
+024262_000020:[1, 15]
+015777_000006:[]
+015250_000000:[9]
+012202_000030:[]
+002834_000003:[]
+012935_000021:[]
+012790_000022:[]
+018152_000033:[]
+000135_000012:[]
+020196_000018:[11]
+017213_000001:[6]
+006059_000004:[]
+007730_000003:[8]
+018905_000006:[9]
+006485_000033:[13]
+014587_000011:[]
+003508_000019:[]
+009410_000014:[15]
+011259_000015:[5, 7, 8, 9, 19]
+023282_000000:[]
+022082_000005:[]
+018690_000023:[]
+015991_000024:[1, 13]
+012498_000024:[5]
+005314_000016:[14]
+011430_000023:[]
+004993_000025:[]
+008454_000009:[]
+013237_000003:[]
+008388_000029:[10, 17]
+001947_000027:[14]
+013530_000026:[1, 5, 8, 14, 18]
+010939_000014:[]
+011970_000015:[]
+006609_000003:[11]
+020349_000029:[]
+002112_000028:[1, 3, 5, 7, 8, 10, 15]
+001037_000014:[2, 5, 14, 18]
+010209_000037:[]
+024184_000003:[6]
+010323_000012:[]
+024860_000029:[]
+010325_000033:[13]
+014458_000020:[]
+017956_000011:[]
+018999_000004:[1, 11]
+016999_000020:[4]
+023158_000022:[]
+020204_000037:[0]
+021590_000016:[1, 18]
+020755_000032:[]
+005682_000020:[]
+009611_000031:[8, 12]
+004719_000003:[]
+024806_000010:[13]
+015612_000005:[4, 6, 8, 10, 19]
+022791_000009:[]
+001538_000025:[19]
+018226_000003:[]
+023497_000016:[]
+005074_000012:[]
+013299_000038:[]
+001096_000035:[4, 13, 17]
+007552_000036:[]
+020710_000023:[5]
+019957_000002:[]
+021209_000007:[]
+003642_000010:[]
+003695_000007:[17]
+015681_000033:[]
+020982_000007:[]
+014406_000018:[]
+001586_000012:[]
+013655_000038:[]
+007168_000007:[3, 6, 10, 14]
+015201_000006:[]
+015252_000012:[5, 6, 8, 12, 13, 19]
+016254_000027:[]
+004426_000012:[]
+000993_000016:[]
+009777_000036:[]
+016515_000024:[]
+006178_000039:[]
+000754_000015:[]
+011998_000022:[]
+008463_000020:[]
+006944_000007:[]
+013258_000010:[]
+024237_000039:[15]
+023359_000004:[2, 8, 9]
+017247_000011:[2, 6, 7]
+013480_000021:[16]
+023597_000024:[8, 14, 15]
+016845_000029:[]
+015214_000030:[]
+024099_000029:[]
+008337_000022:[]
+020889_000006:[3]
+021040_000016:[]
+016019_000030:[]
+024933_000005:[0]
+011755_000026:[15]
+023162_000005:[]
+007614_000017:[]
+007612_000036:[0, 3, 4, 9, 10, 19]
+002772_000021:[]
+008291_000001:[]
+020838_000000:[]
+009571_000028:[]
+023872_000007:[]
+003851_000004:[11, 14]
+017830_000028:[]
+018494_000027:[2, 4, 8, 12]
+005367_000021:[]
+000921_000005:[]
+008653_000027:[]
+006719_000020:[]
+014548_000039:[]
+015516_000039:[]
+019837_000035:[]
+019919_000035:[19]
+007891_000020:[0, 7, 10, 17]
+004683_000025:[15]
+001858_000016:[]
+019934_000038:[]
+017827_000017:[10]
+010716_000020:[]
+007219_000036:[0, 7, 8, 12, 15, 18, 19]
+006502_000026:[]
+009061_000022:[12, 13]
+015138_000025:[0]
+012444_000031:[]
+012555_000021:[]
+014729_000037:[]
+024051_000023:[]
+003995_000005:[]
+019918_000010:[]
+017468_000012:[]
+024069_000033:[]
+007592_000015:[4, 7]
+012055_000038:[]
+008381_000018:[]
+000800_000013:[]
+013670_000002:[]
+009692_000029:[4, 12]
+005842_000033:[7]
+023367_000001:[]
+019412_000034:[]
+017159_000000:[]
+000758_000012:[]
+022809_000031:[7, 14, 16, 19]
+000787_000037:[]
+000052_000027:[]
+007873_000038:[2]
+022007_000018:[16]
+006229_000027:[1, 8]
+004151_000019:[]
+015140_000014:[]
+010366_000032:[2]
+003205_000032:[]
+014179_000020:[]
+017702_000035:[]
+006217_000003:[]
+020697_000016:[]
+008055_000015:[]
+001105_000006:[]
+002354_000030:[15]
+021369_000007:[]
+017443_000011:[]
+010361_000020:[0, 10]
+022731_000029:[]
+006436_000013:[19]
+017709_000026:[]
+008977_000031:[]
+017418_000010:[]
+010856_000003:[]
+016340_000014:[]
+003103_000001:[]
+022304_000019:[]
+013999_000026:[]
+020557_000009:[2, 6, 9, 17, 19]
+011623_000007:[]
+022803_000027:[]
+015292_000007:[]
+000879_000000:[]
+005078_000004:[7, 8, 15]
+017410_000032:[]
+008719_000030:[6, 13, 16, 19]
+014897_000003:[0]
+018725_000017:[3, 5, 9]
+009926_000024:[]
+017505_000012:[4]
+016420_000027:[]
+011941_000000:[]
+003286_000009:[10]
+020496_000020:[0, 14]
+017542_000008:[]
+020342_000029:[]
+000721_000039:[]
+019044_000036:[]
+006390_000027:[]
+019861_000027:[]
+014290_000000:[11]
+003440_000018:[]
+016173_000003:[]
+017417_000013:[16]
+012161_000027:[1]
+016039_000030:[]
+012618_000022:[1, 3, 4, 9, 16, 18]
+018745_000023:[]
+020264_000022:[7]
+006826_000012:[]
+004076_000014:[]
+008305_000009:[]
+010566_000010:[]
+012091_000023:[]
+023993_000024:[]
+010180_000039:[13, 16]
+015524_000003:[0, 19]
+021039_000000:[]
+013845_000036:[]
+003152_000026:[3, 10]
+019661_000032:[]
+003847_000016:[3]
+024047_000022:[]
+010874_000031:[]
+013641_000034:[9]
+022639_000004:[11, 14]
+023317_000023:[]
+008741_000021:[]
+004219_000005:[]
+000410_000020:[13]
+021224_000026:[2, 18]
+001814_000030:[6]
+021571_000032:[2, 6, 19]
+023085_000025:[]
+023187_000030:[]
+023504_000017:[]
+016843_000009:[]
+008825_000006:[4]
+000074_000011:[]
+000577_000005:[15]
+022398_000009:[3, 6, 7, 13, 15]
+022012_000004:[0, 15]
+022407_000027:[4]
+016434_000032:[]
+012103_000031:[12]
+019419_000000:[]
+009273_000024:[]
+023329_000009:[]
+008492_000036:[]
+016528_000027:[12]
+008141_000036:[0, 2, 11]
+021879_000035:[]
+010874_000001:[]
+018986_000007:[]
+005102_000029:[5, 11, 19]
+021500_000009:[]
+003581_000026:[]
+017580_000033:[12]
+008445_000015:[]
+010453_000011:[3]
+010252_000035:[0, 3]
+013126_000032:[]
+000649_000015:[1, 2, 3, 8, 15]
+013514_000015:[]
+022971_000026:[]
+002052_000034:[4, 5, 8]
+008367_000021:[]
+023200_000019:[]
+009586_000003:[]
+004796_000016:[]
+000408_000026:[]
+016172_000012:[6]
+018710_000014:[]
+019142_000007:[]
+016083_000006:[4]
+015150_000002:[]
+024038_000033:[1, 14]
+002415_000032:[1]
+023549_000004:[15]
+018710_000010:[6, 7, 14]
+002881_000031:[]
+021782_000034:[]
+000600_000029:[]
+024688_000009:[0, 3]
+003621_000039:[]
+015322_000019:[]
+010320_000011:[]
+014284_000035:[8]
+011953_000030:[]
+005955_000027:[0, 5, 11, 14]
+019509_000021:[]
+014354_000036:[]
+014958_000030:[]
+008752_000022:[15]
+001892_000019:[16]
+009914_000032:[9]
+015606_000038:[]
+010123_000004:[6, 17]
+010982_000006:[]
+009075_000003:[]
+017154_000032:[13]
+003297_000026:[]
+020278_000003:[]
+018274_000008:[6]
+016541_000010:[2, 16, 17]
+021886_000005:[12]
+000130_000019:[9]
+001777_000002:[16]
+014309_000021:[6]
+002330_000002:[7]
+012658_000034:[]
+024806_000001:[]
+010140_000000:[]
+022412_000020:[]
+005685_000014:[9, 13]
+023500_000039:[14]
+015653_000027:[16]
+014373_000037:[0, 5, 14, 18, 19]
+016590_000014:[]
+011660_000019:[]
+021495_000004:[]
+001661_000015:[]
+013290_000015:[]
+024747_000003:[]
+016998_000004:[0, 4, 12, 14, 18]
+008688_000039:[]
+015720_000037:[]
+023292_000038:[]
+010068_000002:[]
+015323_000035:[]
+001468_000027:[]
+004771_000033:[5, 6, 16]
+007109_000007:[]
+023106_000028:[]
+011997_000034:[]
+002826_000031:[]
+023674_000004:[0, 1, 2, 4, 8, 9, 10, 13, 17, 18]
+007772_000031:[8, 14]
+021610_000010:[]
+000757_000024:[]
+003472_000033:[]
+009115_000026:[]
+016133_000019:[]
+019883_000013:[4]
+009402_000007:[16]
+001532_000029:[1]
+024230_000022:[2]
+002941_000021:[8, 18]
+007516_000030:[]
+014164_000015:[7]
+016872_000002:[]
+001836_000012:[0]
+011864_000002:[]
+023157_000028:[]
+014354_000004:[]
+009301_000021:[]
+002085_000032:[]
+008611_000024:[]
+001854_000022:[]
+023892_000012:[0, 5]
+018849_000014:[18]
+016938_000000:[7, 9]
+021722_000007:[]
+016006_000039:[]
+001746_000034:[]
+023118_000033:[]
+007676_000039:[12]
+005720_000014:[]
+022213_000003:[]
+008069_000013:[]
+008819_000003:[]
+010576_000013:[]
+022422_000033:[]
+022208_000018:[]
+010242_000039:[]
+015127_000015:[]
+007642_000024:[]
+005708_000018:[]
+000397_000021:[]
+006565_000011:[]
+011027_000029:[6, 13]
+001115_000026:[0, 2, 4, 5, 7, 15]
+013617_000024:[1, 11, 18]
+001481_000026:[2]
+002058_000010:[]
+001998_000020:[19]
+023516_000022:[]
+006826_000022:[7]
+003795_000025:[]
+021491_000020:[4]
+023701_000034:[]
+017315_000018:[15]
+005645_000029:[11]
+023249_000001:[]
+012317_000036:[]
+014259_000017:[]
+002576_000001:[]
+003908_000016:[]
+003324_000034:[]
+020514_000013:[2]
+002087_000000:[3, 4, 11, 16, 19]
+023279_000027:[]
+024834_000007:[9]
+011296_000000:[]
+003514_000023:[2]
+000761_000015:[]
+002542_000015:[]
+015878_000017:[]
+002448_000004:[0, 3]
+014010_000004:[]
+020935_000000:[2, 3, 5, 12, 16, 19]
+014570_000024:[0, 1, 2, 3, 14, 17, 18]
+018906_000009:[]
+001313_000016:[]
+023721_000014:[]
+002065_000014:[7]
+001776_000022:[5]
+000807_000026:[]
+007403_000012:[]
+001093_000007:[]
+010556_000016:[4, 12]
+008725_000003:[]
+007397_000026:[]
+022198_000019:[]
+005068_000025:[]
+000562_000027:[]
+011891_000013:[15, 16, 18]
+018818_000039:[]
+002671_000035:[1, 15]
+000021_000035:[]
+012220_000033:[0, 7, 18]
+000467_000023:[17, 19]
+014319_000019:[12]
+011120_000023:[15]
+004545_000000:[16]
+013849_000025:[7]
+022611_000027:[9]
+017667_000013:[]
+020586_000036:[]
+017422_000014:[]
+019328_000004:[]
+017350_000039:[]
+011655_000030:[]
+019769_000032:[1, 8]
+018200_000002:[]
+003613_000004:[]
+023681_000021:[]
+016287_000026:[10]
+017777_000017:[2, 10, 16, 17, 19]
+005834_000028:[]
+002416_000012:[2, 4, 7]
+001511_000010:[]
+005639_000034:[]
+009939_000030:[8, 12]
+003422_000033:[]
+024651_000010:[15]
+016826_000021:[]
+020204_000018:[0]
+006016_000038:[]
+009160_000013:[4, 17, 19]
+019631_000037:[]
+000357_000013:[0, 2, 10, 13]
+005605_000034:[12]
+014519_000014:[]
+013100_000033:[]
+014301_000008:[]
+000054_000004:[2, 3, 5, 10]
+017029_000025:[2, 4, 7, 18]
+023742_000026:[]
+020303_000018:[]
+002384_000003:[]
+019310_000006:[6, 7]
+015146_000019:[7, 13]
+011121_000017:[5, 12]
+019050_000016:[]
+024968_000008:[3, 16]
+011443_000020:[1, 17]
+007590_000016:[5]
+024992_000037:[3, 5]
+024224_000026:[]
+001680_000016:[1, 9, 19]
+007927_000035:[]
+023852_000038:[]
+017196_000004:[]
+021612_000001:[]
+022193_000029:[]
+019113_000026:[]
+003257_000019:[10, 14]
+001172_000027:[]
+006180_000009:[]
+014495_000007:[]
+015282_000023:[]
+009166_000012:[]
+024145_000017:[]
+004301_000038:[1]
+020813_000012:[11]
+004087_000004:[]
+015411_000005:[]
+024917_000037:[]
+001764_000000:[19]
+022927_000000:[4]
+004547_000012:[]
+013418_000020:[6]
+011062_000034:[4, 17]
+005024_000037:[]
+024840_000003:[14]
+023922_000035:[]
+008383_000015:[9]
+006557_000038:[4]
+017513_000028:[]
+023456_000019:[]
+019148_000023:[]
+011730_000021:[]
+008229_000027:[5, 7]
+008117_000004:[15]
+020230_000003:[15]
+000073_000027:[]
+023548_000024:[]
+023521_000007:[]
+002379_000019:[9]
+006949_000003:[]
+001196_000030:[]
+006226_000002:[]
+016951_000002:[]
+007858_000029:[]
+019579_000034:[11]
+019007_000012:[1, 3]
+018035_000012:[]
+007586_000001:[2]
+001730_000019:[]
+004419_000009:[]
+011252_000007:[]
+010608_000039:[]
+011064_000017:[]
+016090_000001:[0, 3, 10, 12, 16]
+014075_000038:[1]
+002810_000001:[]
+008522_000022:[19]
+002316_000009:[9]
+007402_000006:[6]
+005144_000036:[2, 4, 11]
+018833_000006:[14]
+007601_000036:[0, 1, 9, 15]
+023832_000010:[]
+021216_000005:[]
+009378_000002:[19]
+007318_000036:[]
+007927_000031:[]
+014190_000034:[]
+002121_000016:[13, 14]
+017150_000013:[0]
+012950_000007:[15]
+011351_000037:[]
+007623_000035:[7]
+005619_000023:[]
+008408_000030:[]
+019304_000002:[1, 3, 7, 8, 9, 14]
+015537_000027:[0, 3, 9, 18]
+020005_000034:[1, 4, 5, 7]
+023569_000012:[]
+005870_000039:[14]
+005117_000014:[18]
+019671_000009:[]
+005223_000019:[]
+015132_000018:[]
+017757_000018:[9]
+002006_000030:[]
+007515_000025:[6, 7, 13, 15]
+015514_000038:[]
+003786_000015:[]
+011537_000023:[2, 5, 7, 10, 11, 13, 15, 19]
+022508_000006:[]
+000291_000028:[]
+012001_000027:[]
+012908_000007:[]
+007649_000009:[]
+017422_000020:[0, 1, 8, 10]
+007575_000014:[]
+005736_000026:[]
+020864_000030:[12]
+005843_000002:[]
+005842_000021:[]
+002769_000022:[]
+001181_000006:[4, 6, 8]
+010265_000032:[7]
+022674_000001:[]
+024153_000010:[13]
+018722_000007:[]
+020665_000024:[]
+013104_000002:[]
+022055_000022:[]
+001732_000003:[1, 11]
+023982_000020:[]
+012227_000011:[3, 11]
+007756_000003:[16, 17, 18]
+017531_000019:[]
+007083_000039:[]
+024023_000019:[1, 2]
+008635_000006:[13]
+021844_000030:[]
+003827_000035:[]
+018870_000013:[1, 7, 18]
+011161_000014:[]
+020303_000005:[]
+001980_000025:[4, 8, 9]
+006757_000021:[0, 8]
+013921_000022:[1, 5, 15]
+017450_000010:[]
+005800_000022:[3, 8, 11, 12, 16]
+000357_000017:[]
+012423_000018:[9, 18]
+017518_000031:[]
+020295_000004:[]
+005627_000022:[]
+021103_000001:[0, 2, 3, 6, 10]
+021655_000035:[17]
+013009_000014:[3, 12, 16, 17]
+022312_000016:[6, 9]
+013051_000026:[]
+004260_000001:[]
+015454_000036:[9, 19]
+014508_000039:[1]
+014854_000020:[]
+023518_000038:[]
+016483_000008:[2, 3, 5, 7, 14]
+005659_000033:[]
+007412_000037:[11]
+018003_000022:[6, 13]
+020158_000021:[0, 3]
+004247_000031:[]
+018618_000005:[]
+016995_000004:[11, 12, 18]
+022367_000026:[]
+012791_000039:[]
+000057_000001:[4, 5, 7, 16, 17, 18]
+023432_000019:[0, 1, 9, 10, 12, 13, 14, 15, 18, 19]
+016301_000016:[5]
+023790_000026:[]
+009416_000027:[]
+013815_000025:[10, 18]
+020739_000027:[]
+004572_000024:[11, 13, 17]
+007831_000003:[]
+016584_000009:[5, 7, 12]
+004321_000000:[]
+017182_000002:[]
+009320_000022:[14]
+021604_000028:[4, 13]
+007386_000033:[]
+006834_000031:[]
+009187_000039:[0, 9, 19]
+010484_000020:[18]
+024000_000014:[]
+020407_000013:[12, 15]
+004125_000027:[]
+018171_000022:[]
+004069_000026:[]
+002226_000031:[]
+020891_000010:[1, 5]
+001222_000029:[]
+021665_000036:[18]
+018037_000024:[7]
+007054_000006:[]
+006280_000024:[12]
+021602_000021:[]
+009831_000036:[7, 18]
+006748_000030:[]
+013377_000018:[0]
+009583_000003:[]
+021023_000010:[15]
+000263_000025:[8]
+010698_000013:[0, 10]
+017358_000020:[]
+017695_000037:[]
+000943_000027:[4]
+014934_000021:[]
+020519_000024:[]
+007027_000003:[]
+017550_000004:[]
+011281_000008:[]
+024132_000012:[]
+008994_000006:[]
+024287_000037:[3]
+002280_000014:[]
+021687_000013:[]
+018286_000003:[]
+002089_000019:[]
+015354_000014:[0, 11]
+007458_000015:[]
+007905_000032:[0]
+019570_000037:[3]
+013321_000032:[12, 14, 16]
+019792_000007:[0, 3, 13]
+003557_000020:[]
+013733_000018:[]
+024982_000007:[11]
+015097_000021:[]
+024766_000030:[6, 18]
+018221_000023:[]
+022686_000001:[8]
+021446_000012:[]
+024365_000009:[]
+024075_000017:[4, 15]
+024895_000029:[]
+004962_000027:[]
+006377_000014:[]
+017510_000010:[3, 9, 12]
+022171_000013:[7, 13]
+008704_000031:[]
+003177_000038:[10, 12]
+006875_000015:[]
+014527_000026:[]
+020984_000024:[0]
+000045_000015:[2, 10, 16]
+021321_000017:[]
+010018_000012:[]
+003928_000013:[]
+018790_000020:[]
+004900_000004:[]
+020188_000024:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000332_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000332_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f4d66af3b2e902c25f0fe2a0de7b8ccc7b30e097
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000332_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+002069_000036:[]
+016055_000021:[]
+013547_000028:[]
+000149_000039:[]
+022812_000017:[]
+023955_000022:[]
+012370_000013:[1, 3]
+015679_000012:[]
+023900_000022:[7, 11, 15, 17]
+012774_000019:[]
+023117_000024:[]
+001881_000018:[]
+020261_000021:[]
+004664_000001:[]
+004184_000005:[15]
+007994_000007:[]
+018815_000020:[]
+016089_000000:[]
+000288_000025:[7]
+009774_000037:[]
+009076_000022:[3, 15]
+021023_000018:[2, 3, 10, 15]
+003344_000026:[]
+009481_000021:[]
+009096_000011:[1, 6]
+021384_000013:[]
+002438_000022:[]
+010751_000003:[]
+007002_000005:[13]
+015384_000016:[6, 7, 8, 10, 11, 14]
+010412_000002:[]
+014212_000039:[]
+016858_000023:[]
+014098_000025:[11]
+023948_000018:[3, 10, 13]
+017261_000035:[10]
+020093_000006:[3, 4]
+023016_000017:[]
+013323_000035:[7]
+013809_000001:[]
+023879_000011:[]
+014898_000028:[0, 6, 8, 14]
+013944_000036:[]
+007203_000020:[]
+000560_000020:[9, 18]
+015068_000019:[3]
+008837_000031:[5, 7, 16]
+020697_000028:[10]
+009709_000037:[0, 12, 18]
+018898_000023:[]
+000700_000028:[0, 7]
+015775_000005:[]
+004587_000031:[]
+006581_000006:[]
+006787_000006:[]
+002391_000012:[]
+005395_000020:[]
+003060_000036:[8, 11]
+005105_000018:[]
+019754_000013:[]
+000645_000019:[]
+000141_000029:[]
+001610_000003:[]
+018202_000000:[]
+024518_000031:[]
+006910_000022:[]
+011127_000011:[7, 9, 11]
+015003_000023:[]
+007102_000020:[]
+003358_000025:[]
+008202_000018:[10]
+023848_000022:[]
+011031_000022:[]
+000093_000039:[8]
+005591_000029:[]
+015504_000021:[2]
+000857_000027:[]
+002021_000008:[19]
+006529_000036:[]
+003908_000024:[3, 9, 15]
+022080_000009:[]
+010632_000016:[6]
+008273_000009:[5]
+005718_000025:[]
+004053_000013:[]
+013592_000016:[]
+013747_000012:[]
+004183_000008:[12]
+021190_000014:[16]
+011752_000000:[]
+013746_000036:[]
+003888_000016:[4, 16, 17]
+024051_000014:[]
+010312_000010:[]
+013871_000000:[]
+000863_000024:[5]
+024697_000025:[0]
+013892_000033:[9, 12, 17]
+023633_000007:[]
+003916_000016:[]
+002056_000028:[]
+007434_000025:[]
+000721_000003:[]
+020953_000006:[1, 11]
+000242_000005:[5]
+012445_000022:[]
+012089_000035:[7]
+007570_000027:[]
+021617_000036:[7, 19]
+021606_000029:[]
+021989_000021:[]
+013401_000017:[]
+014996_000004:[]
+022589_000019:[]
+019553_000010:[]
+011739_000035:[]
+021636_000030:[6]
+010829_000009:[11]
+013528_000023:[]
+015682_000026:[]
+014279_000023:[]
+024454_000003:[15, 18]
+014211_000029:[]
+019604_000007:[]
+021622_000039:[]
+013549_000009:[]
+024797_000035:[16, 17]
+017332_000029:[18]
+002121_000034:[]
+009874_000014:[]
+005914_000003:[]
+008555_000012:[]
+023133_000024:[]
+001568_000024:[17]
+023295_000021:[]
+003965_000036:[10]
+014923_000027:[]
+014220_000002:[13]
+012899_000017:[3, 5, 10]
+008699_000035:[]
+012663_000005:[]
+019953_000035:[3, 13, 18]
+022128_000021:[]
+018436_000036:[]
+020813_000026:[]
+013215_000021:[]
+014772_000035:[0, 1, 2, 8, 10, 11, 14, 19]
+009789_000032:[]
+000155_000012:[6]
+024041_000020:[0, 2, 12, 13]
+004939_000013:[]
+020778_000006:[]
+010666_000000:[]
+013745_000025:[]
+014471_000008:[]
+005826_000018:[]
+017235_000011:[2, 11, 15]
+024557_000013:[]
+016835_000019:[]
+019853_000024:[]
+009152_000009:[]
+018907_000023:[1]
+011361_000007:[]
+012157_000023:[0]
+005128_000032:[]
+015450_000009:[3, 15]
+010954_000036:[14]
+018933_000027:[3, 11]
+016394_000034:[1, 10]
+011305_000012:[]
+015156_000010:[]
+006424_000039:[1, 19]
+017791_000007:[]
+002826_000036:[7, 9, 12, 16]
+016624_000035:[]
+002122_000018:[]
+009391_000014:[0, 1, 7]
+013150_000003:[7]
+016834_000030:[]
+016846_000014:[12]
+003912_000002:[]
+022367_000013:[1, 8, 11, 15]
+008562_000023:[6]
+012520_000002:[0, 16]
+007883_000028:[]
+008625_000002:[]
+000875_000020:[12]
+001074_000003:[]
+010766_000016:[6, 18]
+010557_000026:[1, 4, 6]
+004882_000004:[]
+004082_000032:[]
+007423_000002:[0, 8]
+022578_000024:[]
+008846_000017:[]
+018979_000012:[]
+010664_000018:[3, 8, 16, 19]
+011540_000024:[]
+013901_000004:[7]
+017488_000028:[]
+010428_000034:[]
+023027_000033:[]
+018710_000032:[6, 7, 10, 14]
+005960_000009:[]
+007117_000032:[]
+001440_000036:[]
+010422_000027:[]
+023982_000038:[]
+004911_000028:[1]
+010327_000032:[6, 13, 17]
+001038_000029:[14]
+010802_000028:[2, 19]
+022997_000000:[2]
+004190_000029:[4]
+014008_000031:[]
+012937_000005:[]
+016194_000024:[]
+023143_000021:[5, 8, 15]
+006711_000037:[]
+020977_000008:[8]
+010126_000019:[]
+023242_000014:[8]
+012331_000018:[]
+013701_000035:[]
+019222_000011:[]
+015770_000023:[]
+007472_000033:[]
+008178_000010:[]
+005677_000029:[]
+004779_000003:[]
+004369_000029:[]
+001568_000026:[1]
+019920_000023:[6, 8]
+021401_000018:[17, 19]
+012940_000000:[8]
+023217_000018:[]
+011659_000004:[]
+009319_000034:[]
+022544_000001:[]
+005038_000007:[]
+010971_000031:[]
+012805_000000:[]
+012632_000032:[12, 16]
+017507_000025:[9]
+022016_000029:[]
+003997_000009:[]
+004028_000035:[0, 5, 12]
+010020_000020:[3, 9]
+010485_000007:[]
+006621_000029:[3, 5, 16]
+005504_000025:[]
+011654_000025:[]
+022316_000010:[2, 6, 16]
+016822_000033:[]
+021633_000013:[]
+008619_000006:[]
+018277_000027:[]
+023756_000011:[]
+013664_000035:[]
+000763_000021:[0, 1, 4, 8, 11, 12, 15, 17, 19]
+018352_000001:[]
+023803_000016:[]
+008139_000034:[0, 1, 3, 4, 9, 10, 11, 14, 15, 17, 18, 19]
+016555_000014:[]
+012911_000011:[19]
+005224_000005:[7]
+003345_000028:[8]
+022246_000017:[]
+006424_000024:[]
+014742_000006:[]
+023369_000020:[4]
+008902_000035:[17]
+011488_000019:[]
+022789_000004:[]
+003457_000037:[]
+009904_000029:[3, 9, 10, 15]
+005301_000036:[8, 12, 18]
+006518_000020:[4]
+024588_000000:[]
+022496_000031:[14]
+020657_000036:[8]
+015521_000036:[]
+009103_000024:[]
+003315_000029:[]
+021957_000007:[]
+017476_000006:[11]
+015095_000008:[5]
+021611_000027:[]
+023344_000012:[]
+009934_000033:[1]
+004321_000006:[]
+016543_000020:[]
+023850_000034:[0, 19]
+004914_000014:[13]
+023164_000028:[]
+001086_000021:[]
+004020_000012:[]
+024364_000030:[]
+021321_000014:[]
+005730_000034:[]
+000176_000013:[10]
+012193_000002:[]
+006134_000013:[]
+019434_000009:[]
+024585_000018:[12]
+011648_000018:[]
+011402_000031:[2, 3]
+002732_000036:[]
+017745_000029:[8]
+011597_000021:[1]
+010466_000032:[]
+006170_000022:[]
+020188_000025:[]
+018494_000011:[]
+002201_000035:[]
+012854_000024:[]
+017751_000017:[11]
+020968_000002:[0, 7, 19]
+018311_000039:[]
+011009_000017:[]
+004794_000019:[10]
+023950_000014:[]
+023018_000024:[]
+024715_000029:[]
+011615_000001:[]
+022730_000038:[]
+006154_000000:[]
+020290_000020:[13]
+000979_000021:[]
+003605_000008:[]
+000021_000018:[8]
+010956_000011:[1]
+012846_000028:[]
+021023_000030:[1]
+012411_000023:[]
+005980_000014:[4, 6, 7, 11, 19]
+018684_000037:[15]
+009557_000006:[8, 9, 10, 19]
+004310_000014:[]
+006064_000034:[]
+002328_000019:[]
+019481_000005:[12]
+024419_000012:[]
+013415_000026:[1, 5]
+000153_000033:[]
+023556_000035:[1]
+001982_000026:[9, 17]
+015916_000027:[]
+014772_000010:[0]
+016530_000038:[]
+013743_000000:[]
+011229_000026:[]
+023632_000039:[10]
+012011_000004:[]
+016550_000037:[]
+018350_000016:[3]
+018704_000037:[3, 9]
+007099_000034:[18]
+011403_000019:[]
+007957_000023:[1, 5, 8, 9, 14, 15]
+012458_000012:[7, 8, 9, 12, 14, 16]
+018002_000011:[]
+019600_000021:[]
+015201_000024:[10]
+024651_000030:[]
+008515_000037:[]
+012577_000012:[10]
+022797_000032:[2, 14]
+001338_000002:[]
+006263_000032:[3, 8, 9, 11, 13, 15, 17, 18]
+024287_000023:[7]
+005856_000030:[10, 14, 16, 17]
+014813_000000:[]
+007920_000039:[4, 9, 12]
+008773_000035:[]
+015310_000009:[]
+018612_000018:[18]
+022351_000027:[]
+010102_000015:[12]
+013010_000033:[]
+001032_000030:[]
+014605_000038:[]
+021528_000013:[1]
+004774_000014:[1, 5, 15]
+004694_000026:[]
+010982_000032:[]
+019467_000002:[]
+019258_000016:[]
+021206_000035:[]
+011308_000019:[]
+018607_000017:[3, 4, 9, 11, 14, 17]
+024886_000031:[]
+015624_000024:[]
+014151_000007:[]
+018131_000027:[11]
+008226_000036:[]
+009395_000026:[1]
+012876_000019:[0, 16]
+018469_000010:[1, 7]
+009162_000016:[5]
+013607_000035:[11]
+012925_000035:[]
+023251_000024:[]
+017006_000018:[]
+012332_000032:[]
+004251_000035:[17, 18]
+012923_000008:[0, 5]
+012954_000023:[]
+003088_000004:[]
+001590_000035:[]
+001512_000021:[13]
+002647_000014:[7]
+008260_000008:[]
+021732_000031:[]
+012148_000036:[]
+010178_000003:[]
+021004_000031:[1, 3, 6, 10, 11, 13, 17]
+018204_000022:[10]
+006235_000027:[]
+020246_000006:[18]
+012963_000005:[]
+007184_000038:[15]
+010876_000035:[]
+001728_000037:[0]
+005100_000012:[]
+007958_000023:[]
+012230_000006:[]
+014134_000018:[]
+004650_000019:[3, 9]
+017670_000009:[]
+008481_000019:[2, 4, 16, 19]
+018467_000005:[]
+006706_000025:[6]
+009401_000003:[]
+009357_000029:[]
+022759_000034:[]
+009538_000029:[]
+015131_000007:[3, 7, 18]
+011357_000013:[]
+016673_000027:[]
+007850_000037:[]
+003886_000027:[]
+010151_000030:[3]
+019516_000031:[15]
+006659_000039:[]
+004704_000022:[12]
+015044_000012:[]
+010070_000020:[]
+015684_000022:[]
+010430_000003:[7]
+013430_000020:[10]
+014085_000006:[10, 17, 18]
+023994_000029:[]
+022842_000009:[]
+018111_000017:[4]
+010773_000006:[16]
+015496_000003:[3]
+011970_000032:[4, 14]
+011610_000037:[0, 14]
+015942_000021:[]
+001293_000010:[0]
+004536_000014:[]
+016001_000031:[]
+010366_000006:[]
+014444_000033:[7, 10, 13]
+022753_000029:[1]
+001710_000034:[]
+022504_000019:[]
+010510_000038:[]
+019686_000015:[5]
+011255_000028:[]
+011391_000010:[]
+020183_000014:[13, 14, 16, 17]
+015588_000007:[]
+001458_000006:[]
+001032_000039:[]
+022230_000014:[]
+008794_000006:[]
+009486_000008:[]
+024520_000025:[]
+005535_000029:[4]
+016655_000006:[]
+024132_000008:[]
+015667_000022:[]
+005522_000023:[18]
+010187_000021:[]
+009800_000029:[]
+000952_000011:[]
+009161_000022:[]
+024732_000009:[]
+023178_000008:[]
+007234_000020:[]
+021542_000031:[]
+000356_000021:[]
+019381_000008:[]
+001989_000036:[]
+010154_000026:[]
+019765_000006:[]
+003815_000013:[]
+012879_000013:[]
+018275_000014:[]
+023191_000008:[]
+010886_000021:[]
+009970_000015:[]
+010179_000014:[]
+011936_000037:[1, 9, 12]
+006715_000039:[]
+002883_000012:[]
+017727_000020:[9, 16, 17]
+007797_000000:[]
+019091_000029:[]
+007710_000018:[13]
+014161_000012:[]
+024472_000017:[3, 14]
+007195_000015:[1, 3, 5, 17]
+020497_000001:[]
+017630_000039:[1]
+011403_000009:[2, 3, 6, 11, 17]
+018319_000006:[2, 12, 17]
+013939_000037:[11]
+014761_000008:[18]
+011081_000017:[]
+016261_000030:[]
+003583_000012:[]
+023386_000014:[]
+003900_000002:[]
+010161_000032:[]
+007712_000010:[8, 9]
+012369_000001:[11, 13]
+023201_000018:[]
+024706_000037:[15]
+008964_000018:[14]
+003439_000022:[]
+011046_000018:[1, 3, 8, 13, 18, 19]
+022460_000020:[]
+019599_000012:[0, 8, 9, 13]
+020244_000008:[1, 13]
+003781_000018:[]
+008034_000018:[]
+003283_000003:[16]
+000666_000027:[]
+006018_000009:[4]
+015573_000012:[]
+021660_000038:[]
+002139_000032:[2, 3, 5, 6, 12, 14, 15, 16, 18]
+007465_000001:[1, 12, 13]
+015684_000034:[]
+014360_000031:[]
+020903_000003:[2, 8, 15, 19]
+002862_000012:[]
+018247_000036:[5, 6]
+013191_000038:[]
+006056_000026:[8]
+021517_000034:[]
+003231_000016:[4, 11, 17]
+021237_000038:[11, 17]
+002962_000038:[]
+020644_000000:[5]
+004091_000020:[]
+010958_000025:[7]
+020525_000016:[]
+012001_000022:[13]
+024391_000024:[]
+013911_000037:[3, 10]
+004372_000032:[]
+015343_000006:[]
+000994_000027:[3, 12]
+018432_000028:[]
+001721_000012:[3, 7, 8, 11, 12]
+023944_000014:[2]
+002111_000034:[4, 5, 13, 14, 15, 16]
+017861_000015:[]
+008351_000019:[]
+001711_000011:[7, 12]
+015456_000038:[]
+004443_000010:[]
+019009_000016:[]
+019112_000000:[0]
+013076_000000:[]
+003835_000028:[]
+008215_000007:[]
+018671_000007:[18]
+015081_000000:[17]
+015189_000037:[11, 19]
+010499_000029:[]
+023370_000003:[17]
+018377_000037:[]
+024298_000027:[10]
+014622_000037:[]
+011166_000005:[]
+017912_000038:[]
+000951_000020:[7]
+019597_000006:[8, 11, 12]
+012365_000025:[]
+016253_000029:[]
+015052_000012:[]
+004058_000038:[]
+021131_000027:[2, 14]
+024697_000022:[]
+019550_000001:[]
+018727_000021:[0]
+002000_000033:[8, 11]
+000153_000020:[0, 5, 8, 11]
+008863_000023:[0, 2, 4, 7, 8, 11, 12, 14, 17]
+019750_000013:[]
+002842_000024:[3, 6, 11, 13, 16]
+004156_000026:[15]
+005377_000020:[]
+020208_000012:[]
+024039_000007:[]
+013151_000034:[]
+021834_000013:[]
+023158_000034:[]
+018076_000029:[4, 7, 10]
+003673_000036:[5, 7, 12, 15]
+006841_000033:[4, 11]
+008345_000002:[]
+006951_000036:[]
+017165_000039:[4, 5, 7, 11, 15, 19]
+005873_000020:[]
+018874_000015:[2]
+009721_000023:[8, 9]
+016865_000013:[]
+001592_000017:[14]
+020946_000007:[0, 5, 7, 9, 11, 13, 15]
+004374_000028:[]
+003732_000007:[]
+015054_000032:[]
+019526_000035:[]
+011924_000022:[4]
+001638_000013:[0, 5, 11, 12, 15]
+011158_000015:[1, 5, 19]
+013732_000014:[4]
+010916_000021:[]
+023768_000035:[13]
+024066_000028:[8, 10, 19]
+014279_000028:[]
+022637_000021:[]
+014990_000027:[]
+010123_000020:[5, 13]
+020533_000011:[2]
+013559_000030:[]
+014691_000017:[]
+006216_000007:[]
+003891_000001:[]
+002357_000025:[13]
+013166_000039:[6, 11]
+008902_000003:[6, 12, 17]
+023965_000017:[2, 5]
+013342_000038:[5]
+009567_000039:[16, 17]
+010404_000038:[]
+023045_000013:[]
+009341_000001:[1, 4, 8]
+001272_000035:[]
+004969_000026:[0, 10]
+013510_000026:[0, 1, 10, 13, 14]
+018706_000011:[]
+008731_000021:[]
+004083_000031:[]
+003062_000023:[]
+015320_000021:[]
+001493_000013:[3, 12, 18]
+013228_000022:[]
+004706_000006:[]
+022630_000020:[]
+004550_000031:[]
+014049_000037:[10]
+013808_000001:[]
+007556_000015:[2]
+021478_000026:[8]
+021476_000019:[]
+016487_000038:[10]
+002971_000020:[]
+020300_000015:[]
+017075_000000:[]
+004028_000016:[12]
+002285_000017:[]
+000980_000008:[]
+000332_000020:[]
+001909_000008:[]
+024812_000030:[]
+024696_000035:[]
+023037_000011:[]
+007633_000011:[]
+017551_000038:[]
+021552_000038:[1, 3, 16, 17]
+013537_000002:[]
+017923_000009:[19]
+007956_000007:[]
+024495_000031:[]
+024056_000014:[18]
+005933_000014:[]
+008101_000024:[]
+012250_000010:[]
+013409_000009:[3, 7, 10, 12, 18]
+018977_000029:[9, 11, 12]
+010558_000024:[]
+015858_000027:[18]
+019722_000031:[]
+001222_000003:[4, 9, 13, 15, 19]
+018604_000020:[]
+003791_000034:[4, 10, 16]
+008819_000037:[9]
+020847_000027:[]
+018269_000037:[]
+003004_000024:[13]
+023220_000030:[]
+017137_000035:[13]
+015771_000024:[]
+009999_000037:[15]
+020991_000025:[0, 6]
+005666_000027:[]
+022027_000000:[]
+011596_000002:[]
+019146_000009:[]
+020670_000016:[]
+016994_000034:[]
+024727_000000:[]
+000133_000024:[7]
+012941_000030:[]
+023822_000038:[]
+008692_000028:[]
+013171_000001:[]
+014593_000039:[5]
+019622_000003:[]
+002193_000035:[5, 14]
+018225_000015:[11]
+021509_000008:[]
+014567_000027:[]
+021047_000020:[]
+015814_000016:[]
+005508_000022:[11]
+022955_000020:[]
+024583_000005:[]
+018189_000019:[]
+014007_000016:[12, 17, 18]
+023992_000009:[15]
+000363_000015:[]
+021437_000023:[]
+018170_000010:[]
+009657_000013:[11]
+000320_000021:[]
+012552_000033:[]
+002145_000010:[]
+008216_000034:[2, 3, 4, 7, 9, 11, 16, 19]
+008986_000006:[]
+018868_000021:[7]
+007103_000019:[]
+017461_000026:[1]
+014066_000006:[]
+020144_000011:[6]
+004188_000003:[5, 9, 11]
+012459_000025:[4, 7, 9, 13]
+002746_000032:[]
+023222_000005:[2, 7, 8, 11]
+014598_000010:[0, 5, 6, 7, 11, 17]
+010435_000029:[0, 5, 8, 9, 14, 19]
+011056_000012:[]
+013701_000009:[3, 7]
+018745_000039:[]
+021433_000002:[]
+018226_000018:[0]
+016013_000032:[]
+006757_000032:[]
+009941_000017:[3, 14]
+021846_000033:[]
+020238_000032:[]
+011061_000033:[0]
+018016_000030:[]
+007294_000032:[]
+002091_000037:[]
+010664_000004:[3, 4, 11, 16]
+012343_000026:[]
+021103_000020:[2, 3, 6]
+020734_000016:[]
+013197_000019:[]
+010690_000002:[]
+002938_000017:[10]
+022182_000026:[14]
+024409_000013:[1, 17]
+011470_000027:[]
+019125_000016:[]
+016556_000022:[13]
+018223_000025:[]
+024023_000033:[]
+020101_000023:[10, 13, 15, 19]
+018562_000018:[]
+022224_000015:[18]
+020267_000020:[]
+020562_000039:[]
+015162_000021:[8]
+013826_000007:[1, 3]
+015220_000030:[1]
+013506_000017:[]
+022513_000017:[4]
+022899_000000:[]
+007929_000004:[]
+015097_000001:[]
+012955_000003:[]
+014711_000005:[2]
+010515_000008:[3, 7, 16]
+008830_000016:[]
+014134_000019:[]
+000767_000003:[]
+018727_000012:[]
+005639_000009:[18]
+018267_000038:[]
+010893_000023:[7]
+010968_000022:[]
+019495_000019:[]
+011197_000006:[]
+006652_000020:[]
+017096_000003:[4, 5, 7, 10, 13, 16, 18, 19]
+017266_000008:[]
+024112_000038:[3]
+010795_000030:[]
+019548_000006:[]
+015220_000001:[15]
+017817_000025:[8, 12, 14]
+015381_000002:[7]
+015617_000016:[]
+008413_000012:[]
+009792_000025:[]
+001040_000010:[]
+007895_000030:[]
+000583_000034:[]
+004763_000017:[]
+001551_000019:[8, 10, 17]
+005258_000030:[2]
+008065_000024:[2, 17, 19]
+011045_000024:[9, 12]
+021680_000037:[]
+008050_000017:[]
+013376_000033:[]
+002600_000007:[]
+006757_000011:[0, 16]
+000412_000034:[]
+016101_000001:[]
+010405_000018:[]
+020681_000034:[]
+016402_000011:[]
+010210_000024:[]
+022225_000037:[]
+001464_000013:[0, 9]
+011693_000032:[]
+005122_000022:[5]
+022999_000025:[]
+019175_000018:[]
+024008_000038:[2, 10]
+013069_000012:[]
+017850_000038:[2, 7, 14]
+007220_000025:[]
+011668_000032:[]
+009524_000013:[]
+024032_000025:[19]
+000621_000014:[]
+010730_000034:[]
+011964_000023:[]
+000692_000038:[0, 16]
+017922_000011:[]
+001867_000037:[]
+005598_000000:[6, 10]
+004158_000014:[0, 6, 8, 11, 12, 15]
+022583_000006:[0, 2, 6]
+010737_000006:[2, 5, 15]
+004190_000007:[2]
+021891_000021:[10]
+000882_000010:[]
+001146_000018:[2, 11]
+008797_000033:[3, 4, 7, 18]
+011541_000036:[]
+001690_000010:[]
+001163_000034:[]
+024123_000031:[]
+014234_000005:[17]
+015868_000007:[10, 13, 14, 16, 19]
+003535_000033:[2]
+006687_000004:[3, 5, 8, 10, 12, 13, 15]
+000957_000039:[0, 5]
+002973_000035:[0, 6, 9]
+014026_000011:[]
+022442_000024:[]
+006359_000012:[]
+024484_000004:[2]
+020742_000030:[]
+003834_000007:[]
+018574_000037:[]
+017374_000010:[]
+003213_000013:[]
+008002_000014:[0, 1, 6, 15]
+007223_000022:[8]
+019506_000005:[14, 15]
+017294_000017:[4, 18]
+002867_000003:[0, 15]
+013522_000021:[8, 17]
+006481_000033:[11, 14]
+009321_000025:[]
+019580_000022:[7, 8]
+009493_000020:[]
+019832_000032:[]
+002239_000028:[12]
+007643_000032:[]
+022630_000016:[5]
+006319_000024:[]
+014369_000035:[]
+000167_000027:[14]
+010187_000036:[17]
+016595_000029:[1, 4, 13, 16]
+019075_000019:[]
+011475_000005:[]
+008253_000005:[12]
+015338_000032:[3]
+003101_000018:[2, 10]
+010394_000029:[]
+017861_000037:[2, 13, 15]
+016929_000029:[16]
+001237_000037:[]
+020447_000006:[]
+000509_000003:[15]
+009471_000009:[14]
+014261_000012:[]
+001152_000038:[]
+019087_000006:[]
+000981_000017:[7, 14]
+016885_000002:[]
+003996_000021:[2, 4, 6, 11, 15, 18, 19]
+012769_000013:[0, 1, 2, 3, 5, 11, 12, 16, 18]
+011109_000032:[4]
+002841_000002:[]
+005251_000016:[]
+024954_000004:[]
+008288_000012:[]
+013203_000003:[5]
+014824_000010:[1, 17, 18]
+003331_000012:[]
+002954_000008:[13]
+013484_000010:[2, 4, 6, 7, 8, 9, 12]
+016076_000010:[0]
+017172_000003:[]
+017568_000035:[14]
+007981_000004:[]
+004209_000007:[18]
+015098_000002:[]
+016306_000021:[]
+001980_000020:[12, 19]
+024337_000027:[]
+008918_000038:[]
+007726_000005:[]
+012075_000023:[]
+004597_000020:[]
+016829_000009:[0, 11]
+021138_000005:[]
+017416_000008:[]
+005685_000000:[9, 10]
+008326_000038:[]
+017790_000003:[]
+023856_000028:[]
+003610_000034:[]
+017379_000011:[]
+001817_000011:[0]
+008283_000032:[1, 14]
+003508_000003:[17, 18]
+015773_000013:[]
+009651_000039:[]
+018627_000032:[]
+021283_000009:[]
+023680_000020:[]
+003553_000023:[1, 4]
+007550_000027:[]
+020049_000003:[]
+021090_000025:[9]
+005390_000038:[]
+012283_000024:[5, 7, 17]
+015487_000000:[5]
+011916_000021:[]
+003600_000006:[0, 12, 14, 19]
+015887_000035:[]
+017642_000017:[]
+002868_000028:[1, 6]
+015357_000005:[8]
+024154_000027:[]
+014523_000007:[0, 3]
+008087_000027:[6]
+014203_000014:[7]
+009325_000036:[4, 5, 8, 14, 18, 19]
+008810_000027:[]
+022954_000010:[10]
+006131_000001:[]
+010464_000023:[]
+005823_000003:[3]
+023739_000033:[1]
+010161_000009:[]
+008302_000019:[]
+020720_000008:[6]
+014044_000039:[19]
+014730_000014:[18]
+004541_000011:[]
+024495_000013:[]
+005891_000025:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000343_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000343_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..55a2e7cfe8a0d35c78e9c0d9cd52a6113cc8b191
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000343_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+017600_000032:[1, 3]
+003893_000003:[]
+005443_000016:[]
+003390_000039:[16]
+002036_000016:[7, 16]
+018880_000030:[]
+018093_000011:[]
+003750_000028:[]
+007697_000035:[]
+005782_000027:[9]
+003187_000028:[8]
+024335_000027:[]
+002695_000012:[12]
+015453_000023:[]
+022719_000019:[10]
+004596_000010:[]
+022278_000007:[17]
+018246_000033:[]
+010503_000006:[6]
+023839_000025:[]
+013939_000032:[]
+022532_000002:[]
+022129_000020:[]
+007218_000035:[8]
+015762_000000:[]
+004182_000036:[6, 7, 8, 11, 12, 16, 17, 19]
+020928_000037:[0, 16, 18]
+022561_000018:[1, 7, 19]
+024344_000019:[]
+009629_000027:[8]
+011396_000037:[9, 14]
+021485_000009:[9]
+012784_000002:[]
+006151_000002:[]
+022429_000003:[]
+002217_000023:[]
+003847_000027:[]
+008874_000022:[]
+015651_000014:[19]
+016811_000002:[1, 12]
+018526_000006:[]
+005643_000013:[]
+020849_000008:[]
+022628_000001:[1, 2]
+006566_000031:[]
+002289_000034:[16]
+007803_000032:[]
+022279_000019:[3]
+020112_000016:[]
+022790_000027:[3, 6, 8, 10, 13, 14, 15, 19]
+024368_000008:[]
+023082_000006:[]
+023487_000018:[]
+021427_000023:[]
+020322_000032:[]
+023604_000037:[]
+023460_000000:[]
+023617_000004:[]
+006871_000032:[]
+013451_000015:[]
+011643_000017:[]
+013088_000023:[2, 11]
+012974_000016:[1, 6, 12, 13, 16]
+016629_000025:[]
+005642_000011:[]
+023583_000012:[]
+019552_000000:[]
+022645_000022:[0]
+013043_000008:[14, 19]
+010427_000006:[10]
+019842_000033:[]
+014704_000039:[4]
+007732_000007:[9, 18]
+009333_000023:[8, 9, 10]
+000923_000001:[]
+007690_000016:[0, 8, 14]
+001357_000024:[5, 6, 7]
+012491_000035:[4]
+017782_000014:[]
+003700_000000:[10, 16]
+021915_000015:[]
+010682_000024:[8, 13, 19]
+021708_000032:[0]
+005328_000010:[16]
+012037_000006:[]
+024339_000024:[8]
+009923_000034:[]
+004110_000015:[]
+006029_000032:[4]
+007477_000020:[]
+013134_000038:[]
+013925_000021:[11]
+021509_000035:[]
+023955_000019:[10]
+015049_000019:[4, 6, 16]
+004535_000039:[]
+011700_000007:[4, 7]
+017699_000024:[12]
+022455_000015:[]
+024110_000014:[]
+020083_000016:[2, 11]
+016795_000038:[]
+014934_000004:[]
+007861_000004:[12]
+003367_000008:[]
+007594_000027:[]
+010882_000005:[]
+006262_000012:[2, 4, 12, 13, 14, 15]
+021736_000009:[14]
+015702_000037:[]
+021554_000016:[12]
+015725_000034:[2, 12, 13, 18]
+003299_000003:[8]
+024257_000014:[]
+019035_000010:[]
+018090_000037:[3, 6, 16]
+004892_000037:[7]
+014603_000022:[]
+014404_000018:[]
+007487_000008:[]
+017463_000035:[]
+012731_000009:[10, 11, 13]
+014285_000014:[]
+021448_000001:[0]
+018728_000002:[]
+001447_000010:[]
+024967_000016:[0, 9, 11, 16, 17]
+023414_000008:[]
+007000_000011:[6, 11, 13, 16]
+020733_000012:[]
+003442_000012:[9, 11, 15, 18]
+001924_000010:[]
+009979_000025:[14]
+016148_000026:[6]
+020642_000015:[0, 1, 3, 4, 6, 9, 10, 15, 16, 18]
+017222_000034:[]
+004838_000016:[19]
+023311_000036:[]
+003658_000034:[16, 19]
+021646_000006:[2]
+000300_000017:[]
+020657_000038:[]
+003575_000031:[]
+023649_000006:[]
+008579_000007:[0, 1, 5, 7, 8, 9, 10]
+013843_000002:[3, 15]
+004261_000012:[]
+013996_000039:[13]
+017211_000011:[]
+011578_000039:[]
+021881_000019:[]
+019862_000038:[]
+019212_000024:[]
+021779_000018:[2, 14]
+009004_000011:[13, 17]
+021144_000038:[]
+006173_000034:[]
+013343_000000:[]
+020209_000020:[]
+023464_000012:[3, 6]
+008807_000037:[]
+008116_000001:[5, 17]
+013315_000015:[15]
+015593_000028:[]
+006420_000036:[12, 15, 19]
+022981_000012:[1]
+000485_000008:[]
+003389_000025:[8]
+017706_000034:[]
+003814_000002:[15]
+013324_000022:[19]
+023339_000024:[]
+012568_000020:[19]
+022277_000008:[2, 12]
+000376_000038:[6]
+020321_000013:[7, 9]
+018408_000013:[5, 6, 17]
+020265_000033:[2, 3, 8]
+008689_000024:[]
+011146_000022:[]
+022070_000033:[11]
+000437_000005:[13]
+008168_000016:[13, 18]
+006818_000024:[]
+017225_000030:[]
+006232_000039:[]
+018171_000028:[4, 14]
+004694_000010:[]
+000003_000006:[]
+002270_000029:[14]
+011106_000029:[]
+011337_000004:[7, 10, 11, 14, 18]
+014912_000000:[7, 9, 12, 18]
+024265_000008:[]
+004375_000017:[]
+009512_000039:[]
+014168_000033:[]
+021290_000004:[7]
+009919_000034:[]
+015645_000005:[13]
+003015_000021:[]
+020614_000017:[0, 6, 11, 13, 14, 15, 16]
+004671_000013:[]
+018371_000015:[]
+015648_000007:[]
+012108_000026:[17]
+000588_000028:[0, 1, 2, 3, 5, 11, 13, 15, 16, 17, 19]
+020107_000027:[]
+023240_000024:[]
+018689_000005:[13]
+002856_000009:[]
+020861_000032:[5, 17, 19]
+008050_000003:[]
+006409_000039:[0, 8, 9, 13]
+019062_000002:[]
+004813_000036:[]
+006816_000039:[13]
+018834_000024:[]
+002500_000027:[9]
+015195_000013:[5]
+024016_000015:[]
+019768_000032:[]
+024594_000024:[]
+014639_000028:[]
+005341_000006:[12]
+023060_000009:[]
+022073_000008:[1, 6, 7, 11]
+012453_000004:[]
+012324_000030:[5, 11]
+010785_000008:[10]
+017829_000014:[]
+000946_000029:[]
+003977_000039:[]
+024520_000024:[]
+010375_000012:[]
+001168_000034:[]
+023127_000034:[11, 12, 16]
+011316_000039:[]
+010435_000023:[0, 5, 8, 14]
+018844_000018:[1, 8, 10]
+008266_000035:[6, 9, 10]
+023648_000032:[]
+006248_000003:[]
+024106_000008:[8]
+007175_000013:[5, 19]
+006126_000022:[]
+023979_000037:[]
+003661_000034:[]
+002119_000014:[]
+007735_000013:[19]
+014445_000002:[4, 5, 13]
+007197_000024:[19]
+019057_000036:[]
+001790_000035:[3, 13, 15, 18]
+022566_000012:[]
+021748_000021:[]
+016400_000031:[]
+011015_000013:[]
+022749_000032:[]
+000862_000008:[]
+008739_000032:[]
+008783_000017:[]
+022757_000013:[9]
+020649_000036:[6]
+021110_000005:[8]
+024490_000019:[1, 6, 7, 8, 12]
+000668_000011:[]
+013644_000015:[]
+008403_000001:[]
+010609_000032:[8]
+023763_000002:[]
+017626_000029:[]
+006922_000028:[2, 11]
+000417_000033:[1, 2, 5, 11, 12, 14, 15, 19]
+006827_000015:[]
+004918_000019:[]
+007625_000026:[]
+003650_000036:[]
+004656_000039:[]
+009168_000009:[1, 4]
+015386_000038:[6, 12]
+016485_000021:[]
+007468_000037:[]
+006789_000005:[1, 13]
+005520_000019:[]
+005007_000024:[]
+002202_000037:[19]
+019632_000012:[5]
+009661_000018:[15]
+002526_000009:[]
+005387_000007:[7, 9, 10, 14, 16]
+022981_000013:[1, 2, 14, 15]
+013829_000022:[]
+014885_000009:[9]
+018964_000011:[]
+009873_000019:[]
+016200_000008:[]
+013278_000006:[]
+020346_000034:[]
+011214_000025:[4, 11, 14, 17]
+006815_000035:[]
+024265_000039:[9]
+013285_000030:[]
+024614_000033:[]
+011100_000019:[9, 16]
+019495_000016:[]
+012786_000014:[10, 16]
+000388_000001:[]
+017675_000038:[]
+017892_000035:[]
+003127_000030:[13]
+017432_000028:[]
+023365_000013:[12]
+002384_000017:[]
+007051_000025:[2, 12]
+021468_000017:[]
+015744_000039:[16]
+010652_000007:[5]
+021306_000035:[]
+019854_000011:[]
+018808_000012:[12]
+015870_000018:[]
+000230_000007:[]
+023688_000039:[4, 10, 13]
+009072_000010:[9]
+005663_000038:[]
+016761_000010:[]
+009849_000039:[]
+016461_000013:[3, 4, 6, 14]
+000010_000025:[]
+004468_000018:[]
+002555_000005:[5]
+003656_000013:[]
+005856_000035:[]
+014633_000017:[]
+022528_000037:[]
+011095_000000:[]
+010370_000027:[]
+017869_000039:[]
+015839_000014:[5]
+013917_000020:[]
+019844_000021:[]
+006316_000029:[3, 7]
+019920_000000:[]
+011630_000031:[]
+002880_000026:[]
+005556_000003:[4, 5, 9]
+019231_000030:[3, 4]
+008226_000009:[]
+021116_000027:[]
+016170_000022:[0, 8, 9, 10, 11, 13, 18]
+021611_000016:[19]
+019774_000001:[0, 4]
+015134_000010:[8, 13]
+024191_000028:[6]
+012023_000017:[]
+024241_000015:[]
+014653_000028:[]
+023215_000030:[]
+024202_000004:[5, 9, 10]
+021198_000020:[3]
+017416_000039:[16]
+003190_000001:[6, 15]
+024693_000038:[]
+021985_000007:[]
+020360_000036:[12]
+023660_000033:[]
+004635_000032:[]
+024111_000020:[]
+022326_000011:[]
+000517_000022:[3]
+018440_000006:[9]
+011668_000019:[]
+018136_000002:[10]
+005595_000023:[]
+015654_000017:[14, 16]
+003780_000039:[]
+000085_000031:[]
+023855_000003:[]
+013952_000039:[19]
+019247_000022:[]
+003550_000032:[]
+010225_000008:[]
+011928_000027:[15]
+015365_000018:[]
+003112_000018:[]
+014531_000022:[]
+022750_000012:[]
+016399_000026:[16]
+017676_000019:[]
+014427_000005:[]
+002062_000011:[8]
+019667_000030:[]
+017404_000035:[1]
+017234_000014:[]
+019851_000032:[6]
+011879_000018:[]
+021424_000007:[]
+002651_000033:[7]
+013183_000014:[]
+020158_000032:[]
+000369_000029:[10]
+005429_000020:[7, 9, 13]
+004760_000026:[18]
+003162_000027:[]
+018677_000003:[]
+022366_000026:[0]
+020754_000028:[13]
+012093_000034:[]
+004562_000014:[0, 9, 17]
+005483_000017:[7]
+014188_000022:[7]
+001231_000007:[]
+000547_000032:[]
+024244_000031:[]
+024606_000036:[]
+001488_000011:[9, 12]
+009537_000001:[12, 19]
+013446_000010:[]
+021072_000002:[]
+019685_000027:[2]
+010788_000038:[]
+010807_000019:[]
+002287_000031:[]
+007481_000005:[]
+014446_000011:[]
+004827_000017:[]
+019601_000031:[14]
+001731_000000:[]
+004750_000018:[]
+022960_000028:[7, 8, 9]
+000044_000000:[]
+006802_000038:[14]
+005801_000037:[]
+009663_000015:[]
+011073_000018:[]
+004958_000029:[]
+021067_000024:[]
+013643_000022:[6]
+018960_000007:[3, 14]
+020254_000004:[6]
+016614_000006:[13]
+011626_000037:[0]
+004528_000016:[]
+002919_000029:[]
+004968_000008:[14]
+019808_000001:[]
+003301_000002:[]
+020046_000001:[13]
+012884_000003:[6]
+024804_000010:[7]
+016694_000012:[]
+021499_000011:[]
+024590_000036:[]
+009842_000009:[]
+006943_000030:[7]
+020083_000026:[3]
+012800_000015:[]
+004056_000015:[11]
+016765_000019:[2]
+020779_000036:[4, 7, 11, 18]
+009786_000011:[]
+004755_000001:[4, 17]
+024162_000019:[]
+022625_000027:[]
+014309_000036:[6, 16]
+018457_000008:[]
+016034_000015:[5, 9]
+014136_000003:[4]
+014171_000023:[5, 9, 12]
+010216_000035:[5]
+010388_000021:[]
+013530_000023:[]
+010796_000016:[0, 6, 11]
+019161_000011:[]
+001393_000014:[]
+006632_000027:[]
+021886_000016:[4, 5, 10, 17]
+018776_000036:[]
+012578_000014:[]
+003487_000006:[6]
+016548_000032:[0, 2, 4, 8, 18]
+008429_000034:[]
+017682_000032:[9]
+024110_000035:[3, 8, 13]
+012971_000005:[]
+023349_000024:[]
+000857_000013:[4, 5, 8, 11, 12, 13, 14, 16, 18]
+019728_000023:[6, 8, 16]
+023187_000033:[]
+014547_000033:[19]
+023319_000015:[8]
+000971_000027:[]
+016374_000019:[]
+015252_000036:[]
+010904_000034:[2, 6, 8, 13]
+021456_000021:[]
+007392_000035:[1, 5]
+006173_000003:[8]
+020021_000020:[]
+010513_000014:[]
+016279_000004:[]
+023594_000037:[]
+020661_000002:[10]
+022495_000003:[15]
+015776_000017:[10]
+016157_000035:[]
+000842_000008:[]
+013654_000003:[]
+019393_000003:[4]
+024364_000031:[]
+003612_000002:[]
+022597_000019:[]
+008888_000037:[]
+007321_000004:[1, 13, 14, 15]
+008187_000039:[]
+001759_000008:[]
+013595_000021:[]
+015326_000001:[]
+014996_000037:[]
+011219_000014:[3]
+000532_000021:[]
+024259_000003:[]
+013099_000013:[]
+002707_000022:[1]
+010409_000005:[4, 10, 11, 18, 19]
+008214_000002:[5, 6, 11, 19]
+012914_000033:[8]
+019689_000023:[5, 11]
+004050_000023:[]
+001148_000014:[0, 1, 12, 13, 17, 19]
+009564_000024:[]
+021975_000019:[0]
+022171_000033:[]
+001964_000014:[]
+003417_000031:[6, 8]
+014749_000010:[]
+023681_000036:[15]
+024980_000010:[]
+012368_000031:[8, 12, 17]
+011731_000026:[16]
+015204_000022:[]
+013363_000001:[]
+020465_000036:[]
+010881_000037:[]
+003380_000010:[]
+019171_000030:[]
+007100_000026:[18]
+020202_000020:[]
+011295_000015:[]
+004394_000032:[]
+003594_000007:[18]
+005695_000026:[2]
+010503_000023:[1]
+010099_000021:[2]
+014614_000037:[14]
+008831_000004:[]
+017150_000007:[0, 14, 16]
+000887_000014:[3]
+001837_000029:[3, 9, 14, 15]
+013749_000038:[0, 7, 16, 19]
+011168_000013:[5]
+004560_000039:[]
+006949_000026:[]
+004952_000037:[3, 5]
+020031_000002:[4, 9, 10, 12, 13, 18]
+002400_000000:[]
+004458_000020:[]
+005918_000014:[7, 10]
+005468_000036:[]
+007795_000031:[]
+018559_000031:[]
+011195_000022:[1, 7, 11]
+016068_000001:[17]
+010271_000031:[]
+011958_000018:[17]
+001501_000035:[15]
+013753_000004:[]
+017246_000013:[6, 13]
+009541_000035:[]
+017801_000011:[]
+006770_000011:[4]
+008197_000006:[]
+008460_000023:[]
+015341_000016:[]
+015780_000032:[]
+002523_000020:[]
+007425_000021:[]
+004168_000029:[2, 9]
+009094_000031:[10]
+000294_000031:[1, 4, 11]
+002492_000035:[]
+017586_000000:[12]
+024398_000013:[2]
+021081_000015:[10]
+010507_000026:[]
+021308_000038:[]
+015376_000017:[4, 6, 10]
+011011_000004:[11]
+019070_000013:[]
+016156_000005:[]
+015514_000011:[8]
+011481_000023:[]
+024566_000001:[5, 7, 18]
+012142_000002:[2, 4, 7, 17, 18, 19]
+018922_000035:[6]
+015413_000023:[14]
+005717_000001:[1]
+015536_000036:[]
+019813_000002:[17]
+013731_000031:[12, 19]
+001641_000030:[]
+017694_000006:[]
+008081_000014:[]
+024974_000014:[]
+008845_000000:[3, 13]
+004902_000018:[3]
+010325_000027:[]
+017340_000000:[13, 14, 16]
+005478_000023:[19]
+018798_000020:[]
+005117_000013:[]
+011592_000025:[15]
+016221_000035:[]
+008603_000029:[]
+002554_000021:[]
+010563_000034:[7]
+001031_000007:[10]
+014349_000005:[]
+016433_000019:[2, 4, 5, 6, 13, 14, 18]
+017985_000009:[4]
+003520_000017:[]
+002613_000021:[]
+010589_000018:[]
+021378_000015:[]
+022858_000031:[]
+006662_000039:[]
+003997_000023:[]
+017440_000014:[2, 6]
+006172_000021:[]
+019563_000039:[2]
+021356_000017:[15, 19]
+003680_000011:[1, 4, 10]
+021014_000028:[8, 11]
+001950_000026:[]
+008517_000028:[]
+012739_000014:[16, 18]
+014150_000016:[]
+002900_000016:[]
+005120_000011:[7]
+002871_000035:[]
+008226_000037:[]
+021417_000022:[]
+012315_000020:[]
+005008_000011:[16]
+023914_000005:[]
+019232_000026:[]
+004703_000033:[]
+005878_000035:[17]
+021658_000005:[]
+018698_000007:[]
+011737_000020:[]
+022378_000027:[10, 15, 18]
+013007_000035:[2, 13]
+009577_000003:[14]
+018805_000014:[]
+012650_000007:[]
+020155_000010:[]
+005594_000000:[]
+003877_000003:[]
+024313_000038:[]
+003786_000029:[]
+024972_000012:[]
+023119_000032:[]
+004045_000031:[5]
+017363_000033:[9]
+020933_000025:[2, 14]
+015812_000022:[17]
+007728_000005:[]
+004257_000029:[19]
+002234_000022:[]
+021213_000022:[]
+005068_000036:[]
+017427_000038:[]
+006880_000012:[11]
+000783_000020:[3, 5, 9, 11]
+015271_000028:[6, 8, 19]
+001403_000007:[]
+007043_000039:[]
+024558_000038:[]
+014211_000021:[5, 9, 10]
+011147_000029:[0]
+011771_000027:[7]
+020323_000007:[7, 12, 14, 17]
+018223_000028:[7]
+003421_000013:[6]
+021470_000028:[0]
+023943_000030:[]
+009620_000008:[]
+024463_000036:[]
+000444_000003:[4, 17]
+000904_000008:[5]
+020852_000033:[14]
+000034_000032:[]
+010008_000014:[]
+014817_000017:[]
+018010_000026:[]
+001157_000035:[3, 4, 5, 16]
+008188_000004:[1, 7, 8, 11]
+006977_000002:[17]
+011301_000022:[]
+001456_000016:[3, 6, 8, 13, 19]
+008840_000008:[]
+007593_000013:[]
+014668_000007:[]
+024743_000031:[6, 10]
+005296_000038:[9]
+022441_000039:[6, 7, 10, 11]
+012966_000035:[]
+006949_000021:[]
+020080_000000:[]
+012093_000010:[]
+001554_000019:[]
+012708_000033:[]
+005634_000022:[17]
+011566_000002:[]
+000071_000024:[]
+005263_000023:[]
+014597_000034:[1, 6, 7, 9, 13, 15, 17]
+008083_000007:[]
+002676_000002:[]
+003606_000026:[3, 4, 5, 8, 13, 14, 15, 18]
+008867_000026:[]
+019300_000004:[]
+023644_000019:[6, 12, 15]
+004669_000013:[]
+003288_000003:[1, 8, 14]
+006022_000005:[0, 3, 17, 19]
+013679_000029:[1, 6]
+022595_000036:[10, 11, 13, 14]
+023787_000010:[0, 7, 15]
+002280_000007:[6]
+000431_000013:[]
+014643_000028:[13]
+007295_000011:[]
+013128_000032:[0, 3, 10, 14, 15]
+019858_000002:[1, 9]
+023534_000018:[7]
+000273_000000:[0, 3, 4, 6, 14, 17]
+011109_000035:[9]
+002760_000017:[]
+015344_000005:[12]
+010989_000010:[]
+007333_000004:[]
+024380_000008:[1]
+008938_000029:[13]
+014834_000038:[2, 7]
+000686_000028:[]
+006366_000029:[]
+021335_000010:[]
+014356_000009:[2, 15, 17]
+002601_000026:[]
+022494_000039:[]
+023069_000019:[]
+000174_000019:[0]
+007179_000024:[11, 15]
+011149_000021:[]
+010655_000024:[2, 10]
+020418_000027:[]
+004672_000010:[]
+008019_000018:[]
+008230_000011:[]
+004050_000003:[2]
+008556_000005:[9]
+011754_000017:[]
+010393_000000:[5, 6]
+000955_000016:[]
+005032_000035:[0, 2, 10, 12]
+009700_000020:[12]
+021829_000022:[]
+008090_000018:[15]
+004431_000019:[]
+020828_000035:[8, 16, 17]
+004595_000034:[0, 10, 13, 16]
+020738_000027:[]
+002313_000003:[]
+003680_000030:[]
+014289_000032:[0, 2, 5, 7]
+005667_000016:[]
+009526_000038:[]
+017054_000036:[1, 7, 11, 13, 18]
+000277_000011:[17, 18]
+024995_000001:[6]
+007604_000027:[]
+015583_000036:[]
+017490_000026:[10]
+015382_000006:[]
+024858_000006:[19]
+024288_000033:[8, 19]
+024044_000006:[10, 17]
+006550_000005:[]
+006908_000015:[]
+016155_000039:[5, 12]
+016331_000001:[9, 18]
+014064_000012:[]
+012849_000015:[8]
+024528_000021:[]
+021636_000035:[6]
+021425_000010:[]
+015060_000008:[]
+022069_000013:[]
+024484_000025:[]
+005306_000009:[8]
+005599_000016:[]
+017624_000000:[5, 6, 10, 11, 19]
+005012_000021:[]
+007512_000008:[]
+007534_000007:[]
+005972_000025:[]
+004320_000005:[2, 7, 8, 9, 10, 18]
+023577_000002:[]
+005201_000023:[]
+013800_000015:[]
+021307_000037:[]
+020586_000004:[]
+016413_000016:[]
+022649_000009:[]
+024142_000039:[0, 1, 4]
+000436_000030:[]
+006654_000021:[]
+016947_000026:[]
+021986_000013:[]
+020150_000008:[3]
+005089_000030:[]
+018339_000038:[1, 13]
+020275_000025:[15]
+023842_000001:[]
+005737_000033:[]
+002340_000023:[]
+021126_000031:[1]
+013414_000026:[]
+009432_000003:[]
+001925_000028:[]
+016341_000035:[5, 6, 7, 11]
+003533_000019:[17]
+022534_000007:[]
+000196_000024:[]
+020627_000025:[]
+023536_000001:[]
+024231_000033:[]
+000954_000003:[17]
+008441_000027:[]
+001753_000021:[]
+011384_000033:[]
+007586_000025:[1]
+002240_000039:[]
+020077_000001:[7]
+011515_000035:[2, 13]
+005095_000029:[11, 18]
+003356_000001:[]
+013959_000024:[14]
+007704_000026:[9]
+000042_000024:[]
+010762_000030:[17]
+000966_000034:[19]
+006764_000027:[]
+007746_000016:[1, 4]
+022358_000019:[]
+007301_000037:[]
+016122_000009:[0]
+002704_000037:[]
+014488_000032:[]
+020443_000033:[]
+010319_000034:[15]
+016349_000028:[2, 8, 15]
+023005_000001:[]
+020509_000009:[]
+005300_000035:[]
+019256_000011:[]
+019257_000022:[]
+024931_000017:[]
+006928_000014:[]
+019388_000033:[]
+011249_000033:[]
+012102_000032:[7]
+001070_000020:[]
+004150_000035:[6]
+003454_000021:[14]
+002039_000032:[]
+018644_000012:[]
+014832_000026:[]
+017618_000010:[8]
+021104_000038:[]
+019977_000023:[11]
+009560_000002:[]
+024181_000007:[1, 10, 11, 19]
+020751_000031:[8]
+008250_000011:[]
+021082_000025:[]
+022616_000023:[17]
+008291_000026:[4, 5, 13]
+013139_000016:[7]
+015607_000024:[]
+002845_000006:[]
+024933_000000:[3]
+023094_000033:[]
+013675_000012:[]
+024139_000026:[3, 9]
+018325_000009:[]
+014152_000031:[]
+017622_000017:[2, 4]
+001688_000033:[5]
+016674_000001:[]
+022175_000002:[]
+014210_000008:[0, 12]
+022672_000002:[]
+023475_000000:[]
+018914_000011:[1, 3]
+020230_000018:[]
+020300_000005:[]
+011809_000003:[4, 5, 9]
+012767_000021:[3]
+009946_000015:[4, 14]
+019340_000033:[]
+015793_000027:[1, 8]
+006180_000039:[6]
+010639_000034:[4]
+007055_000009:[19]
+004114_000008:[]
+012808_000028:[0, 2, 17, 19]
+015048_000025:[]
+006753_000004:[8, 12]
+017919_000031:[]
+007646_000017:[]
+002405_000031:[9]
+013682_000014:[]
+021566_000016:[]
+014236_000007:[18]
+020553_000026:[]
+004169_000011:[]
+023872_000003:[]
+012688_000026:[1]
+019057_000028:[1, 3, 9]
+002458_000036:[3, 6, 9]
+019498_000028:[]
+009833_000036:[]
+001730_000039:[]
+016961_000032:[]
+007683_000028:[]
+003716_000004:[]
+004056_000022:[11]
+014591_000024:[]
+016459_000021:[]
+020790_000024:[15]
+007308_000034:[5, 12, 13]
+010757_000035:[]
+009803_000023:[0, 3]
+005117_000004:[]
+000307_000000:[1]
+012804_000000:[]
+016192_000023:[2, 4, 19]
+000559_000021:[0]
+000703_000029:[]
+022300_000026:[18]
+006058_000030:[9]
+013086_000002:[]
+008318_000009:[1]
+023707_000031:[6, 8, 17]
+002463_000027:[]
+024257_000003:[12, 13, 16]
+008062_000015:[]
+017311_000026:[]
+018528_000006:[1, 4, 11]
+008849_000001:[]
+007527_000003:[]
+024406_000003:[]
+021232_000001:[]
+022883_000016:[]
+015638_000017:[16]
+010756_000013:[]
+017662_000027:[]
+007916_000031:[]
+002920_000012:[]
+013355_000018:[]
+010551_000031:[4, 7, 11, 12, 13, 18]
+021110_000035:[7, 8, 12, 17, 19]
+002314_000021:[]
+020657_000028:[]
+013708_000009:[1, 3]
+015884_000007:[15, 16]
+008762_000031:[]
+018112_000011:[2]
+024947_000005:[3]
+020948_000027:[]
+004406_000032:[]
+010070_000032:[1]
+009122_000018:[0, 2, 4, 9, 10, 11, 12, 14, 15, 18, 19]
+013175_000015:[]
+003100_000006:[]
+002749_000039:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000359_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000359_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dc4b70da07013e1f709e70ae5b9c57f89b4f5d14
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000359_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+019991_000010:[]
+005941_000016:[]
+003964_000006:[]
+023705_000038:[]
+016813_000017:[8]
+007138_000022:[2, 8, 9]
+020408_000017:[6]
+020599_000004:[17]
+021738_000003:[]
+012244_000016:[]
+018793_000007:[2, 5, 16, 17]
+011155_000005:[]
+004482_000018:[]
+021415_000015:[]
+006731_000012:[7, 14]
+011021_000036:[]
+010183_000019:[0, 8, 10, 14]
+023070_000010:[6, 18]
+014353_000007:[2, 7, 15]
+016149_000038:[]
+015589_000011:[1, 3, 12]
+007398_000039:[0, 11, 14, 15]
+001646_000039:[16]
+023285_000005:[6, 14]
+024234_000007:[]
+022403_000028:[]
+014951_000031:[]
+004394_000027:[10]
+010548_000013:[8]
+005619_000002:[1]
+022340_000039:[16]
+016107_000004:[]
+013621_000017:[3, 6, 14, 16]
+019229_000013:[]
+013027_000002:[]
+016435_000035:[]
+014642_000000:[]
+008456_000000:[7]
+017227_000038:[5]
+022849_000020:[]
+004339_000006:[]
+011682_000035:[]
+015281_000022:[12]
+007946_000023:[3, 13]
+008416_000034:[16]
+011335_000029:[16]
+021797_000022:[]
+001405_000024:[]
+008140_000022:[2]
+021428_000034:[16, 17]
+015690_000004:[18]
+014916_000009:[]
+014434_000028:[]
+023806_000002:[11]
+018733_000023:[12, 16]
+024014_000027:[]
+019265_000021:[5]
+010272_000015:[]
+012921_000010:[]
+000263_000021:[0, 5, 17, 18]
+018747_000011:[]
+009428_000007:[17]
+009624_000019:[7]
+016547_000026:[]
+006728_000006:[]
+000045_000012:[]
+014953_000012:[7, 9, 10, 18]
+006778_000015:[]
+011869_000019:[]
+009477_000018:[]
+024210_000024:[]
+005296_000008:[]
+023785_000008:[3, 4, 16]
+000261_000036:[]
+016978_000039:[5]
+020996_000012:[]
+022093_000011:[]
+007209_000017:[]
+000356_000013:[11]
+000083_000024:[5, 6, 8, 9, 10, 18]
+001364_000006:[19]
+019459_000025:[0, 4]
+018608_000010:[13]
+010379_000012:[]
+005553_000027:[]
+018705_000024:[]
+001464_000007:[0]
+019755_000034:[15]
+002128_000002:[13]
+006678_000038:[0]
+000018_000000:[]
+006827_000008:[2]
+001789_000022:[]
+021894_000025:[0]
+007758_000030:[2, 3]
+007633_000010:[]
+001435_000017:[2, 8, 11]
+000335_000022:[]
+013907_000010:[]
+022638_000007:[]
+009586_000016:[]
+003164_000013:[4, 11, 17]
+023616_000019:[]
+004994_000010:[0, 4, 5]
+013941_000012:[4, 5, 10, 12]
+022459_000035:[]
+013518_000024:[]
+004535_000007:[]
+012045_000013:[0]
+017545_000027:[]
+014999_000013:[5]
+000189_000028:[9, 18]
+010826_000014:[2, 3, 4, 6, 7, 8, 16, 17, 19]
+021869_000008:[]
+020142_000007:[16]
+019613_000020:[]
+003989_000024:[]
+012614_000034:[]
+008290_000005:[0, 2, 8, 9]
+003044_000038:[]
+013727_000010:[]
+023162_000024:[3]
+012635_000026:[]
+000573_000011:[]
+000380_000002:[1, 10, 11]
+005919_000003:[]
+016010_000020:[1, 10]
+010282_000038:[6]
+013816_000022:[11, 17]
+020955_000006:[]
+009144_000033:[]
+002351_000012:[4, 10, 14, 15]
+009788_000022:[8]
+020791_000002:[1]
+004525_000025:[]
+018971_000011:[8]
+008014_000022:[0, 3, 9, 12, 17, 19]
+022219_000007:[]
+007257_000033:[15]
+018523_000002:[]
+009899_000007:[18]
+016900_000037:[]
+002757_000023:[1, 5, 7, 10]
+012694_000020:[]
+023747_000010:[]
+023866_000012:[7]
+023759_000010:[]
+020280_000036:[7]
+003158_000019:[]
+011077_000034:[]
+016280_000017:[8]
+012196_000000:[]
+024794_000006:[]
+016563_000002:[]
+014093_000000:[9]
+013994_000033:[]
+024287_000011:[2]
+013784_000004:[]
+019626_000036:[0, 1, 19]
+007284_000007:[]
+014611_000030:[]
+004818_000021:[]
+004350_000025:[0]
+007889_000026:[6, 7, 17]
+010254_000035:[]
+004713_000004:[]
+008508_000039:[]
+011991_000035:[8]
+002452_000004:[]
+024858_000022:[]
+017872_000026:[15]
+017885_000008:[]
+006322_000035:[]
+001064_000037:[]
+015266_000039:[]
+024792_000005:[]
+009207_000023:[]
+024675_000026:[]
+018876_000023:[4, 5]
+022298_000007:[]
+004534_000007:[]
+013436_000008:[]
+021403_000038:[]
+005354_000020:[]
+005799_000029:[]
+002491_000013:[]
+022405_000006:[]
+024344_000034:[]
+010066_000003:[]
+012632_000012:[]
+006518_000017:[]
+015343_000039:[]
+010678_000034:[]
+006497_000031:[]
+021295_000017:[]
+022583_000037:[]
+014026_000033:[]
+022719_000017:[]
+018736_000023:[0, 1, 10]
+000029_000001:[]
+022823_000000:[]
+018713_000016:[]
+008151_000024:[]
+021526_000000:[1, 2, 7, 9, 11]
+018138_000001:[]
+002177_000030:[]
+014711_000015:[4, 12]
+011317_000023:[4, 9, 14, 16]
+007693_000037:[]
+009757_000019:[]
+024399_000000:[]
+003167_000012:[]
+003579_000032:[6, 18]
+007541_000034:[0, 3, 4, 13]
+000998_000023:[]
+022819_000029:[]
+010252_000030:[0]
+023883_000035:[2]
+010771_000033:[]
+001237_000000:[]
+012362_000005:[]
+023397_000033:[6, 12, 15, 16, 18]
+006802_000026:[]
+019849_000025:[5]
+002673_000001:[15]
+015499_000018:[2, 6]
+009922_000024:[]
+024109_000001:[]
+003933_000015:[2, 8, 9]
+024234_000001:[]
+010647_000035:[]
+012858_000006:[2, 3, 6, 8, 10, 15]
+008354_000028:[]
+024712_000006:[0, 3]
+004982_000012:[1, 6, 7, 11, 13, 19]
+023932_000014:[]
+020895_000029:[]
+009146_000019:[]
+023178_000017:[]
+015237_000023:[]
+011156_000004:[]
+004392_000029:[]
+001799_000029:[7]
+012614_000010:[]
+014094_000028:[]
+013770_000022:[]
+013172_000037:[]
+007606_000029:[]
+009911_000033:[]
+008386_000016:[]
+008379_000016:[]
+011202_000025:[]
+016440_000034:[11]
+009775_000008:[]
+005901_000027:[]
+014974_000030:[2, 10, 18]
+007531_000004:[0, 3, 4, 7, 19]
+009491_000017:[]
+010619_000032:[]
+021814_000022:[]
+020617_000004:[]
+002593_000002:[]
+017586_000009:[18, 19]
+001880_000014:[4]
+011485_000021:[2]
+013131_000012:[1]
+009777_000006:[]
+001718_000002:[10, 11, 12]
+002942_000002:[]
+007522_000003:[]
+017933_000033:[]
+016959_000031:[]
+017737_000000:[]
+018428_000032:[]
+012399_000030:[0, 6, 11]
+012190_000000:[]
+006132_000000:[]
+014340_000013:[16]
+002232_000005:[]
+000851_000030:[2, 8]
+013787_000018:[12]
+000308_000017:[7, 12]
+006872_000019:[11, 14]
+006494_000037:[]
+007693_000003:[9]
+022795_000033:[2, 5, 7]
+020225_000032:[]
+014686_000039:[]
+010423_000036:[]
+003326_000010:[]
+008491_000012:[]
+002155_000006:[12]
+015136_000029:[]
+012519_000017:[4]
+013664_000021:[]
+000548_000011:[0, 1, 12]
+000802_000017:[6]
+001000_000007:[16]
+012924_000031:[]
+006302_000020:[]
+021817_000039:[]
+022822_000001:[]
+007101_000008:[]
+018239_000039:[1, 3, 8, 11, 12]
+006910_000018:[18]
+018071_000033:[5]
+007358_000024:[]
+012038_000004:[3, 6, 7, 8, 11, 15, 18, 19]
+004616_000024:[11]
+018938_000036:[2]
+000385_000018:[19]
+010705_000028:[5]
+015291_000001:[0, 6, 13, 14, 15]
+012190_000003:[]
+018339_000005:[]
+008625_000010:[]
+020235_000005:[]
+014567_000003:[]
+020437_000024:[]
+005782_000010:[]
+008614_000037:[]
+014862_000023:[]
+016081_000027:[]
+008115_000001:[]
+003744_000037:[]
+016630_000032:[1, 5, 6, 9, 10, 11, 13, 14, 17, 18, 19]
+003329_000028:[12]
+024875_000028:[0, 19]
+001520_000010:[]
+005507_000036:[]
+018716_000016:[]
+019585_000001:[15]
+013077_000033:[]
+024119_000017:[10, 11, 16, 17]
+017436_000020:[4, 19]
+014689_000012:[]
+002102_000000:[6, 8]
+022140_000037:[]
+019453_000004:[]
+023681_000019:[15]
+021563_000032:[7]
+019137_000004:[]
+006495_000039:[9]
+000043_000007:[]
+005803_000001:[]
+009741_000026:[9, 13]
+000603_000028:[0, 2, 3, 15]
+022801_000008:[]
+017578_000031:[10]
+021650_000004:[7, 13, 18]
+015556_000039:[13, 15]
+020736_000015:[]
+012551_000009:[]
+002290_000035:[]
+020600_000027:[5]
+003136_000009:[]
+000416_000022:[]
+008851_000031:[6]
+016270_000038:[11]
+011046_000024:[4, 13, 18, 19]
+000535_000025:[9, 13]
+023161_000017:[]
+011099_000027:[]
+018844_000036:[1]
+014153_000022:[]
+016220_000011:[]
+011446_000021:[2, 7, 13, 16]
+003483_000019:[]
+010952_000002:[13]
+000638_000022:[]
+022622_000005:[]
+011808_000013:[]
+006935_000032:[9, 16, 19]
+018029_000017:[4, 18]
+006116_000038:[]
+003168_000029:[]
+012571_000011:[]
+011750_000016:[3]
+007486_000033:[11, 18]
+024003_000023:[]
+001390_000003:[]
+018737_000032:[]
+018936_000010:[0]
+000245_000016:[7]
+016035_000026:[]
+008446_000012:[]
+007002_000011:[1]
+022140_000036:[2]
+015011_000002:[]
+010170_000019:[]
+005142_000002:[]
+001362_000027:[6, 16]
+013129_000036:[11]
+005183_000021:[]
+009304_000028:[8, 13]
+004547_000009:[]
+012835_000024:[]
+015237_000037:[5]
+020405_000006:[]
+022821_000023:[]
+003529_000013:[]
+024246_000028:[3]
+016443_000016:[3, 18]
+020089_000020:[]
+001954_000001:[]
+017646_000036:[10, 19]
+007681_000010:[3]
+004975_000033:[]
+008260_000011:[]
+017036_000008:[]
+009826_000010:[]
+003427_000024:[]
+009462_000010:[]
+013455_000003:[13, 16]
+018067_000031:[0, 11, 13]
+018590_000016:[]
+012043_000038:[]
+008243_000035:[1, 4, 12, 13]
+014153_000009:[]
+000601_000034:[2, 9, 10, 12, 14, 16, 19]
+015828_000008:[]
+018299_000005:[]
+010482_000009:[]
+011698_000000:[13, 14]
+013187_000031:[15]
+022444_000020:[5]
+010628_000034:[]
+011168_000032:[]
+016160_000019:[]
+004515_000035:[6, 9]
+017296_000000:[5]
+000644_000013:[]
+016000_000027:[]
+004642_000017:[2]
+019576_000029:[1]
+002767_000024:[]
+007465_000016:[3, 7, 12, 13, 15]
+020841_000007:[]
+024076_000021:[3, 6, 7, 8, 11, 17, 19]
+022435_000006:[]
+006114_000006:[6]
+008630_000006:[7, 13, 16]
+024964_000030:[14]
+014583_000019:[0, 2, 4, 5, 10]
+009631_000028:[8, 12]
+010168_000011:[]
+004108_000005:[]
+016543_000016:[]
+009618_000027:[0]
+011166_000014:[]
+024716_000021:[]
+011080_000039:[]
+002756_000004:[2, 3, 8, 13, 17]
+007444_000035:[9, 14]
+017613_000037:[4]
+014901_000026:[]
+022703_000024:[]
+002692_000023:[]
+001305_000009:[]
+018416_000004:[6]
+004195_000009:[]
+010517_000004:[]
+002842_000028:[]
+023939_000006:[15]
+012198_000030:[6, 16, 17, 18]
+012742_000028:[]
+003319_000023:[]
+016175_000005:[]
+001837_000006:[3]
+000845_000016:[0, 7, 15]
+015716_000036:[]
+018556_000010:[]
+010924_000024:[]
+013936_000027:[17]
+008914_000016:[16, 17]
+013020_000026:[]
+001738_000025:[]
+004686_000029:[10]
+003055_000004:[12]
+016851_000017:[0, 5, 9, 12, 15, 18]
+022600_000009:[]
+000695_000032:[]
+022518_000000:[1, 17]
+009628_000002:[3]
+013140_000000:[]
+006651_000016:[]
+007556_000006:[]
+018592_000018:[]
+022840_000028:[8, 16]
+004479_000036:[18]
+001881_000003:[1, 7, 16]
+014421_000017:[]
+007922_000002:[]
+010576_000034:[5, 19]
+013520_000033:[]
+009121_000006:[9, 14]
+022232_000039:[3, 11, 13, 16]
+007825_000015:[5]
+023246_000004:[7]
+001930_000020:[]
+000621_000026:[]
+019649_000010:[2]
+006923_000036:[]
+007116_000015:[]
+019201_000019:[]
+023795_000002:[]
+008517_000000:[]
+016436_000024:[12]
+019162_000034:[]
+021209_000001:[]
+015289_000009:[]
+010667_000027:[]
+008267_000021:[]
+010211_000011:[]
+014353_000021:[]
+001130_000039:[16]
+012701_000000:[]
+022746_000018:[]
+013284_000035:[]
+005260_000033:[]
+013149_000037:[]
+019298_000032:[]
+010682_000022:[8]
+006505_000027:[]
+000512_000000:[]
+007001_000038:[]
+009661_000009:[]
+017548_000010:[0]
+017391_000026:[]
+006857_000024:[]
+008155_000025:[]
+007933_000003:[5]
+023464_000026:[]
+003290_000006:[]
+006602_000008:[18]
+016576_000039:[2, 7, 13]
+019619_000021:[1, 3, 7, 9, 10, 12, 13]
+011565_000010:[]
+010436_000020:[]
+002037_000008:[2, 15]
+010476_000039:[]
+024829_000028:[12]
+001589_000037:[]
+017724_000016:[]
+007015_000011:[]
+022172_000037:[19]
+009302_000035:[]
+019282_000016:[]
+002071_000003:[]
+001050_000033:[]
+006500_000029:[]
+017439_000029:[]
+000228_000014:[]
+008806_000016:[0, 2, 3, 4, 8]
+008149_000002:[]
+006327_000000:[]
+022425_000019:[]
+016415_000019:[]
+015698_000026:[1, 14]
+017057_000012:[4, 15]
+020671_000033:[2]
+012334_000035:[1]
+024563_000031:[16]
+015911_000025:[]
+007079_000033:[]
+000832_000012:[]
+002261_000013:[4]
+011391_000028:[7, 13]
+003090_000009:[]
+015406_000014:[8]
+006915_000039:[]
+004022_000016:[1]
+015743_000002:[]
+007591_000028:[18]
+018202_000032:[]
+001252_000022:[]
+020988_000033:[2]
+001920_000022:[]
+009482_000006:[]
+018615_000002:[2, 4, 7, 16]
+009864_000023:[9]
+011368_000037:[]
+001063_000013:[]
+014728_000037:[]
+006794_000018:[18]
+018989_000030:[]
+016828_000007:[]
+014825_000023:[]
+003730_000005:[14]
+007054_000007:[]
+022480_000028:[]
+008134_000029:[7, 9]
+006064_000009:[13]
+009561_000000:[]
+001606_000002:[]
+004482_000009:[]
+014194_000018:[]
+002329_000017:[]
+017290_000023:[4]
+015963_000025:[5, 17]
+007042_000015:[]
+017245_000033:[3, 15]
+006118_000022:[17]
+002938_000023:[]
+009071_000009:[]
+003384_000005:[]
+024658_000012:[]
+007912_000006:[]
+010093_000034:[0, 1, 2, 3, 9, 12, 13, 15]
+015627_000034:[14]
+020959_000031:[1, 4, 15]
+001461_000002:[]
+017718_000011:[]
+014447_000022:[3]
+009011_000019:[7, 11]
+013813_000025:[7, 8, 9, 11, 12]
+011559_000039:[15]
+017313_000034:[]
+010997_000016:[17, 19]
+004191_000022:[]
+017407_000021:[]
+010553_000017:[14]
+008962_000012:[]
+005211_000004:[7]
+001040_000029:[]
+003087_000007:[10, 12, 18, 19]
+018998_000026:[10, 14]
+018549_000024:[]
+018347_000023:[16]
+007093_000019:[]
+024189_000028:[16]
+023563_000029:[8, 14]
+003862_000011:[18]
+019353_000033:[5, 11]
+012912_000031:[]
+017857_000020:[]
+018463_000017:[]
+024030_000022:[]
+019753_000023:[]
+002766_000003:[5]
+010429_000027:[]
+000928_000012:[17, 18]
+005550_000025:[11]
+000405_000012:[]
+000383_000038:[1, 12]
+015531_000030:[]
+017719_000011:[16]
+019844_000005:[]
+015525_000038:[4]
+002184_000024:[]
+021353_000021:[1, 5, 9, 11, 15, 18]
+002115_000001:[0, 16]
+010092_000015:[3, 19]
+002113_000021:[]
+009893_000011:[15]
+022261_000032:[]
+008614_000018:[4, 6, 7, 17, 19]
+007957_000004:[1, 5, 7, 8, 9, 15]
+012398_000012:[]
+019019_000028:[]
+016570_000000:[]
+020496_000029:[]
+001085_000034:[15]
+023776_000007:[6, 7, 8]
+006879_000001:[16]
+010242_000016:[]
+013092_000014:[8, 9, 16]
+002459_000035:[12]
+024171_000017:[]
+008618_000019:[]
+024831_000035:[1]
+023959_000032:[]
+023348_000010:[]
+008601_000029:[15]
+005421_000019:[]
+005151_000036:[6, 8, 17]
+001991_000009:[]
+017179_000007:[5, 14, 18, 19]
+018530_000016:[1]
+022847_000025:[]
+024449_000015:[]
+024024_000024:[]
+014076_000018:[]
+019368_000031:[16]
+005966_000017:[]
+004533_000039:[17]
+023313_000035:[]
+019057_000034:[3]
+008535_000003:[]
+013080_000033:[]
+016955_000018:[]
+016504_000031:[17]
+019708_000035:[]
+017149_000035:[]
+018218_000019:[]
+022747_000008:[]
+016344_000020:[]
+004642_000007:[]
+021629_000035:[]
+007112_000020:[2, 8, 10, 15]
+014853_000000:[]
+007452_000038:[]
+012363_000004:[]
+008291_000015:[]
+013658_000019:[]
+023349_000027:[7]
+021936_000037:[0]
+018094_000012:[]
+013419_000031:[]
+017741_000014:[7, 10]
+019759_000013:[]
+005002_000024:[]
+018318_000003:[]
+009644_000031:[15]
+003803_000014:[]
+001044_000020:[]
+023572_000017:[]
+023664_000002:[]
+001044_000008:[10, 18]
+004468_000003:[11]
+018975_000039:[9, 11, 17]
+024686_000008:[0, 7, 9, 10, 12, 14, 16, 17, 19]
+010953_000022:[]
+003436_000012:[]
+024675_000017:[]
+016357_000026:[3, 18]
+003660_000009:[]
+012599_000007:[1, 6, 8, 13]
+010136_000028:[]
+023628_000020:[]
+010255_000028:[]
+022095_000010:[]
+004337_000016:[]
+023568_000028:[]
+005583_000020:[]
+015969_000024:[]
+012853_000011:[8]
+004295_000028:[8, 11]
+004460_000020:[8, 14]
+011408_000037:[15, 18]
+001099_000019:[0, 8]
+001634_000038:[]
+014800_000008:[]
+001007_000004:[]
+019692_000013:[]
+006229_000029:[2]
+009597_000005:[]
+009469_000006:[4]
+001611_000000:[]
+007356_000019:[10, 13, 19]
+021505_000021:[]
+017220_000010:[]
+009203_000004:[14]
+012700_000023:[]
+019785_000038:[]
+018443_000013:[2, 18]
+022342_000017:[]
+020093_000031:[3]
+019658_000006:[]
+014257_000017:[]
+014593_000014:[]
+019465_000012:[]
+005871_000028:[0, 1, 2, 6, 11, 12, 14, 15, 17, 18, 19]
+018515_000024:[]
+003113_000032:[5, 7, 18]
+020299_000025:[0, 1]
+022668_000023:[]
+004645_000027:[]
+001928_000021:[]
+020861_000020:[]
+007048_000029:[]
+020306_000029:[5, 13]
+024104_000004:[]
+017344_000035:[8]
+007765_000010:[]
+010656_000002:[7, 8, 9, 12, 14]
+006407_000024:[]
+006683_000006:[14]
+012070_000024:[]
+012917_000030:[1, 8, 19]
+004593_000027:[]
+001236_000035:[]
+012281_000006:[]
+016809_000026:[12]
+024487_000016:[0, 5, 7, 8, 10, 19]
+014973_000023:[5, 10]
+022692_000021:[]
+002803_000037:[10]
+024587_000023:[]
+018111_000015:[4, 15]
+020888_000000:[]
+019653_000022:[]
+001537_000024:[]
+024939_000016:[1]
+003684_000009:[]
+012617_000033:[17]
+018291_000007:[15]
+019862_000014:[]
+022147_000018:[3, 12]
+021850_000014:[0, 8]
+008711_000020:[]
+021936_000017:[]
+015658_000017:[]
+006226_000016:[]
+017065_000005:[0]
+020467_000007:[]
+001615_000021:[]
+005010_000011:[5]
+022938_000006:[]
+013102_000011:[0, 10]
+003677_000024:[]
+014082_000022:[]
+015500_000037:[9]
+001310_000022:[]
+004727_000021:[]
+021031_000014:[]
+010061_000018:[]
+007203_000023:[19]
+005973_000003:[13, 14]
+005726_000008:[13]
+018557_000003:[]
+004632_000002:[5]
+010350_000021:[0]
+020222_000034:[8, 10, 11, 14, 15]
+020614_000023:[]
+004227_000025:[0, 18]
+018458_000011:[0, 10]
+007602_000039:[8, 15, 19]
+005974_000037:[]
+015178_000034:[]
+023581_000021:[]
+021200_000000:[]
+006417_000010:[]
+024456_000007:[]
+020630_000036:[]
+022636_000013:[]
+006695_000025:[5, 14, 15]
+009120_000002:[4, 7, 9, 12, 18]
+022120_000029:[0, 1, 9, 13]
+015177_000005:[1, 8, 11, 16, 17, 19]
+000042_000032:[4, 18]
+024837_000013:[1, 14, 19]
+005764_000021:[]
+016764_000023:[9, 18]
+021426_000012:[7]
+020871_000036:[]
+007699_000026:[]
+004825_000035:[8]
+001815_000003:[4, 17]
+002809_000023:[11, 14]
+014781_000026:[11]
+011226_000022:[]
+001366_000006:[]
+018890_000007:[]
+020721_000012:[17]
+003294_000032:[]
+001494_000007:[2, 9, 10, 14]
+022340_000035:[]
+007466_000025:[13, 16, 18]
+018794_000004:[]
+022705_000008:[]
+022784_000029:[18]
+002488_000039:[]
+014088_000024:[]
+016171_000011:[14]
+008615_000035:[8]
+023786_000015:[8, 16]
+004063_000012:[]
+012738_000028:[]
+019992_000021:[]
+014303_000022:[]
+003766_000031:[3, 6, 8, 9, 13]
+002726_000017:[]
+004007_000022:[14, 16]
+002588_000032:[]
+012917_000038:[3, 8, 18]
+001093_000011:[]
+004601_000012:[]
+005856_000024:[]
+010399_000036:[]
+021700_000029:[0, 2, 3, 4, 5, 6, 11, 14, 16]
+001863_000009:[14]
+010631_000013:[]
+015326_000025:[2]
+014002_000012:[]
+001995_000030:[5, 11, 15]
+013999_000000:[1, 3]
+022502_000002:[3, 5, 18]
+009004_000026:[13]
+000831_000019:[3]
+016523_000015:[]
+000706_000023:[10]
+011648_000007:[]
+009959_000038:[]
+006626_000035:[5]
+010425_000020:[3]
+013201_000015:[]
+021353_000006:[]
+001204_000018:[]
+002902_000024:[6]
+010734_000007:[10]
+011473_000003:[]
+021902_000014:[16]
+003587_000036:[15]
+006048_000037:[]
+021932_000031:[]
+016492_000029:[]
+017889_000039:[]
+009715_000001:[]
+016585_000017:[7]
+006091_000034:[]
+023621_000010:[]
+005244_000001:[2, 3, 8, 17, 18]
+013002_000038:[]
+009729_000022:[1]
+023607_000029:[]
+019888_000015:[]
+015981_000004:[]
+012614_000007:[]
+016251_000018:[0, 1]
+005947_000032:[]
+012186_000002:[6, 14, 17]
+013338_000000:[17]
+013327_000019:[]
+003918_000013:[8, 9, 13, 17]
+018818_000030:[]
+024184_000034:[2, 6, 14]
+019409_000037:[0, 8, 11, 15, 17]
+020132_000015:[]
+014535_000026:[]
+020730_000018:[]
+000391_000003:[0, 1, 4, 8, 9, 10, 13, 14, 16, 17, 18]
+010557_000032:[4, 18]
+023652_000004:[]
+022198_000013:[]
+001715_000010:[]
+005611_000002:[]
+005055_000037:[19]
+007971_000024:[]
+021158_000014:[]
+015627_000012:[]
+005893_000015:[]
+016010_000017:[1, 8]
+004517_000026:[15]
+018757_000016:[]
+009632_000027:[]
+000400_000016:[11]
+017398_000032:[]
+000922_000036:[]
+012675_000004:[9, 18]
+011382_000015:[0, 1, 2, 3, 4, 15, 16, 17]
+009221_000038:[1, 9]
+004102_000035:[]
+007983_000038:[9, 13]
+002673_000014:[0]
+017981_000009:[]
+001638_000036:[5, 15]
+008671_000000:[]
+009005_000005:[]
+010821_000038:[]
+021329_000005:[1, 14, 16]
+015750_000014:[]
+005004_000014:[]
+004092_000024:[]
+021873_000033:[]
+004173_000003:[]
+022660_000032:[1, 16]
+012700_000005:[]
+013322_000020:[]
+017278_000036:[]
+009892_000023:[2, 3, 5, 8, 12, 17]
+002057_000032:[13]
+024727_000034:[]
+007738_000015:[]
+006559_000011:[]
+018284_000037:[8, 13]
+005520_000013:[]
+017178_000034:[11, 16]
+017805_000031:[4]
+001865_000004:[3]
+005789_000036:[2]
+020936_000015:[]
+003608_000033:[]
+012589_000001:[]
+024066_000004:[]
+004364_000001:[]
+015118_000037:[2, 4]
+004220_000003:[14]
+007524_000027:[]
+014666_000019:[]
+015237_000039:[6, 14]
+012126_000010:[]
+014183_000019:[15]
+008925_000036:[5]
+017458_000028:[8, 10, 19]
+008160_000024:[]
+007631_000005:[]
+009503_000038:[]
+023744_000038:[]
+005963_000011:[3]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000370_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000370_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cfb09e7ac95c4b43ed9c20cc65c6dcb030180ab5
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000370_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+017775_000005:[]
+000068_000029:[0]
+013303_000021:[10, 17]
+021461_000030:[]
+000772_000008:[]
+024808_000038:[13]
+016418_000005:[]
+010447_000019:[]
+017780_000020:[12]
+008748_000023:[]
+022965_000008:[]
+013440_000031:[13]
+011103_000028:[]
+000407_000032:[]
+016705_000016:[16]
+013065_000036:[]
+003586_000038:[7, 8]
+006446_000033:[]
+021935_000022:[]
+015102_000005:[]
+003769_000034:[]
+008685_000024:[]
+022941_000027:[1, 3, 5, 6, 7, 18, 19]
+003785_000039:[]
+018928_000037:[1, 16]
+008767_000035:[11]
+006642_000021:[11]
+020819_000008:[]
+003452_000014:[]
+020175_000023:[]
+019102_000032:[]
+015252_000020:[]
+009656_000020:[5, 19]
+015196_000029:[10]
+011490_000039:[]
+018222_000012:[0, 3, 13]
+022208_000021:[]
+020657_000015:[]
+016164_000004:[0]
+011319_000006:[6, 19]
+008218_000011:[2]
+019795_000035:[]
+009901_000024:[1]
+019299_000032:[12, 14]
+022709_000036:[]
+012181_000035:[]
+011444_000021:[]
+015288_000022:[]
+009563_000009:[]
+000703_000017:[]
+001154_000028:[19]
+006429_000010:[10]
+014648_000010:[]
+016829_000037:[0]
+010170_000022:[11, 19]
+022338_000031:[5, 12]
+024713_000018:[]
+024319_000010:[9]
+008022_000003:[]
+017061_000006:[]
+015660_000027:[]
+021230_000018:[8, 9, 10]
+023128_000011:[3, 4, 6, 12]
+001240_000033:[0, 14]
+006471_000013:[]
+023528_000031:[]
+013165_000026:[18]
+019608_000010:[]
+018215_000027:[]
+001008_000022:[7, 15, 19]
+009074_000038:[]
+009417_000034:[0, 2, 4, 9]
+020752_000032:[]
+002445_000029:[]
+012228_000020:[]
+004157_000000:[]
+016323_000010:[19]
+014008_000017:[]
+024972_000010:[]
+012309_000002:[4]
+011149_000011:[6, 18]
+015572_000008:[]
+020671_000023:[2]
+003817_000033:[11]
+018090_000023:[]
+005895_000023:[]
+005987_000017:[]
+011178_000001:[0, 6]
+018267_000032:[1]
+024752_000030:[]
+006951_000005:[3, 6, 18]
+015882_000017:[]
+001356_000017:[9]
+013356_000004:[11, 16]
+000402_000038:[2, 9, 16]
+008228_000030:[]
+016536_000021:[10]
+024101_000035:[1, 14]
+019216_000013:[7]
+022495_000038:[]
+024528_000033:[]
+020873_000004:[3, 7, 8, 12, 13]
+000876_000028:[]
+005283_000013:[14]
+020847_000008:[5]
+024500_000008:[0, 4, 17]
+013799_000025:[]
+018261_000010:[]
+006731_000013:[]
+019158_000019:[]
+000896_000031:[0, 6]
+006470_000005:[]
+008428_000012:[]
+004810_000037:[11, 19]
+022180_000001:[7, 8, 11, 14]
+012909_000038:[0, 1, 8]
+007322_000030:[4]
+022174_000015:[0, 15]
+003240_000034:[]
+009407_000033:[]
+000221_000026:[]
+021311_000016:[]
+006392_000027:[]
+005995_000013:[2, 6, 12]
+008912_000026:[14]
+009146_000008:[]
+005630_000032:[3, 4, 10]
+004620_000018:[]
+019267_000024:[0]
+000267_000013:[]
+013757_000024:[0]
+000016_000004:[]
+005124_000007:[]
+021321_000018:[18]
+005086_000020:[]
+010994_000034:[]
+018586_000022:[]
+012021_000010:[9]
+018247_000008:[]
+011503_000009:[5]
+009995_000007:[]
+016931_000038:[]
+006121_000026:[]
+018127_000038:[3]
+002977_000023:[]
+018660_000001:[3]
+024528_000004:[]
+013281_000008:[4, 18]
+023376_000034:[]
+018277_000021:[]
+000627_000029:[1, 4, 10, 11, 12, 17, 19]
+016617_000007:[]
+016766_000017:[3, 4, 5, 6, 8, 10, 13, 14, 16, 18, 19]
+023898_000000:[]
+019620_000003:[0, 8, 17]
+024120_000039:[]
+021289_000037:[]
+012641_000014:[15]
+012263_000023:[19]
+012977_000018:[]
+020306_000025:[]
+013843_000001:[]
+024974_000021:[]
+011618_000026:[]
+019470_000010:[1]
+000581_000030:[]
+018624_000012:[1, 9]
+017084_000020:[]
+015855_000033:[8]
+012216_000031:[]
+007551_000035:[]
+004902_000015:[4, 7]
+024835_000000:[]
+014880_000030:[]
+011242_000029:[]
+013605_000008:[]
+024920_000000:[7, 12]
+000886_000026:[3, 4, 10, 14]
+014702_000032:[]
+015594_000000:[]
+009307_000035:[0]
+020243_000000:[]
+008143_000032:[9]
+004197_000034:[]
+001279_000033:[2, 15, 16]
+018742_000036:[5, 14]
+007667_000013:[4, 6]
+007861_000010:[12]
+017357_000029:[]
+009875_000039:[6, 8, 10]
+015102_000014:[]
+006446_000037:[]
+014906_000000:[2, 3, 16]
+010237_000016:[]
+006751_000025:[]
+000754_000000:[]
+005468_000032:[7]
+013086_000010:[]
+018386_000023:[]
+012335_000019:[1, 3]
+020376_000031:[]
+016709_000034:[]
+011810_000031:[]
+010535_000017:[2]
+010282_000007:[4, 7, 10, 12]
+017309_000008:[6, 9, 11, 13]
+014960_000023:[]
+019234_000017:[6, 14]
+009056_000032:[]
+009758_000020:[]
+011971_000037:[4, 19]
+007473_000033:[14]
+000219_000031:[0, 1, 2, 9]
+003243_000033:[13]
+012768_000001:[3, 4, 6, 19]
+015615_000020:[]
+006019_000014:[]
+022037_000000:[3, 8]
+001734_000016:[8, 17]
+017974_000032:[]
+013945_000028:[2, 4, 6, 10, 12, 13]
+005499_000023:[]
+009843_000004:[]
+024337_000007:[]
+011191_000011:[]
+017900_000012:[2, 3, 6, 7, 10, 18]
+009387_000033:[]
+004965_000036:[1, 8]
+010926_000007:[]
+024358_000014:[]
+007296_000030:[]
+007387_000026:[]
+005355_000037:[]
+011089_000039:[9]
+002853_000009:[]
+013853_000037:[11, 13, 15, 16]
+013355_000014:[]
+010313_000034:[2, 8]
+009370_000030:[17]
+008728_000037:[]
+013005_000028:[]
+007561_000026:[0, 4, 19]
+012032_000011:[19]
+008555_000004:[]
+002978_000036:[3]
+013951_000031:[]
+013925_000009:[3, 7, 9]
+005669_000004:[]
+008592_000005:[]
+020988_000008:[2]
+015556_000010:[17, 18]
+013639_000000:[3]
+004220_000023:[]
+022398_000028:[3, 6, 7, 8, 9, 13, 15]
+006855_000031:[]
+017198_000025:[10]
+017097_000009:[]
+022379_000027:[1]
+022313_000020:[]
+012400_000009:[]
+018253_000010:[]
+010589_000010:[]
+022188_000004:[]
+006153_000021:[2, 6, 10, 16]
+019349_000033:[15]
+014854_000028:[]
+006629_000029:[]
+007344_000014:[]
+022196_000001:[]
+018016_000035:[]
+019116_000005:[]
+001710_000026:[17]
+022815_000011:[]
+020363_000020:[10]
+019740_000017:[]
+008986_000003:[]
+013881_000025:[]
+022323_000037:[8, 13]
+003319_000031:[]
+004740_000001:[]
+005835_000028:[1, 11]
+004580_000017:[0, 7]
+009683_000028:[]
+021937_000019:[]
+001415_000034:[]
+019486_000028:[5]
+007455_000008:[]
+022441_000001:[]
+018028_000038:[]
+024111_000026:[5, 8]
+018149_000024:[]
+018643_000011:[]
+004277_000031:[]
+000372_000011:[0, 2, 4, 8, 17]
+009439_000032:[8, 18]
+021040_000035:[]
+020904_000027:[0, 8, 9, 14, 16]
+002617_000024:[]
+015827_000035:[]
+015444_000018:[]
+000717_000012:[]
+009696_000008:[11]
+011522_000037:[]
+006403_000019:[0, 15, 17, 19]
+019167_000020:[3]
+024624_000029:[]
+015907_000007:[]
+024598_000033:[9, 12]
+010447_000011:[]
+007612_000038:[]
+006270_000037:[]
+000774_000006:[13, 16]
+023088_000019:[]
+000248_000017:[0]
+016086_000030:[]
+015036_000019:[]
+020636_000030:[4, 5, 7, 9, 10, 12, 14, 15, 16]
+013795_000032:[13, 17]
+010782_000018:[6, 12]
+003617_000031:[4]
+016236_000023:[]
+016381_000039:[]
+008094_000013:[]
+000580_000033:[]
+012947_000014:[0, 15]
+018125_000022:[5]
+008753_000036:[]
+024080_000025:[]
+003006_000012:[]
+004617_000025:[4, 17]
+010856_000038:[]
+012091_000034:[4, 10]
+012264_000008:[9]
+008138_000032:[5, 6]
+023439_000034:[]
+023255_000013:[14]
+015527_000026:[]
+009928_000029:[]
+000260_000033:[]
+009731_000002:[4]
+013675_000034:[5, 7]
+001663_000035:[]
+009615_000038:[]
+005848_000034:[]
+007221_000027:[]
+004648_000009:[]
+007841_000025:[]
+005120_000006:[3]
+020078_000004:[]
+003727_000028:[3]
+009161_000027:[]
+007006_000029:[0, 3, 8, 9, 13]
+024210_000001:[]
+015468_000023:[0, 1, 4, 7, 9]
+006173_000015:[]
+002238_000033:[]
+015869_000004:[]
+020550_000020:[2, 10, 13, 14, 16]
+024964_000011:[14, 16, 18]
+001420_000028:[]
+005541_000024:[18]
+024881_000000:[0, 5, 9, 14, 16, 19]
+018718_000032:[7]
+007772_000030:[3]
+000244_000019:[]
+018124_000034:[8, 13, 17]
+000824_000023:[15]
+012484_000025:[]
+011204_000005:[]
+001200_000010:[]
+019947_000039:[]
+007386_000011:[]
+008071_000015:[1, 11, 14]
+015691_000004:[]
+006349_000008:[]
+018898_000008:[]
+007738_000009:[]
+000678_000021:[12]
+000828_000008:[16]
+017984_000028:[]
+020950_000033:[]
+021598_000009:[]
+010184_000032:[]
+010139_000019:[]
+000860_000000:[9, 17, 19]
+001261_000030:[]
+022102_000009:[]
+008078_000008:[8, 12, 13]
+014707_000007:[5, 7, 19]
+001610_000000:[16]
+016628_000003:[]
+002771_000007:[10]
+006589_000022:[9]
+021795_000039:[11]
+002726_000024:[3, 6]
+001595_000032:[1, 3, 9, 10, 11]
+008800_000036:[]
+007071_000029:[]
+000344_000029:[]
+012245_000039:[]
+010762_000022:[1, 15]
+001029_000028:[15]
+008394_000026:[9]
+012826_000018:[]
+010130_000034:[]
+011421_000025:[9]
+009304_000039:[]
+010126_000031:[1, 13]
+009519_000028:[]
+005797_000000:[]
+000294_000005:[4, 5, 11, 12, 14]
+020322_000026:[0, 16]
+021232_000024:[]
+024846_000022:[]
+007434_000010:[7, 11, 15]
+016346_000004:[16]
+012432_000022:[4]
+007465_000038:[]
+017098_000026:[]
+000012_000015:[13]
+022229_000028:[1]
+011649_000013:[]
+016837_000028:[]
+009954_000003:[]
+002050_000013:[8]
+009542_000034:[18]
+007191_000021:[14]
+015559_000001:[4, 5]
+003519_000010:[]
+009081_000002:[]
+022925_000014:[]
+012856_000002:[18]
+022076_000019:[]
+002805_000013:[]
+010853_000037:[]
+019217_000036:[]
+022626_000022:[0, 4]
+009323_000039:[]
+002068_000013:[]
+008032_000031:[]
+010603_000025:[]
+011369_000005:[]
+013175_000021:[2, 16]
+011611_000026:[3]
+019669_000001:[2]
+010595_000003:[]
+007244_000038:[]
+013358_000000:[1, 2, 5, 6, 7, 14, 19]
+014762_000027:[11]
+003630_000028:[1, 14, 19]
+019694_000032:[]
+017934_000031:[6, 18]
+005632_000007:[]
+006249_000024:[]
+009069_000025:[]
+021310_000026:[]
+016650_000019:[15]
+024236_000031:[2, 3]
+009552_000015:[]
+018629_000039:[0]
+001260_000009:[]
+006025_000006:[]
+012163_000037:[]
+015500_000033:[10]
+013951_000010:[]
+015711_000011:[]
+007938_000036:[]
+017540_000001:[4, 12, 16]
+005393_000014:[]
+015779_000023:[0, 2, 12]
+016414_000025:[5, 14]
+004023_000006:[8]
+008811_000030:[15]
+002471_000006:[5]
+022031_000029:[]
+014526_000027:[10, 16]
+014717_000001:[]
+012815_000000:[4, 10, 15]
+004367_000007:[]
+012250_000009:[]
+009816_000030:[]
+000051_000013:[2]
+019001_000031:[]
+006577_000036:[]
+006947_000002:[0, 15]
+010888_000022:[17]
+017720_000018:[]
+010891_000014:[]
+010675_000024:[]
+002367_000016:[]
+007193_000010:[3]
+012958_000035:[0, 2]
+016398_000012:[]
+012831_000002:[6]
+008136_000032:[18]
+015987_000027:[]
+016848_000027:[]
+022508_000019:[]
+012380_000027:[9]
+011220_000021:[0, 2, 4, 7, 8, 11, 15, 16, 18, 19]
+013405_000037:[]
+020412_000021:[13]
+007852_000021:[]
+011654_000003:[]
+020196_000008:[4]
+002530_000016:[]
+004885_000020:[]
+003355_000027:[1, 3, 8, 17]
+014909_000023:[11]
+017156_000031:[4, 12]
+014760_000025:[4, 11]
+003046_000015:[1, 10]
+010904_000038:[3, 13]
+014623_000037:[]
+012531_000006:[4, 19]
+023710_000010:[]
+009131_000019:[8]
+005010_000003:[7, 9]
+011005_000013:[4, 13]
+024385_000037:[14]
+018661_000004:[]
+011242_000012:[3, 8]
+023743_000019:[8]
+020648_000003:[]
+003522_000031:[]
+020608_000002:[]
+008981_000034:[]
+001924_000012:[4, 13]
+004262_000012:[0, 10]
+002806_000030:[1, 14]
+005762_000002:[]
+019356_000023:[0]
+013114_000002:[5]
+010400_000021:[]
+019684_000017:[2]
+013910_000012:[7]
+003113_000017:[]
+017926_000005:[]
+009803_000029:[]
+005542_000037:[0, 4, 12]
+015933_000021:[]
+023817_000006:[]
+023735_000015:[]
+011249_000034:[19]
+023273_000014:[]
+014750_000003:[]
+007999_000027:[]
+011003_000009:[5, 9]
+005679_000031:[]
+020573_000029:[7]
+017350_000002:[]
+016607_000036:[9]
+022882_000007:[0, 6, 8, 16]
+012122_000001:[3, 11]
+008021_000004:[]
+002301_000014:[0, 3, 4, 5, 7, 8, 11, 16, 19]
+012531_000034:[9, 19]
+001404_000002:[]
+018938_000007:[2, 3]
+006932_000001:[]
+005168_000003:[2]
+024086_000031:[8, 9]
+017272_000025:[]
+018982_000018:[]
+020555_000004:[13]
+004646_000002:[0]
+009787_000015:[]
+022868_000022:[]
+009431_000001:[]
+015903_000037:[]
+004149_000021:[]
+007565_000000:[]
+001520_000007:[2, 4, 5, 14]
+002492_000019:[]
+008218_000036:[2]
+008580_000004:[]
+010912_000012:[]
+006260_000017:[4, 8, 9, 13, 14, 16]
+002260_000021:[2, 5, 8, 10, 13, 14, 16, 17]
+021021_000039:[9]
+010460_000027:[]
+013169_000025:[]
+007067_000037:[8]
+010382_000007:[]
+006983_000013:[11, 17]
+022588_000033:[9]
+016671_000003:[]
+002939_000002:[]
+020448_000037:[4, 11]
+009552_000027:[]
+014575_000023:[5, 9, 10, 18]
+005130_000000:[]
+020815_000010:[]
+015311_000013:[]
+016538_000026:[3]
+000661_000010:[16, 19]
+004324_000007:[2]
+010670_000034:[]
+000090_000008:[4]
+021814_000026:[]
+015595_000025:[]
+003717_000011:[]
+023280_000014:[4, 5, 10]
+011026_000018:[]
+002464_000005:[10]
+013152_000006:[]
+011827_000024:[]
+007601_000037:[]
+017457_000017:[]
+004166_000026:[]
+017814_000023:[8, 17]
+011811_000015:[4, 7]
+001933_000017:[0, 2, 4, 19]
+002791_000014:[]
+001801_000028:[0, 10]
+020524_000007:[]
+019604_000023:[]
+022533_000001:[1, 6, 9, 10]
+005522_000010:[2, 3]
+013238_000002:[15, 19]
+008332_000023:[]
+016240_000006:[]
+000355_000000:[1, 4, 6]
+013392_000031:[]
+007071_000022:[]
+013232_000006:[0, 11, 15]
+009939_000004:[]
+010276_000027:[2, 8, 10, 15, 18]
+020583_000000:[]
+018103_000010:[4, 5, 17]
+013065_000016:[]
+007532_000023:[18]
+018764_000039:[]
+006301_000000:[12]
+016432_000020:[0, 8]
+002931_000007:[]
+024993_000016:[1]
+004272_000024:[]
+002851_000026:[16]
+024343_000025:[]
+007268_000002:[]
+018282_000004:[]
+024459_000022:[]
+010989_000004:[]
+005974_000027:[]
+015191_000021:[17]
+008644_000035:[]
+023773_000002:[]
+015717_000009:[3, 5, 11, 15, 16]
+018364_000006:[]
+017285_000003:[]
+013639_000010:[1]
+018600_000038:[]
+015730_000000:[]
+021291_000013:[2]
+013824_000011:[0, 2]
+002873_000023:[]
+015546_000029:[]
+007941_000013:[]
+006203_000010:[]
+018300_000001:[]
+018867_000008:[]
+010710_000028:[]
+001813_000038:[]
+022725_000002:[]
+024651_000025:[]
+004274_000002:[]
+021207_000005:[]
+021058_000032:[]
+017233_000014:[]
+006547_000034:[9]
+007953_000003:[]
+022839_000023:[]
+012405_000029:[]
+008128_000018:[]
+007407_000023:[7]
+017920_000017:[0, 10, 13, 19]
+000575_000003:[]
+007048_000016:[12, 14, 17]
+003862_000014:[18]
+001605_000025:[]
+008655_000039:[]
+024662_000027:[11]
+004421_000013:[12]
+024048_000029:[4, 5]
+001067_000032:[19]
+005297_000025:[9, 11, 12]
+019182_000025:[7]
+018132_000012:[]
+014038_000002:[0]
+023407_000014:[]
+022136_000027:[2, 3]
+022599_000015:[1, 9, 17]
+003170_000004:[1, 8]
+015306_000004:[]
+024250_000009:[]
+009632_000008:[9]
+008732_000039:[]
+017985_000038:[0, 5, 8, 12, 15, 19]
+022639_000012:[7, 12, 14]
+014508_000002:[1]
+019552_000037:[8, 13]
+012385_000037:[3]
+009101_000010:[]
+020146_000009:[11, 15, 18]
+003160_000011:[12]
+003899_000015:[1, 13]
+005010_000034:[]
+009338_000007:[]
+007879_000014:[18]
+012289_000000:[]
+012858_000016:[]
+001931_000022:[7]
+003925_000027:[3, 4, 5, 9, 14, 15, 16, 19]
+018709_000009:[4, 12]
+021758_000038:[]
+000824_000018:[]
+020851_000034:[]
+014222_000032:[3, 6]
+011856_000021:[6, 8]
+013616_000006:[]
+003870_000038:[1, 12]
+020452_000033:[]
+022437_000011:[]
+003919_000017:[]
+019131_000024:[]
+002293_000004:[]
+008683_000024:[1, 8, 11, 12, 14, 19]
+024169_000027:[]
+020463_000023:[]
+013899_000009:[]
+007396_000028:[]
+024590_000015:[10]
+018185_000001:[]
+001535_000001:[]
+024381_000007:[]
+024823_000021:[]
+001384_000009:[6]
+006117_000020:[]
+001994_000010:[]
+019812_000021:[19]
+021965_000004:[0]
+022360_000030:[]
+024871_000020:[1]
+001384_000005:[7]
+007916_000025:[13]
+023324_000009:[]
+011272_000030:[]
+015478_000010:[11]
+005149_000007:[]
+020936_000004:[4, 9]
+023637_000037:[]
+012023_000006:[9]
+005116_000013:[]
+009084_000022:[15]
+014390_000015:[]
+009991_000028:[]
+020822_000026:[4]
+011152_000020:[5]
+005260_000021:[]
+007047_000008:[12]
+015523_000039:[16]
+008384_000015:[]
+010010_000018:[]
+014593_000001:[]
+024765_000035:[0, 1, 2, 4, 9, 10, 16]
+014450_000001:[]
+003264_000008:[13]
+021154_000018:[]
+006989_000005:[]
+009037_000020:[]
+022207_000015:[]
+001582_000036:[]
+015642_000017:[14]
+001495_000036:[]
+019764_000015:[]
+022462_000027:[]
+015881_000029:[10]
+015213_000019:[0, 7, 17]
+010572_000014:[]
+002148_000002:[]
+024971_000014:[]
+000230_000009:[]
+015905_000002:[]
+021503_000004:[8]
+002622_000004:[]
+012689_000021:[11]
+015080_000000:[4, 8, 9, 12, 14]
+024437_000024:[]
+001230_000003:[]
+018551_000018:[4, 11, 17, 18]
+005399_000000:[2]
+005939_000031:[]
+020926_000019:[]
+004537_000027:[]
+008662_000023:[7]
+009429_000039:[8, 14]
+004702_000031:[19]
+013661_000009:[]
+019715_000027:[]
+005633_000022:[]
+021359_000019:[]
+019786_000001:[1]
+022610_000028:[]
+020913_000028:[19]
+003886_000005:[]
+012806_000006:[]
+006248_000016:[9, 18]
+015439_000017:[11]
+006697_000036:[1, 5]
+012950_000011:[]
+019141_000021:[]
+010223_000026:[]
+004700_000007:[]
+012250_000018:[]
+011634_000024:[]
+017825_000019:[7, 8]
+005213_000010:[1, 4, 7, 8]
+013445_000020:[]
+001446_000024:[2, 11, 16, 17, 19]
+012036_000020:[]
+005119_000039:[5]
+006757_000027:[]
+006326_000021:[]
+016533_000009:[0, 2, 5, 7, 18]
+007961_000019:[3, 5, 13, 15, 17]
+008382_000028:[]
+024507_000014:[]
+017134_000028:[]
+005877_000030:[]
+005275_000010:[5]
+024688_000035:[]
+015497_000015:[4, 9, 19]
+005484_000034:[]
+016105_000032:[]
+003897_000009:[15]
+013308_000001:[]
+005326_000009:[]
+014100_000023:[]
+019287_000006:[1, 7]
+018002_000038:[]
+012965_000023:[]
+014585_000022:[6, 10, 14]
+007078_000030:[]
+002643_000026:[]
+015702_000010:[]
+004082_000015:[2]
+008130_000002:[2, 5, 9, 10, 17]
+017530_000021:[]
+011093_000033:[16]
+018399_000009:[]
+020044_000035:[]
+000736_000038:[]
+024352_000018:[]
+017704_000025:[]
+002130_000010:[5, 10]
+009667_000025:[]
+018738_000024:[]
+013175_000007:[]
+002868_000020:[11, 16]
+004138_000024:[]
+024919_000002:[11]
+021889_000012:[6]
+012970_000005:[]
+024361_000017:[]
+013577_000028:[]
+020176_000016:[]
+012259_000012:[]
+019633_000028:[1, 11]
+022663_000035:[]
+006045_000023:[]
+001824_000023:[9]
+022758_000033:[1]
+014787_000001:[]
+004318_000000:[]
+010973_000036:[]
+019825_000038:[]
+002987_000019:[2, 8, 13, 15]
+002304_000033:[2, 4, 8, 13, 17]
+016803_000025:[]
+021278_000021:[]
+020485_000037:[3]
+000617_000021:[]
+012991_000034:[]
+024875_000012:[9]
+019292_000027:[]
+008020_000017:[4, 10]
+014145_000038:[]
+002978_000007:[2, 13]
+007428_000027:[]
+013903_000029:[18]
+020485_000027:[3, 5, 13, 15, 16]
+014770_000005:[]
+007193_000014:[3]
+001263_000001:[0, 1, 4, 10, 18]
+004284_000024:[]
+019061_000011:[]
+003920_000010:[1, 14]
+022189_000021:[]
+012449_000038:[]
+014723_000032:[1, 2, 7, 8, 10, 11, 13, 15, 16, 18]
+014001_000019:[]
+016467_000015:[]
+023963_000016:[12]
+001103_000010:[]
+014185_000021:[]
+013394_000031:[]
+022803_000009:[]
+012079_000013:[5, 19]
+010548_000003:[1, 8, 9]
+007767_000029:[]
+007696_000038:[]
+004838_000010:[0, 8, 19]
+009885_000033:[]
+024875_000009:[1, 9, 10, 16, 19]
+024554_000006:[]
+002550_000031:[0, 1, 3, 5, 6, 13, 14]
+018567_000015:[]
+010012_000035:[]
+016080_000030:[]
+010182_000023:[3, 15]
+013374_000026:[9]
+014714_000031:[4, 11]
+016280_000020:[]
+015480_000006:[]
+017561_000004:[]
+011869_000009:[1, 9, 15]
+008436_000002:[8, 12]
+007102_000029:[12]
+007847_000033:[15, 17]
+001779_000037:[7]
+014822_000017:[]
+012609_000028:[]
+014207_000003:[10, 14, 17, 18]
+002599_000030:[4, 8]
+019493_000029:[9]
+024768_000008:[17]
+007988_000009:[8]
+022475_000009:[]
+008431_000025:[]
+023165_000005:[19]
+011833_000006:[]
+013387_000021:[]
+009935_000038:[]
+012022_000033:[]
+012057_000012:[]
+007633_000023:[]
+008913_000036:[]
+008349_000033:[]
+004803_000012:[8]
+000995_000023:[18]
+005615_000014:[]
+010982_000013:[6]
+000738_000037:[10]
+011337_000022:[]
+006387_000035:[16]
+023292_000003:[]
+005787_000028:[7, 11]
+014131_000000:[]
+009977_000033:[]
+024715_000010:[]
+014737_000025:[0, 1, 2, 6, 17]
+002339_000032:[4, 18]
+013078_000032:[0, 8, 19]
+001827_000015:[]
+008177_000026:[9]
+014591_000018:[12, 19]
+022272_000013:[]
+016011_000007:[2, 8, 16]
+003450_000014:[1, 5, 10, 11, 12, 18]
+002949_000019:[5, 6, 9, 11, 16, 17]
+010323_000017:[8]
+010910_000003:[]
+013829_000002:[]
+019230_000030:[0]
+007877_000003:[4, 11, 16, 17, 18]
+018022_000021:[]
+005064_000035:[]
+004798_000032:[]
+023578_000002:[17]
+018448_000015:[6, 12, 18]
+007615_000017:[0, 1, 4, 7, 9, 14]
+024191_000013:[]
+005081_000002:[9]
+015752_000014:[]
+019742_000020:[]
+024657_000026:[11]
+001219_000039:[14]
+003264_000017:[5, 11, 12, 13, 16, 19]
+013233_000039:[]
+014282_000029:[11, 12, 14]
+020574_000014:[5, 8, 16]
+017557_000031:[]
+008988_000010:[]
+021488_000008:[]
+021342_000036:[]
+021771_000033:[]
+016470_000004:[]
+022275_000038:[10, 13, 14, 16]
+015298_000009:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000383_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000383_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8b7b5ae2ad3ba7adf19006940773dea222843920
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000383_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+024665_000020:[]
+001917_000001:[14]
+020891_000032:[14]
+011075_000033:[]
+013945_000033:[9]
+019239_000026:[2]
+007257_000022:[8, 15]
+015875_000016:[3, 6, 7, 10, 11, 15, 17, 18, 19]
+000641_000003:[2, 17]
+011784_000033:[]
+021469_000032:[]
+015103_000004:[]
+001707_000004:[0]
+024659_000025:[]
+002108_000011:[]
+002974_000027:[]
+000872_000038:[2]
+020072_000027:[]
+022252_000021:[]
+021295_000018:[]
+002666_000038:[14]
+001189_000005:[]
+019084_000023:[1, 6]
+014425_000002:[10]
+007333_000003:[16]
+023556_000015:[]
+004563_000009:[4, 16]
+010752_000034:[5, 13, 18]
+017839_000017:[]
+003282_000023:[]
+016278_000032:[]
+016525_000022:[13]
+022148_000036:[18]
+011209_000003:[]
+021915_000017:[]
+007550_000036:[]
+011521_000027:[]
+005775_000029:[]
+017403_000037:[3, 13]
+000645_000030:[]
+004892_000033:[7]
+019310_000029:[1, 2, 6, 7, 17, 19]
+008253_000039:[1, 4, 5, 12, 15, 18]
+004053_000029:[]
+018041_000002:[]
+019792_000001:[1, 4, 7, 11, 13]
+011664_000014:[2]
+011157_000030:[]
+000951_000028:[0, 12, 13, 17, 18]
+024852_000029:[]
+000969_000033:[]
+021098_000026:[]
+004381_000032:[]
+024107_000010:[]
+006672_000029:[1, 8, 11]
+014289_000020:[]
+005543_000006:[6]
+005459_000035:[]
+004558_000016:[17]
+013484_000033:[11]
+005012_000007:[18]
+012653_000008:[]
+008907_000013:[0]
+021899_000021:[]
+015328_000003:[17, 18]
+011543_000034:[]
+020170_000018:[]
+008017_000039:[11]
+011013_000030:[]
+003974_000028:[]
+012475_000037:[]
+021421_000006:[]
+002864_000037:[11, 13]
+017860_000030:[]
+016783_000007:[]
+001631_000019:[17]
+024290_000010:[]
+012612_000003:[]
+019111_000019:[]
+021769_000004:[]
+007249_000023:[]
+014731_000020:[0, 2, 4, 6, 12]
+013336_000007:[]
+013320_000039:[]
+019125_000011:[]
+008182_000039:[]
+003571_000027:[3]
+007512_000003:[]
+000438_000024:[3, 4, 5, 8, 13, 18, 19]
+023413_000002:[]
+020273_000011:[13]
+023916_000026:[]
+015276_000035:[4]
+020436_000033:[]
+006789_000018:[1]
+021653_000001:[3, 5, 8, 10, 11, 15, 16]
+003752_000022:[]
+001202_000004:[17]
+012859_000001:[4, 7]
+024769_000022:[]
+000395_000009:[]
+021399_000005:[]
+018824_000001:[]
+005673_000009:[]
+010974_000018:[2, 19]
+000384_000003:[]
+024653_000037:[]
+006446_000010:[]
+013416_000003:[13, 17, 19]
+000316_000024:[]
+006319_000026:[14, 19]
+010704_000027:[]
+012312_000020:[12]
+024962_000023:[15]
+003290_000021:[]
+008637_000039:[5, 6, 8]
+013060_000002:[11, 12, 16]
+008234_000006:[0]
+020847_000037:[5]
+011143_000022:[]
+006995_000035:[]
+010309_000030:[]
+020759_000023:[2, 3, 6]
+014683_000032:[]
+016421_000021:[]
+008623_000006:[8]
+014448_000004:[3]
+017834_000029:[12]
+007789_000002:[]
+005240_000038:[17]
+008370_000013:[]
+019419_000038:[]
+003502_000033:[0]
+024268_000013:[]
+024285_000000:[]
+000732_000030:[2]
+023071_000008:[]
+016157_000001:[]
+001020_000003:[17]
+022578_000007:[]
+014244_000006:[]
+001548_000024:[4, 6]
+023846_000025:[2, 3, 6, 8, 10, 15, 18]
+019883_000022:[]
+003379_000004:[6, 15]
+015557_000027:[14, 19]
+013116_000033:[5]
+020188_000030:[14]
+003799_000035:[]
+024545_000032:[]
+000329_000036:[]
+017537_000010:[3, 11, 15]
+010794_000035:[]
+024533_000022:[]
+006305_000023:[0]
+017477_000030:[]
+021903_000035:[1, 3, 6, 10, 18]
+012461_000038:[]
+009259_000039:[6, 17]
+017755_000010:[]
+005425_000017:[0]
+007774_000019:[11]
+021374_000001:[]
+011115_000001:[4, 5, 6, 7, 12, 16, 17]
+014036_000016:[]
+015354_000016:[]
+005287_000024:[]
+007808_000021:[2, 19]
+006082_000006:[]
+002863_000020:[]
+009546_000018:[]
+000648_000015:[8, 16]
+008656_000039:[]
+014235_000020:[19]
+000240_000036:[10]
+020761_000002:[]
+007339_000011:[10]
+003136_000001:[5]
+020142_000030:[]
+021711_000036:[11, 14]
+016536_000008:[5]
+006962_000029:[]
+015190_000010:[4, 7, 12, 19]
+012945_000023:[5, 13, 15]
+015313_000008:[]
+000579_000016:[9]
+020411_000039:[7]
+012000_000002:[13]
+023534_000030:[6, 7, 13, 14]
+011472_000007:[7, 8]
+015163_000011:[]
+007444_000025:[4]
+019903_000026:[3]
+007715_000019:[]
+021027_000036:[]
+008332_000002:[2, 5, 11, 14]
+006466_000035:[13]
+022846_000009:[4]
+013909_000015:[12]
+004390_000024:[]
+000577_000032:[12, 14]
+016623_000010:[19]
+023963_000005:[12]
+011968_000012:[]
+020592_000008:[]
+002489_000027:[2]
+017542_000026:[7, 16]
+022620_000009:[1, 2]
+017914_000004:[1]
+015327_000007:[3]
+020087_000024:[]
+001177_000012:[5, 13, 18, 19]
+021258_000039:[]
+023114_000028:[]
+000733_000012:[]
+000162_000001:[16]
+008717_000011:[]
+006519_000021:[]
+000041_000037:[5, 7]
+011260_000016:[10]
+018911_000005:[9]
+020347_000006:[11, 14]
+003802_000022:[]
+017284_000035:[]
+024262_000017:[1, 15]
+019348_000017:[]
+001521_000016:[1, 19]
+018139_000032:[]
+015027_000022:[]
+015936_000009:[12]
+024340_000035:[]
+014879_000028:[]
+015822_000004:[]
+018712_000022:[]
+021913_000025:[]
+019469_000010:[]
+019743_000004:[]
+019820_000009:[]
+007978_000028:[2, 8, 17]
+020317_000027:[]
+011658_000009:[]
+009847_000034:[1, 5, 6, 9, 10, 11, 13, 17, 19]
+005723_000030:[]
+020864_000012:[]
+006328_000000:[]
+003053_000029:[]
+023951_000018:[1, 5, 9]
+006718_000011:[]
+023088_000010:[11]
+019720_000006:[]
+018374_000017:[]
+022465_000013:[]
+010747_000029:[]
+010358_000013:[]
+010849_000008:[11]
+010758_000009:[]
+016489_000006:[5]
+013687_000010:[]
+018783_000012:[5, 9, 12, 13, 15]
+021509_000002:[]
+014308_000031:[9]
+006506_000025:[]
+011914_000031:[]
+006809_000007:[6]
+000751_000026:[5]
+019652_000024:[]
+006247_000023:[]
+018634_000000:[]
+001290_000025:[1]
+007304_000026:[13]
+007071_000012:[3, 11, 17, 19]
+018370_000015:[]
+007095_000014:[6, 17]
+013587_000015:[0, 3, 13]
+023143_000010:[]
+004072_000025:[]
+024848_000008:[]
+012625_000003:[]
+015120_000007:[]
+019446_000038:[2, 10, 14, 16]
+024122_000039:[]
+017070_000030:[10, 12]
+004568_000039:[]
+021717_000009:[]
+003050_000036:[6, 12]
+014195_000011:[1, 12]
+020907_000030:[]
+013256_000017:[]
+013369_000000:[]
+009440_000012:[]
+007142_000024:[1, 3, 4, 5, 9, 15]
+004054_000015:[2, 11]
+014092_000011:[12, 15, 16]
+004705_000024:[]
+012675_000029:[]
+000065_000025:[1, 8, 10, 15]
+022599_000013:[2, 6]
+016953_000015:[6]
+015535_000019:[]
+000104_000023:[1]
+018160_000010:[]
+002446_000007:[]
+020126_000037:[]
+005794_000019:[1, 2, 4]
+017451_000000:[]
+017031_000016:[]
+008991_000028:[]
+012886_000020:[7, 15]
+024970_000021:[]
+006887_000020:[]
+007268_000006:[]
+007319_000033:[0]
+002824_000019:[8, 18]
+020528_000011:[]
+015000_000030:[]
+013569_000025:[11]
+013252_000038:[]
+014804_000007:[4, 8, 13]
+022803_000039:[]
+019681_000003:[]
+022688_000023:[]
+004256_000005:[3]
+010089_000001:[1, 18]
+004005_000034:[]
+018220_000039:[]
+000373_000033:[5, 15, 17, 19]
+000669_000002:[]
+024151_000002:[]
+000677_000029:[]
+010707_000025:[6, 18]
+003830_000034:[6]
+016860_000011:[]
+007348_000010:[]
+013742_000008:[]
+008279_000030:[3, 14, 19]
+013794_000002:[]
+006594_000003:[]
+001538_000004:[]
+018441_000015:[14]
+011475_000013:[]
+004593_000008:[]
+006107_000030:[0, 1, 14, 15]
+019504_000019:[]
+010801_000015:[3]
+016495_000026:[]
+007125_000003:[]
+014569_000019:[1, 17]
+016770_000009:[]
+000217_000011:[0, 4, 7, 13]
+006792_000014:[3, 12]
+019930_000014:[]
+004365_000002:[]
+003518_000033:[]
+010529_000017:[19]
+005859_000000:[]
+018156_000008:[]
+017995_000000:[]
+012817_000038:[6]
+007998_000028:[]
+018214_000022:[13]
+018958_000033:[]
+003830_000033:[2, 4]
+003736_000018:[]
+015884_000006:[8, 18]
+010492_000031:[]
+002539_000000:[6]
+018020_000016:[12, 13]
+002207_000039:[5]
+022549_000015:[]
+016484_000017:[]
+015209_000022:[6]
+002825_000016:[]
+007522_000035:[]
+016961_000011:[]
+009162_000034:[]
+020864_000021:[3, 8, 10]
+023303_000031:[]
+000768_000022:[4]
+015741_000029:[5, 6, 19]
+012074_000026:[]
+012797_000036:[]
+012188_000012:[]
+011789_000032:[]
+001541_000004:[7, 14]
+011398_000027:[19]
+023274_000018:[]
+004733_000020:[4, 19]
+020358_000033:[8]
+021587_000022:[2]
+014402_000000:[4]
+023529_000037:[16]
+006296_000014:[]
+000787_000024:[]
+005334_000017:[14]
+024713_000008:[]
+004209_000001:[5, 18]
+012267_000014:[9]
+009262_000029:[]
+021419_000020:[]
+009896_000031:[6]
+020388_000034:[1, 16]
+016584_000010:[0, 3, 4, 5, 7, 12]
+020451_000011:[]
+002519_000001:[]
+016834_000034:[16]
+017076_000015:[]
+005802_000005:[3, 17]
+012519_000034:[19]
+023718_000029:[]
+004391_000005:[]
+011136_000001:[0, 12]
+004061_000022:[6]
+023092_000005:[]
+005179_000004:[]
+021849_000021:[]
+017636_000015:[19]
+016956_000039:[]
+014478_000008:[]
+007432_000021:[4, 14]
+019978_000030:[]
+017380_000021:[11, 14, 16]
+006732_000018:[9]
+019899_000014:[]
+007167_000001:[2, 3, 6, 12]
+023455_000035:[]
+018794_000029:[5, 8, 9, 10]
+013159_000014:[]
+008934_000022:[]
+004555_000012:[12]
+017666_000025:[]
+023411_000027:[1]
+024152_000038:[]
+022895_000004:[13]
+012610_000010:[]
+014082_000004:[3]
+016840_000006:[2, 14]
+019995_000008:[]
+005709_000012:[9]
+019244_000000:[10]
+006771_000002:[]
+009798_000026:[]
+004620_000014:[]
+000444_000026:[]
+000952_000017:[]
+021402_000031:[]
+000693_000023:[16]
+013560_000039:[9, 12, 13]
+008709_000009:[19]
+021382_000008:[]
+001695_000021:[2, 7, 12]
+012495_000035:[]
+000206_000023:[]
+016439_000038:[]
+003983_000021:[13]
+005781_000004:[11]
+010114_000030:[]
+019122_000001:[]
+010067_000024:[8, 12]
+017362_000015:[]
+014290_000006:[]
+021651_000007:[]
+021111_000037:[]
+005339_000032:[]
+012847_000027:[]
+008621_000002:[]
+009352_000008:[3]
+015917_000039:[6]
+008349_000039:[]
+022742_000031:[]
+015461_000034:[5]
+018302_000025:[]
+014909_000028:[]
+012979_000004:[]
+024272_000032:[]
+020603_000029:[]
+003286_000017:[]
+021448_000016:[]
+010953_000020:[]
+002703_000038:[8]
+009391_000026:[]
+024079_000023:[]
+021309_000035:[]
+002278_000000:[5, 11, 16]
+000361_000036:[15]
+010657_000009:[1]
+015725_000025:[7]
+002708_000014:[]
+005863_000038:[5, 15]
+023501_000007:[10]
+024263_000027:[]
+001539_000033:[]
+012703_000028:[0, 2, 11, 16]
+014538_000004:[14]
+023509_000004:[]
+006357_000007:[]
+008154_000018:[]
+006005_000000:[]
+013985_000019:[6]
+003324_000038:[]
+016228_000023:[18]
+023461_000027:[2]
+024856_000017:[4, 7, 14]
+017436_000019:[1, 2]
+009476_000018:[]
+016204_000021:[]
+001027_000005:[0, 16, 18]
+013230_000025:[16]
+015811_000018:[17]
+003871_000001:[]
+001617_000020:[]
+017761_000019:[]
+001511_000023:[]
+024755_000008:[]
+002867_000038:[]
+016115_000037:[0, 4]
+011579_000020:[10, 18]
+010623_000002:[]
+018344_000028:[]
+004570_000031:[0, 12, 13, 16]
+022781_000018:[1, 4, 8, 17]
+014413_000025:[]
+013188_000010:[]
+008019_000035:[9]
+012425_000011:[]
+024900_000033:[5]
+007233_000007:[16]
+005706_000033:[]
+015764_000000:[]
+015952_000013:[8]
+002123_000005:[]
+003468_000010:[3]
+004809_000002:[5, 12, 17]
+003681_000017:[17]
+020592_000027:[4]
+017578_000011:[9, 10]
+021440_000005:[]
+000932_000002:[]
+015356_000033:[]
+016029_000008:[19]
+024152_000033:[]
+020641_000013:[19]
+024576_000039:[]
+005289_000008:[]
+022707_000003:[]
+018028_000025:[13]
+017366_000016:[]
+003048_000030:[]
+001028_000034:[]
+020417_000026:[]
+024991_000013:[]
+002553_000037:[5, 9, 19]
+023618_000006:[11]
+018559_000025:[12]
+010271_000035:[]
+001268_000005:[]
+015643_000001:[]
+001521_000029:[13]
+007541_000003:[4, 13, 15]
+009247_000023:[18]
+005308_000027:[]
+010169_000003:[6]
+012309_000025:[]
+024589_000009:[]
+016179_000033:[]
+016683_000035:[]
+023991_000018:[]
+004342_000036:[1, 12]
+012827_000001:[]
+003419_000006:[0, 5, 18]
+001609_000021:[]
+004880_000033:[1]
+012938_000017:[]
+000718_000001:[9]
+008960_000013:[8, 19]
+023568_000026:[]
+007878_000032:[14]
+018814_000015:[14]
+006252_000009:[5, 10, 16]
+024681_000018:[]
+008184_000025:[]
+006080_000022:[2, 7, 17, 19]
+019460_000014:[6]
+022185_000002:[]
+015280_000020:[17]
+005444_000034:[]
+010788_000039:[1, 16]
+014263_000016:[]
+016247_000010:[]
+002995_000016:[]
+020761_000031:[]
+019004_000002:[0, 18]
+000578_000002:[]
+003560_000000:[]
+024649_000035:[8]
+015678_000008:[]
+016491_000017:[]
+021853_000026:[]
+019195_000022:[]
+019510_000001:[7]
+019561_000003:[]
+021151_000030:[17]
+015368_000030:[0, 5]
+023608_000023:[]
+010113_000008:[]
+006098_000031:[]
+014285_000037:[]
+016414_000013:[]
+013992_000001:[1]
+001943_000009:[]
+012010_000018:[]
+002854_000015:[]
+008004_000014:[]
+014482_000035:[3, 7]
+000952_000032:[9, 10, 15]
+010664_000029:[]
+005537_000015:[]
+006747_000021:[18]
+006765_000006:[12]
+002819_000005:[]
+023751_000020:[]
+012275_000038:[11, 12]
+011644_000005:[]
+016735_000024:[]
+018418_000028:[2, 7, 9, 14]
+020413_000015:[1, 19]
+017433_000023:[9, 15]
+010009_000008:[]
+021592_000015:[4, 6, 8, 9, 10]
+009032_000018:[]
+002392_000036:[]
+020276_000001:[]
+000011_000031:[]
+015484_000028:[1, 4, 6, 11, 16, 17, 18, 19]
+009222_000019:[0, 8, 9, 11]
+008202_000039:[]
+014603_000039:[]
+004595_000032:[]
+022690_000036:[11, 15, 16]
+018084_000039:[]
+003784_000001:[]
+016301_000034:[]
+003016_000016:[]
+022980_000004:[]
+015594_000027:[]
+018262_000020:[5, 9]
+003208_000005:[]
+022154_000027:[16, 18]
+003400_000001:[7, 18]
+005609_000012:[1]
+009736_000022:[]
+023288_000038:[]
+015221_000039:[13, 17]
+013869_000013:[]
+014309_000009:[]
+010480_000008:[]
+018177_000034:[2]
+016142_000019:[]
+002802_000008:[]
+008924_000008:[]
+013432_000029:[]
+016846_000004:[]
+018067_000025:[0, 9, 10]
+013023_000030:[8]
+002170_000015:[6]
+010792_000002:[]
+006623_000015:[]
+018455_000034:[0, 11, 14, 19]
+000571_000024:[9]
+013354_000037:[2]
+001937_000008:[]
+019835_000004:[6, 8]
+018784_000010:[15]
+013873_000008:[]
+012216_000022:[6, 16]
+014813_000023:[]
+008553_000025:[1]
+008038_000024:[]
+007621_000002:[3, 4, 10, 11, 13, 16, 17]
+014198_000020:[]
+004908_000039:[]
+011788_000029:[]
+005779_000033:[2]
+005404_000000:[]
+021561_000034:[0]
+013381_000036:[]
+014201_000020:[4, 12]
+006551_000001:[]
+007720_000016:[]
+018998_000018:[]
+001091_000021:[5, 13]
+003910_000024:[]
+013808_000009:[]
+024182_000007:[7, 9]
+013983_000025:[1, 14]
+003371_000007:[]
+004746_000023:[]
+020143_000039:[]
+008607_000025:[]
+019926_000027:[1]
+005523_000028:[]
+014498_000026:[9]
+014309_000016:[]
+007448_000004:[]
+024586_000004:[]
+015953_000038:[]
+004219_000026:[]
+006709_000032:[]
+016186_000028:[12]
+016107_000005:[]
+005208_000023:[11, 14]
+017459_000009:[]
+021566_000026:[1, 3, 14]
+011144_000012:[]
+021551_000026:[7, 13]
+020841_000027:[]
+020054_000005:[15]
+024544_000016:[]
+020446_000032:[]
+014258_000004:[]
+010421_000031:[]
+022206_000012:[2, 5]
+014860_000001:[]
+014342_000024:[]
+015014_000025:[5, 13, 18]
+008564_000015:[]
+005878_000012:[]
+012486_000004:[]
+011928_000017:[]
+005471_000022:[]
+024993_000030:[]
+018658_000030:[13]
+009760_000008:[14]
+002259_000012:[0]
+013368_000038:[]
+003085_000011:[]
+021563_000016:[1, 3, 9, 10, 15, 19]
+013263_000021:[18]
+006900_000027:[]
+013051_000032:[]
+006139_000024:[]
+010958_000009:[16, 18]
+002719_000015:[]
+007917_000020:[]
+018094_000017:[]
+016322_000007:[]
+001901_000016:[4]
+001998_000010:[]
+002827_000034:[1, 9]
+017294_000010:[]
+010981_000038:[]
+006692_000020:[11]
+018640_000038:[]
+018451_000019:[0, 4, 6, 8, 9, 10, 13, 14, 16, 19]
+014601_000034:[]
+018992_000020:[8, 11, 16]
+007436_000008:[11, 13]
+015707_000033:[6, 7, 12]
+021601_000033:[]
+021502_000036:[18]
+010301_000037:[5, 17]
+005713_000026:[1]
+010398_000017:[4]
+015365_000007:[7]
+009165_000006:[]
+013156_000011:[4]
+000448_000010:[13, 18]
+024949_000023:[]
+006948_000018:[]
+018581_000034:[2]
+018484_000033:[]
+014769_000035:[0]
+013028_000003:[]
+014310_000018:[]
+004189_000039:[6, 19]
+014624_000023:[10]
+024512_000008:[0, 8]
+016488_000037:[]
+022713_000021:[]
+010833_000033:[]
+004975_000016:[]
+014601_000005:[]
+016553_000036:[]
+016635_000008:[]
+003500_000013:[10]
+024970_000017:[5]
+010254_000027:[]
+024739_000032:[]
+003720_000033:[6]
+018352_000025:[6]
+000941_000036:[]
+002840_000005:[13]
+016878_000001:[]
+019477_000020:[]
+018268_000021:[]
+013953_000002:[4]
+017113_000016:[10, 19]
+004482_000000:[8]
+013146_000004:[]
+001885_000012:[]
+019772_000035:[]
+001697_000030:[]
+016633_000023:[]
+016860_000009:[1, 9, 11]
+012808_000038:[2]
+014450_000016:[]
+019019_000011:[4, 9]
+023685_000028:[]
+001426_000018:[]
+008779_000017:[]
+019644_000029:[1, 12, 17]
+006982_000029:[2, 3, 6, 7, 8, 16, 18, 19]
+023050_000036:[]
+001444_000026:[18]
+017603_000036:[0, 2, 3, 4, 9, 10, 12, 14, 15, 17, 18]
+001879_000019:[12]
+005758_000013:[]
+004600_000019:[]
+019254_000009:[19]
+016731_000037:[10]
+017478_000027:[4]
+002838_000025:[]
+005124_000006:[13, 14]
+020583_000027:[]
+004714_000012:[2]
+015627_000033:[]
+012798_000031:[0]
+012506_000029:[]
+012201_000001:[]
+010150_000035:[]
+023345_000027:[]
+014193_000001:[]
+016397_000015:[7, 16, 19]
+023152_000013:[2]
+006730_000036:[4, 13]
+001302_000039:[]
+003102_000009:[]
+012400_000010:[]
+010426_000026:[]
+004847_000016:[]
+020141_000032:[1, 5, 7, 15]
+014180_000028:[0, 2, 4, 9, 10, 14, 16]
+018117_000035:[5]
+011578_000029:[]
+000753_000024:[]
+007670_000017:[]
+021989_000039:[]
+006944_000015:[]
+005900_000038:[7]
+004462_000028:[]
+021902_000010:[16]
+010003_000027:[]
+020302_000031:[]
+001711_000038:[]
+008220_000031:[9]
+011551_000010:[]
+000213_000039:[]
+005750_000039:[]
+001717_000020:[6]
+017064_000022:[]
+007239_000029:[]
+022626_000006:[]
+020703_000006:[]
+000170_000030:[]
+008469_000013:[6]
+017710_000011:[13]
+002614_000030:[]
+023265_000022:[]
+024865_000026:[]
+010825_000000:[4, 9, 10]
+014674_000008:[15]
+022598_000014:[]
+012791_000015:[]
+000957_000000:[]
+000510_000006:[]
+006930_000026:[]
+010990_000003:[0]
+006820_000025:[]
+004945_000003:[]
+020908_000017:[0]
+012073_000017:[]
+010023_000036:[]
+003058_000007:[]
+005715_000004:[]
+013404_000038:[]
+000626_000005:[]
+019369_000037:[]
+018800_000027:[18]
+018798_000010:[]
+018351_000028:[4]
+001809_000038:[]
+024333_000020:[]
+016612_000024:[]
+009109_000004:[14, 19]
+010364_000019:[]
+001376_000036:[0, 2, 3, 5, 8, 11, 16]
+019295_000011:[]
+023131_000034:[]
+008064_000020:[]
+004548_000002:[]
+021693_000002:[]
+016426_000028:[]
+023128_000009:[4, 14]
+022162_000025:[]
+020905_000019:[0, 1, 7]
+022689_000013:[]
+014230_000005:[4]
+020088_000024:[3, 9, 10, 12, 13, 16, 17]
+000878_000019:[2, 19]
+014757_000026:[5]
+002541_000002:[]
+022187_000038:[16]
+001230_000021:[3]
+016056_000004:[0, 3, 4, 16, 19]
+008183_000032:[]
+001651_000011:[]
+003412_000026:[]
+016358_000026:[5]
+010677_000009:[]
+011298_000036:[16]
+020580_000008:[]
+004872_000037:[0, 7, 11, 19]
+020654_000007:[]
+009465_000032:[10, 16]
+012696_000031:[]
+008610_000017:[]
+008927_000001:[]
+006888_000018:[]
+015196_000002:[0]
+021924_000023:[6, 15]
+022411_000021:[]
+010019_000016:[9]
+008715_000003:[]
+008251_000024:[]
+024676_000027:[]
+019948_000027:[1, 4, 9, 11, 12, 16]
+012514_000037:[13, 14, 16]
+000626_000002:[]
+011883_000010:[]
+020949_000010:[0]
+002454_000016:[10, 15]
+007757_000031:[0, 2, 7, 10, 11, 14, 16]
+000939_000033:[2, 10]
+017206_000030:[2]
+003167_000008:[9]
+009966_000002:[3, 11, 15]
+021026_000015:[1]
+016426_000024:[1, 2]
+006761_000023:[4, 6, 9, 10, 15, 17]
+006385_000005:[4, 9, 15, 18]
+001066_000001:[]
+012267_000009:[]
+008274_000014:[5, 6, 14]
+018097_000006:[16]
+003236_000031:[]
+016634_000031:[]
+009900_000020:[]
+006838_000036:[]
+005929_000008:[16]
+023096_000016:[]
+015395_000000:[]
+017581_000025:[1, 5, 18]
+018380_000036:[]
+008785_000002:[2, 19]
+014789_000024:[]
+016384_000002:[4, 7, 10, 12, 16]
+001976_000012:[0]
+006115_000033:[]
+009957_000011:[]
+004922_000033:[]
+023524_000011:[]
+018913_000020:[]
+016652_000017:[2, 7, 9, 17, 19]
+013860_000001:[0, 6, 10, 12, 17]
+020101_000039:[]
+021962_000025:[6]
+003662_000015:[7]
+014804_000021:[]
+001910_000025:[]
+011021_000033:[11, 16]
+011867_000038:[4]
+016990_000031:[]
+014127_000012:[]
+021227_000012:[11, 16]
+015871_000026:[5, 12, 18]
+023894_000027:[2]
+013553_000005:[]
+016659_000012:[4]
+023867_000031:[5, 8, 17]
+003261_000002:[4]
+010779_000008:[]
+015246_000006:[]
+022017_000002:[]
+001714_000037:[]
+004741_000014:[]
+023008_000013:[1]
+003509_000007:[]
+020886_000018:[]
+017201_000012:[5]
+020333_000021:[]
+006289_000002:[10, 17]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000399_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000399_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d641ddbb9a5539fbdc13d29985d6ffe9a7ad07da
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000399_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+012163_000034:[15]
+010133_000017:[2]
+018346_000001:[7]
+022735_000014:[]
+021652_000005:[3]
+013297_000026:[0, 3, 7, 8, 16]
+018059_000030:[]
+008286_000008:[]
+004674_000018:[0, 6, 14, 16]
+018670_000021:[18]
+021157_000012:[5, 8, 17]
+009153_000006:[]
+024362_000036:[]
+002819_000030:[11, 13]
+008193_000021:[]
+000035_000029:[14]
+003118_000017:[11]
+012696_000032:[]
+007106_000027:[]
+004287_000034:[]
+017996_000003:[]
+002422_000001:[15]
+009467_000001:[]
+001033_000008:[11]
+021897_000006:[]
+006496_000038:[]
+003078_000010:[6]
+021812_000016:[]
+017083_000013:[]
+014486_000030:[11, 13, 17]
+024167_000027:[14, 15, 16]
+021782_000016:[]
+008033_000016:[]
+011368_000013:[]
+014193_000018:[]
+005586_000011:[19]
+000220_000030:[]
+011424_000028:[]
+017095_000010:[]
+001138_000036:[]
+000702_000030:[]
+007873_000036:[]
+009740_000039:[16]
+009769_000038:[]
+004357_000025:[]
+013007_000013:[9, 13]
+010359_000032:[10]
+004181_000006:[]
+005221_000031:[16]
+005069_000031:[18]
+019351_000037:[]
+010640_000033:[]
+012090_000013:[]
+021396_000038:[1, 5]
+024890_000018:[1, 8, 10, 13]
+023582_000035:[0, 6, 7, 17]
+001883_000031:[0, 3, 4, 5, 9, 15]
+007329_000035:[1, 6, 10, 12]
+006930_000021:[]
+020658_000002:[]
+018644_000004:[]
+004581_000024:[]
+000940_000011:[8]
+003177_000007:[10, 19]
+002143_000029:[]
+009736_000037:[0]
+011323_000029:[10]
+021601_000009:[5]
+020863_000012:[]
+007647_000011:[]
+022498_000033:[2, 8, 15]
+021986_000006:[8]
+022290_000032:[]
+024953_000030:[]
+016016_000027:[]
+012772_000018:[9]
+013320_000026:[]
+016942_000034:[0, 1, 3, 9, 11, 16, 18]
+004497_000036:[]
+020763_000033:[16]
+019981_000002:[]
+015542_000035:[]
+024708_000037:[1]
+011177_000032:[5, 12, 16]
+013500_000006:[]
+003049_000010:[]
+005049_000013:[]
+015889_000032:[]
+021414_000014:[9]
+016064_000015:[]
+005805_000009:[]
+022494_000016:[8]
+024105_000016:[]
+000325_000033:[]
+016020_000032:[]
+007740_000022:[]
+003069_000008:[5, 10]
+018949_000028:[]
+015523_000037:[1, 16]
+014606_000015:[]
+017919_000029:[]
+010286_000009:[3, 6]
+003193_000027:[]
+019132_000034:[]
+017136_000023:[]
+006258_000027:[14]
+014317_000010:[0, 1, 3, 11, 13, 14, 15, 16, 19]
+003997_000028:[]
+010008_000039:[]
+011962_000022:[6]
+021492_000017:[]
+017481_000030:[]
+000066_000019:[]
+023186_000022:[]
+010327_000003:[12]
+004885_000001:[7]
+012495_000036:[]
+010749_000002:[]
+021914_000021:[4, 12]
+009537_000005:[]
+016605_000030:[]
+018352_000022:[6, 19]
+012966_000003:[]
+010924_000026:[]
+004275_000030:[2]
+001139_000017:[7]
+000134_000013:[19]
+016349_000005:[14]
+024349_000000:[]
+011097_000002:[]
+000617_000039:[]
+007987_000033:[]
+022142_000006:[]
+003760_000016:[]
+009784_000010:[]
+024838_000032:[]
+006048_000028:[]
+005979_000010:[]
+017205_000020:[]
+022897_000029:[1]
+023423_000013:[10]
+002638_000036:[1]
+019791_000030:[1, 5, 8, 9, 14]
+000540_000012:[]
+011569_000030:[]
+004669_000038:[]
+000229_000014:[1]
+021951_000029:[]
+001959_000012:[4, 8]
+022322_000002:[]
+018831_000038:[]
+020320_000037:[]
+010383_000038:[]
+000017_000009:[5, 8, 12, 16]
+010594_000031:[4]
+009476_000010:[12]
+014989_000024:[]
+022600_000031:[]
+013593_000034:[]
+009706_000031:[17]
+017350_000036:[]
+018020_000001:[10]
+022971_000009:[]
+013912_000014:[7, 10]
+004747_000029:[]
+007140_000033:[15]
+019261_000019:[2]
+024528_000016:[]
+003012_000006:[]
+017498_000001:[]
+009696_000000:[]
+011205_000019:[12]
+020647_000013:[11]
+020706_000001:[3]
+023130_000031:[]
+020042_000003:[16, 17]
+011147_000025:[]
+020141_000019:[3, 5]
+003569_000010:[]
+002508_000015:[11]
+018424_000038:[]
+009451_000022:[5, 11, 12, 14, 17, 19]
+016252_000013:[]
+024940_000028:[]
+013951_000027:[]
+004572_000016:[0, 13]
+023094_000017:[2, 3]
+008127_000013:[]
+014408_000035:[7]
+000800_000030:[]
+003446_000023:[1, 18]
+009870_000013:[]
+021053_000021:[]
+004720_000037:[]
+019499_000037:[13]
+020212_000001:[]
+022548_000010:[]
+008978_000006:[]
+015850_000020:[]
+023651_000000:[]
+008873_000019:[0]
+024199_000006:[2, 18]
+008405_000038:[]
+018978_000007:[]
+000694_000014:[]
+018341_000008:[13]
+020527_000017:[]
+013570_000030:[]
+006970_000032:[]
+002868_000001:[]
+012528_000025:[]
+001949_000002:[]
+011370_000012:[]
+000872_000006:[]
+009029_000032:[]
+011428_000032:[17]
+023046_000031:[]
+003743_000018:[]
+022217_000013:[]
+013155_000024:[]
+006362_000008:[]
+010274_000011:[]
+015843_000035:[]
+004190_000038:[]
+022773_000037:[1, 8]
+002127_000033:[2, 8]
+024705_000016:[]
+021789_000001:[4, 6]
+020318_000038:[]
+012513_000000:[]
+014976_000030:[]
+019799_000034:[]
+011461_000015:[]
+001589_000019:[3]
+006378_000016:[19]
+009930_000030:[1, 6, 12]
+007845_000001:[]
+008853_000033:[]
+024791_000000:[]
+009473_000000:[0]
+006133_000013:[]
+004808_000010:[]
+009936_000037:[]
+001406_000020:[]
+017881_000018:[17]
+018662_000023:[]
+005627_000014:[]
+006241_000010:[19]
+019894_000022:[]
+009049_000024:[]
+004810_000021:[11]
+011925_000013:[7]
+022306_000012:[7]
+017361_000024:[]
+017915_000003:[17]
+024680_000001:[]
+006756_000020:[]
+020850_000037:[10]
+022989_000002:[]
+008014_000033:[2, 3, 6, 10, 15, 17, 19]
+003766_000017:[2, 12, 13, 16, 17]
+001884_000020:[9, 14, 16, 17]
+003711_000007:[]
+011170_000006:[16, 18]
+023672_000036:[10]
+020160_000028:[1, 3]
+020156_000018:[12, 17, 18]
+004502_000016:[4]
+012558_000004:[18, 19]
+015736_000036:[]
+019856_000016:[]
+018430_000001:[2, 17]
+011862_000008:[]
+018730_000004:[17]
+006169_000028:[]
+000387_000000:[]
+007580_000007:[1]
+017458_000021:[]
+012374_000035:[]
+012718_000021:[13]
+019228_000004:[11, 17]
+020421_000037:[13]
+012683_000026:[7, 10]
+004332_000000:[]
+007827_000017:[9, 14]
+021305_000005:[0]
+014709_000010:[]
+013035_000016:[]
+000384_000010:[]
+003037_000023:[1, 7, 8, 11, 13, 15, 18]
+003333_000007:[8]
+001138_000024:[]
+016899_000009:[15]
+002951_000038:[]
+012087_000016:[2, 4, 9, 10, 19]
+022380_000007:[2]
+022636_000003:[]
+001101_000011:[4, 9]
+012403_000023:[]
+022821_000037:[]
+024783_000010:[]
+008893_000037:[]
+012367_000004:[6]
+024083_000017:[]
+000190_000025:[]
+021424_000013:[]
+017286_000039:[1]
+003841_000032:[]
+001468_000002:[]
+005516_000033:[17]
+006988_000010:[]
+023799_000031:[]
+014343_000039:[]
+004563_000005:[3]
+009835_000030:[]
+022856_000025:[12]
+020341_000020:[]
+016933_000014:[7, 8]
+013150_000037:[]
+001594_000017:[5]
+017836_000012:[]
+001591_000037:[]
+011657_000026:[]
+012379_000002:[]
+014866_000002:[]
+004529_000006:[]
+011289_000027:[2]
+010932_000009:[]
+019118_000020:[6, 9, 15]
+008125_000021:[]
+015427_000020:[]
+021927_000027:[]
+010999_000021:[]
+019570_000006:[3]
+008518_000026:[]
+020577_000026:[0, 16]
+002765_000000:[]
+013053_000030:[8, 17]
+007949_000032:[]
+020337_000005:[5, 9]
+024449_000017:[]
+018136_000016:[11]
+004831_000032:[]
+006259_000012:[1, 6, 17]
+018658_000015:[18]
+020149_000012:[]
+021138_000006:[6]
+014769_000027:[6]
+021124_000012:[]
+002512_000015:[]
+007932_000030:[18]
+008070_000031:[]
+024653_000030:[2]
+007541_000000:[6, 13]
+020762_000021:[5, 17]
+014388_000002:[]
+005281_000008:[12]
+004956_000019:[0, 2, 5, 13, 17]
+005075_000026:[16, 18]
+020415_000023:[2]
+016559_000031:[]
+021255_000004:[9]
+006058_000018:[]
+018039_000038:[]
+009664_000036:[]
+009608_000030:[]
+008320_000020:[]
+020894_000016:[4, 9]
+017582_000009:[]
+023780_000031:[]
+017990_000007:[]
+018663_000026:[16]
+008564_000031:[1, 7, 8]
+021358_000035:[]
+000543_000026:[]
+016380_000019:[1, 2]
+018629_000015:[]
+000844_000022:[18]
+017319_000016:[]
+003558_000022:[]
+013993_000027:[1, 4, 11, 19]
+000546_000035:[]
+022976_000017:[]
+012585_000024:[]
+022425_000024:[1, 6, 16, 18]
+023011_000019:[]
+019654_000004:[]
+024507_000034:[]
+020880_000012:[]
+019285_000002:[]
+008823_000038:[]
+022471_000006:[15]
+023507_000004:[]
+014119_000018:[]
+010706_000010:[12]
+024208_000024:[2, 14]
+000143_000019:[15]
+008151_000023:[]
+005680_000012:[]
+011033_000015:[]
+005542_000013:[]
+010685_000026:[]
+020680_000033:[]
+005478_000004:[10]
+009145_000033:[7]
+004535_000032:[10]
+022879_000017:[16]
+018228_000037:[11, 14]
+021775_000037:[0, 9, 15]
+012392_000038:[3]
+007106_000034:[]
+004797_000023:[]
+004432_000030:[0, 2, 14, 15, 19]
+009178_000004:[14]
+023125_000011:[]
+019864_000019:[]
+001844_000022:[]
+011866_000013:[]
+013919_000007:[]
+024887_000039:[]
+012795_000028:[]
+022579_000031:[]
+021342_000028:[]
+006615_000027:[16]
+021334_000034:[]
+011906_000004:[]
+017415_000036:[]
+020751_000039:[]
+023166_000031:[12]
+007147_000036:[]
+023670_000013:[13]
+003492_000039:[]
+024351_000024:[]
+015264_000025:[1]
+023839_000002:[11]
+011286_000016:[5, 10]
+005735_000017:[]
+000577_000023:[1, 14, 15]
+010368_000033:[]
+016889_000001:[0, 9, 19]
+015289_000005:[]
+005513_000032:[1, 12]
+024486_000018:[]
+019883_000006:[]
+020270_000019:[]
+022658_000020:[2]
+004197_000027:[3, 13, 17]
+016161_000024:[2]
+008818_000030:[2]
+005829_000026:[11]
+003799_000033:[]
+010096_000037:[5]
+024310_000006:[]
+009097_000038:[]
+009445_000033:[18]
+024859_000018:[]
+005903_000011:[]
+000109_000035:[]
+004725_000034:[6]
+020296_000022:[]
+008158_000021:[]
+012895_000018:[11]
+017867_000007:[7]
+017432_000031:[]
+014060_000013:[]
+021330_000016:[]
+013575_000002:[]
+002529_000027:[]
+004647_000023:[14, 19]
+010503_000018:[]
+016538_000012:[2, 6, 11, 14, 19]
+015602_000005:[]
+017638_000030:[]
+020104_000003:[16]
+018283_000031:[]
+016614_000022:[]
+004863_000022:[1, 15]
+002778_000029:[]
+004040_000005:[]
+008913_000004:[6, 10, 17]
+006403_000016:[0, 15, 17, 19]
+014317_000006:[]
+006977_000013:[]
+000387_000034:[]
+023545_000004:[]
+000122_000031:[16]
+014004_000011:[]
+020636_000010:[3]
+012191_000009:[3, 4, 8, 10, 13, 18]
+022363_000039:[]
+013981_000002:[]
+005978_000004:[0, 5, 6, 8, 15, 17]
+021474_000011:[]
+004820_000032:[]
+015665_000021:[]
+021003_000006:[1, 2, 3, 4, 6, 7, 8, 9, 11]
+009936_000019:[]
+002645_000032:[]
+020835_000036:[0]
+005470_000028:[5, 12, 14, 17]
+016207_000017:[1]
+001024_000014:[]
+005509_000031:[]
+011312_000023:[]
+000552_000037:[]
+021132_000029:[0, 1, 5, 8, 10, 13, 15]
+002262_000036:[]
+004322_000039:[]
+003853_000036:[]
+002813_000031:[18]
+024300_000001:[]
+010075_000037:[]
+005001_000011:[0, 5, 12]
+014383_000037:[8]
+022871_000011:[7]
+005068_000037:[]
+021592_000013:[]
+009134_000011:[]
+009917_000028:[]
+001065_000008:[15]
+010452_000037:[]
+023199_000005:[]
+024422_000004:[]
+005331_000004:[0, 5, 17]
+023540_000023:[]
+021682_000021:[7, 10, 16, 18]
+007703_000015:[]
+022505_000031:[1, 4, 5, 8]
+024507_000005:[]
+021180_000004:[]
+021129_000033:[]
+006381_000000:[]
+000314_000008:[1]
+013147_000017:[]
+010952_000014:[]
+001116_000003:[]
+023629_000018:[]
+020694_000001:[]
+020895_000013:[]
+004277_000037:[13, 16]
+018040_000004:[1, 8]
+002173_000033:[]
+002075_000001:[]
+000259_000020:[]
+016891_000015:[]
+012654_000006:[]
+019341_000034:[]
+020430_000012:[]
+009058_000014:[]
+018042_000017:[]
+002797_000023:[]
+016296_000001:[]
+023342_000021:[]
+008574_000035:[]
+012827_000016:[3, 5, 7, 19]
+019513_000012:[11, 19]
+009985_000027:[]
+021607_000035:[12]
+014191_000002:[0]
+017892_000003:[]
+006484_000014:[]
+016232_000014:[5, 7]
+004981_000008:[4, 9]
+014312_000037:[]
+024729_000020:[]
+012134_000011:[]
+004435_000013:[0]
+007012_000032:[]
+015686_000035:[1, 3, 8, 9, 12, 15, 16, 18, 19]
+005856_000018:[10]
+011055_000002:[]
+023231_000024:[7, 8, 9, 13, 19]
+010944_000036:[5, 13]
+020161_000020:[15, 17]
+006969_000017:[]
+018168_000020:[]
+005882_000024:[]
+014151_000038:[]
+006532_000024:[]
+008738_000019:[]
+022288_000039:[17]
+022515_000002:[]
+012384_000039:[]
+024955_000008:[]
+022670_000002:[4, 6, 11, 12, 18]
+009643_000002:[4, 10, 11, 16, 18]
+013038_000038:[]
+013905_000031:[]
+021422_000034:[]
+020719_000003:[11]
+004997_000018:[6, 13, 14, 19]
+024668_000026:[]
+012067_000038:[]
+009316_000017:[11]
+009803_000026:[]
+009436_000031:[]
+017468_000014:[]
+014294_000038:[12]
+021156_000020:[9, 15]
+002434_000015:[2]
+012130_000031:[]
+021992_000016:[]
+002005_000009:[16]
+016326_000000:[]
+019872_000008:[]
+015296_000032:[8]
+012351_000003:[]
+018872_000018:[]
+017565_000029:[]
+010230_000039:[9]
+005418_000034:[]
+019924_000023:[]
+023506_000019:[]
+017909_000028:[]
+022432_000031:[]
+000360_000038:[]
+008082_000016:[0, 6, 11, 13]
+012419_000028:[]
+003442_000021:[]
+014982_000019:[]
+000863_000014:[]
+023048_000039:[]
+023496_000037:[]
+016532_000024:[]
+008100_000019:[]
+017765_000014:[14]
+008296_000014:[]
+008311_000036:[1, 2, 3]
+024926_000023:[]
+009568_000037:[]
+021561_000002:[]
+011696_000026:[]
+014279_000000:[]
+014735_000034:[]
+004420_000021:[]
+002181_000003:[]
+020660_000006:[9, 10]
+003285_000020:[]
+021410_000010:[]
+023446_000027:[]
+011696_000015:[]
+004556_000037:[]
+014451_000015:[7, 8]
+016143_000007:[]
+015952_000015:[1]
+012647_000039:[5, 15]
+018897_000002:[19]
+009898_000001:[]
+003673_000014:[7]
+012742_000000:[8, 17]
+023576_000025:[]
+003825_000016:[]
+001472_000036:[]
+019729_000012:[]
+008355_000037:[3, 18]
+008976_000020:[4]
+012335_000029:[]
+004165_000031:[]
+004119_000010:[7, 14]
+020594_000028:[9]
+008931_000030:[1, 3, 7]
+022732_000019:[18]
+018850_000001:[]
+013189_000034:[]
+001361_000005:[]
+006937_000033:[]
+020484_000036:[]
+024124_000031:[]
+008528_000009:[14]
+024509_000027:[]
+014272_000006:[17]
+018731_000032:[1, 15]
+002216_000006:[5, 6, 11, 16]
+023591_000026:[]
+024414_000007:[]
+003899_000010:[14]
+007892_000006:[6, 14]
+010413_000004:[]
+006529_000013:[]
+016028_000023:[6, 8, 11, 12, 13]
+018122_000016:[1, 5, 6, 19]
+008859_000010:[14]
+020055_000008:[3, 9, 12, 19]
+000081_000004:[1, 6, 17]
+017683_000007:[]
+019030_000003:[]
+002297_000005:[14, 18]
+019950_000036:[5, 9, 18]
+000347_000003:[]
+003391_000014:[12, 17]
+021832_000016:[15]
+023666_000034:[]
+024585_000023:[10]
+015419_000024:[]
+019713_000017:[]
+019754_000012:[]
+024187_000004:[15]
+019914_000034:[]
+013277_000026:[3]
+006779_000004:[4]
+018770_000014:[9, 17, 18, 19]
+004061_000020:[]
+009310_000022:[]
+016843_000002:[1]
+016147_000010:[]
+007051_000014:[6]
+021052_000036:[1, 7, 8, 14]
+018019_000010:[]
+024451_000009:[]
+007008_000036:[]
+021986_000024:[]
+024268_000026:[2, 13, 14, 17]
+011530_000009:[]
+018952_000038:[]
+003375_000032:[]
+014305_000003:[]
+016027_000029:[12]
+003023_000025:[7, 18]
+009234_000037:[]
+017006_000033:[4]
+012332_000025:[15]
+006284_000029:[]
+008857_000030:[14]
+021159_000027:[]
+015047_000013:[4, 10, 11]
+001468_000017:[]
+009950_000000:[2, 10, 18, 19]
+021372_000019:[]
+006309_000038:[6]
+004940_000034:[]
+009846_000015:[0, 19]
+023946_000022:[]
+021158_000028:[5, 19]
+003220_000024:[6, 8]
+012966_000010:[8, 19]
+012444_000020:[9, 16]
+006106_000034:[18]
+007543_000008:[]
+007793_000004:[]
+012192_000028:[]
+006589_000034:[12]
+023267_000022:[]
+022162_000009:[7]
+015152_000011:[]
+009783_000008:[]
+021221_000032:[10, 18]
+008795_000019:[]
+019235_000024:[]
+004240_000021:[2, 12, 14, 15, 19]
+017989_000030:[10]
+012543_000033:[]
+004554_000007:[]
+011118_000008:[]
+008825_000027:[]
+001824_000025:[]
+007539_000016:[]
+004887_000033:[5, 10]
+015941_000028:[]
+004234_000020:[]
+022278_000030:[17]
+001804_000002:[1, 10]
+020824_000018:[]
+019417_000020:[19]
+007112_000039:[14]
+023822_000016:[]
+022807_000012:[0, 9, 15]
+022077_000019:[]
+011530_000030:[]
+022604_000023:[]
+001319_000030:[18]
+014188_000033:[]
+016789_000031:[4, 6, 12, 13]
+006116_000031:[10]
+024801_000021:[]
+016157_000013:[4]
+010004_000022:[]
+008429_000013:[14]
+012123_000015:[]
+024179_000002:[]
+007247_000004:[13, 14, 18, 19]
+019654_000016:[6, 14, 19]
+017698_000037:[5, 15, 19]
+023963_000032:[]
+011820_000016:[1, 5, 7, 11]
+007079_000021:[]
+013005_000015:[]
+013488_000034:[]
+001202_000027:[1, 4, 6, 12, 14]
+010572_000011:[0, 10, 12]
+020846_000030:[]
+001699_000011:[]
+010077_000019:[0]
+005673_000017:[]
+009776_000010:[1, 5, 7, 10]
+014477_000012:[]
+008718_000034:[0, 1, 18]
+007490_000024:[0, 2, 8, 19]
+022823_000021:[10, 18]
+008517_000016:[]
+020135_000016:[]
+020640_000027:[]
+021265_000010:[]
+021334_000038:[]
+011784_000016:[]
+015867_000038:[]
+019964_000000:[8]
+022965_000018:[3, 8, 18]
+001974_000036:[6]
+004346_000026:[]
+007070_000008:[]
+006576_000033:[]
+014898_000020:[]
+005374_000039:[]
+001728_000034:[]
+023831_000011:[]
+020956_000023:[]
+012167_000028:[]
+005589_000010:[]
+009233_000018:[]
+002538_000009:[]
+024542_000028:[11]
+012709_000032:[3, 6, 12, 13, 17]
+002649_000016:[]
+013881_000035:[]
+000711_000033:[2]
+006304_000036:[]
+001146_000035:[0, 1, 2, 3, 9, 10, 13, 14, 18]
+016729_000006:[18]
+018231_000018:[]
+024402_000038:[11]
+007474_000009:[5]
+017625_000011:[4, 11, 13]
+011527_000014:[18]
+007014_000025:[19]
+002936_000034:[]
+008811_000013:[6]
+016442_000026:[]
+006712_000027:[7, 10, 12, 14]
+007051_000021:[6]
+012798_000003:[0]
+002909_000014:[]
+009094_000027:[11, 12]
+018270_000008:[7]
+021123_000030:[9, 15]
+013424_000013:[4]
+000823_000032:[7, 13]
+004491_000035:[]
+005635_000010:[]
+021042_000000:[]
+017322_000006:[0]
+005714_000012:[]
+013948_000024:[]
+023137_000034:[11]
+012488_000038:[2]
+001956_000004:[3, 16, 17]
+000265_000034:[]
+011589_000001:[2, 10, 18]
+023697_000002:[16]
+008502_000030:[]
+015602_000036:[]
+010465_000022:[4]
+017914_000026:[15]
+020825_000011:[13]
+020651_000033:[]
+024738_000025:[0]
+008084_000039:[]
+017100_000014:[]
+023906_000001:[]
+004374_000005:[11, 14]
+020756_000024:[]
+023247_000012:[]
+013327_000030:[]
+022807_000006:[]
+007041_000023:[16]
+018540_000035:[0, 4, 17]
+020426_000013:[17]
+009258_000019:[]
+009303_000036:[2]
+002633_000000:[3]
+020950_000032:[3, 7, 12, 18]
+015762_000015:[2]
+013882_000017:[0, 1, 2, 7, 14]
+022349_000031:[]
+016348_000019:[]
+001731_000017:[1]
+016786_000004:[5]
+024405_000028:[]
+005652_000019:[]
+005244_000015:[]
+010392_000018:[0]
+015869_000014:[]
+008399_000025:[]
+024936_000034:[7]
+020211_000004:[10]
+008475_000019:[0]
+010205_000016:[0, 1, 15, 18]
+018055_000016:[]
+009607_000007:[]
+021305_000014:[]
+010249_000039:[]
+020635_000002:[]
+015143_000036:[]
+024387_000009:[]
+022545_000031:[]
+004696_000017:[]
+007010_000010:[1, 9]
+023282_000003:[9]
+006949_000024:[]
+017752_000004:[12, 19]
+018989_000039:[5, 7, 12, 17]
+009799_000004:[15]
+015116_000037:[]
+022924_000019:[]
+004954_000007:[13, 16]
+008782_000037:[]
+010856_000007:[]
+006382_000021:[]
+016791_000026:[11]
+004682_000012:[]
+002720_000011:[]
+023956_000008:[3, 10]
+015680_000034:[]
+014315_000035:[]
+003531_000001:[18]
+015915_000039:[]
+009043_000023:[2]
+002212_000005:[1, 11]
+007843_000023:[]
+020402_000031:[]
+005322_000023:[1, 4, 5, 6, 8, 9, 11, 13, 14, 17]
+015493_000029:[]
+023729_000026:[]
+024663_000034:[]
+002906_000025:[3, 4, 15, 16]
+020264_000014:[]
+001678_000029:[]
+024876_000032:[1]
+021781_000013:[]
+019861_000006:[]
+024345_000031:[]
+006397_000039:[8, 10]
+015525_000017:[]
+003443_000020:[2, 11]
+012897_000002:[]
+004720_000024:[15]
+013221_000012:[]
+003889_000026:[0, 15]
+005457_000029:[]
+005794_000005:[]
+012621_000010:[]
+013696_000007:[]
+001817_000031:[]
+022387_000034:[]
+018757_000017:[]
+022009_000016:[]
+014297_000022:[]
+015858_000029:[4]
+010733_000006:[]
+006259_000024:[11]
+018678_000010:[7, 10, 13]
+011172_000026:[]
+013845_000028:[0]
+012070_000010:[]
+001279_000038:[2, 6, 15, 17]
+009555_000018:[]
+000433_000035:[]
+005627_000033:[0, 12]
+024614_000011:[16]
+024003_000018:[]
+015385_000011:[]
+009427_000022:[]
+009607_000020:[1, 4, 6, 11]
+014469_000016:[18]
+009516_000006:[7]
+002937_000024:[3]
+010982_000019:[]
+023400_000037:[2, 19]
+007008_000015:[11, 13, 16]
+000585_000002:[4, 6]
+013180_000024:[]
+015911_000035:[2, 12]
+015843_000009:[]
+019253_000011:[9]
+006746_000022:[]
+012399_000039:[]
+007289_000011:[3, 18]
+011094_000009:[]
+003438_000015:[8, 9, 10]
+005603_000019:[]
+021533_000024:[]
+022919_000014:[]
+013699_000014:[]
+021386_000013:[]
+016443_000006:[]
+016161_000039:[2, 15]
+005822_000037:[6]
+005889_000012:[0, 5, 7, 8, 11]
+015081_000033:[]
+005109_000022:[3, 17]
+007951_000039:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000405_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000405_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8bf82645c4bbc9e030f579276d001c4448b50709
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000405_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+016092_000002:[]
+009977_000028:[0]
+012697_000018:[0, 1, 2, 5, 6, 8, 10, 12, 18]
+021320_000012:[]
+018683_000037:[]
+015575_000014:[3, 5]
+011957_000036:[]
+016952_000030:[15]
+015626_000006:[]
+011254_000018:[]
+016106_000012:[]
+022694_000037:[]
+019532_000037:[]
+017477_000021:[]
+020843_000012:[]
+017340_000019:[3]
+023790_000009:[1, 4, 10, 13, 18]
+001243_000030:[]
+015997_000022:[6, 7, 11, 16, 17]
+010931_000034:[]
+008561_000020:[]
+001171_000025:[17]
+009647_000014:[9]
+001253_000005:[]
+013747_000016:[6]
+006012_000037:[]
+024576_000037:[15]
+020613_000021:[]
+022842_000018:[6, 8]
+003767_000000:[17]
+000182_000005:[]
+015323_000038:[9, 17]
+000578_000038:[]
+015759_000008:[]
+002531_000032:[]
+018246_000038:[0]
+015142_000036:[4]
+010558_000029:[]
+006542_000002:[]
+005403_000014:[1]
+019728_000003:[]
+011579_000036:[]
+020371_000038:[]
+016611_000011:[0, 1, 2, 10, 12, 14, 15, 17]
+002247_000017:[]
+009516_000028:[]
+004961_000000:[]
+016012_000028:[]
+000045_000009:[]
+023731_000034:[3, 8]
+018137_000000:[]
+014504_000018:[4, 10, 14, 16, 19]
+003842_000021:[]
+023257_000003:[]
+019480_000010:[2, 3, 15]
+006924_000012:[0, 1, 2, 4, 9]
+009559_000036:[]
+022321_000014:[]
+002572_000031:[4]
+009219_000006:[6, 14, 19]
+017223_000019:[0, 1, 10, 17, 19]
+009883_000031:[12, 14]
+020292_000004:[0]
+023605_000029:[]
+007769_000021:[]
+023744_000007:[]
+021119_000002:[1, 4, 11, 17, 18]
+005626_000009:[]
+002745_000015:[]
+020876_000039:[]
+001934_000001:[14]
+023896_000001:[9]
+004268_000031:[]
+009129_000012:[]
+019466_000036:[]
+020705_000000:[]
+022507_000024:[]
+011905_000017:[2, 17]
+023657_000029:[8]
+020432_000024:[]
+024386_000026:[]
+018091_000022:[]
+002341_000035:[0, 3, 4, 16]
+022984_000016:[12]
+009991_000026:[]
+021093_000011:[]
+003030_000009:[]
+013419_000002:[]
+005762_000030:[13]
+024751_000004:[6]
+000873_000034:[2, 14]
+006713_000006:[]
+010534_000022:[6, 13, 14]
+015791_000036:[1, 2, 4, 5, 8, 15]
+022110_000005:[6]
+006658_000035:[]
+022839_000036:[]
+021163_000012:[1, 7]
+005168_000011:[6, 9]
+003205_000003:[]
+001425_000031:[]
+011139_000017:[]
+023878_000036:[]
+021120_000028:[]
+016415_000039:[7, 17]
+006860_000002:[]
+015669_000028:[]
+012197_000028:[3]
+006490_000010:[]
+008405_000013:[]
+020113_000005:[6, 9]
+016896_000026:[15]
+006942_000032:[3, 17]
+005553_000026:[]
+009160_000032:[]
+021752_000025:[]
+014494_000005:[1, 5]
+014984_000005:[10]
+008221_000022:[]
+006525_000027:[]
+002470_000037:[5, 7]
+000690_000014:[3, 11, 17]
+005499_000037:[]
+013816_000039:[11, 19]
+003066_000022:[]
+023117_000003:[]
+011430_000019:[17]
+018375_000031:[3, 5, 14]
+024392_000002:[]
+021582_000035:[1, 15]
+004665_000008:[0, 2, 4, 5, 16, 19]
+017321_000030:[]
+008755_000032:[]
+003486_000021:[]
+002874_000025:[1, 10, 13]
+004926_000014:[3, 10, 11, 18]
+003077_000031:[18]
+000723_000030:[1, 6, 16, 17]
+009471_000039:[1]
+022024_000011:[]
+005262_000020:[]
+006826_000004:[]
+016820_000013:[0, 3, 5, 6, 9, 12]
+013814_000031:[]
+005642_000028:[]
+023352_000009:[]
+020945_000035:[9, 14, 19]
+001050_000004:[]
+009478_000017:[19]
+019535_000033:[]
+003583_000011:[]
+000291_000021:[0, 1, 5, 6, 7, 12, 13, 16, 19]
+016747_000008:[]
+015504_000026:[10]
+012763_000022:[10, 18]
+011305_000017:[2, 15]
+017433_000021:[]
+012503_000012:[]
+008985_000005:[4, 12, 16]
+002505_000012:[]
+015644_000031:[]
+016571_000001:[]
+022452_000006:[]
+014834_000036:[]
+008808_000038:[]
+014611_000026:[]
+001626_000005:[]
+003175_000039:[]
+006857_000017:[]
+017086_000024:[2]
+009147_000023:[13]
+023296_000024:[13]
+014561_000035:[]
+003513_000016:[1]
+018167_000019:[]
+003243_000029:[]
+001454_000030:[]
+002280_000006:[]
+022417_000036:[]
+013759_000006:[13, 18]
+022541_000017:[3]
+015957_000029:[17]
+022407_000024:[]
+003529_000011:[13]
+024062_000021:[13]
+019272_000005:[]
+003654_000013:[16]
+003412_000016:[9]
+003379_000003:[10, 15]
+002346_000035:[]
+017738_000021:[16]
+012857_000030:[1, 12, 17]
+008404_000005:[]
+000034_000038:[]
+012321_000024:[]
+023883_000031:[]
+013932_000034:[13, 16, 17, 19]
+000703_000023:[]
+015752_000017:[]
+008695_000031:[2]
+003127_000026:[]
+009440_000033:[]
+009223_000015:[]
+006866_000031:[17]
+004450_000026:[1]
+008583_000013:[]
+016596_000039:[5]
+008130_000021:[]
+007283_000015:[7]
+014262_000010:[0, 3, 6, 8, 11, 14, 16]
+003645_000002:[14]
+007806_000032:[19]
+019103_000012:[]
+023805_000022:[14]
+005541_000033:[18]
+008363_000016:[]
+020207_000010:[]
+011742_000032:[13]
+002936_000033:[4]
+009826_000013:[2]
+002309_000004:[1, 3, 6, 10]
+024295_000033:[]
+022801_000014:[]
+023917_000007:[]
+001120_000029:[]
+023224_000002:[1, 7, 10, 17, 19]
+002650_000031:[12, 15]
+024662_000021:[]
+022965_000016:[3]
+006245_000032:[0, 5, 11, 12, 16, 19]
+012196_000032:[]
+012879_000004:[]
+007190_000006:[]
+014872_000029:[]
+011686_000027:[5]
+022829_000020:[]
+009656_000021:[16]
+024397_000010:[4]
+016401_000002:[]
+000400_000034:[7, 14]
+010658_000015:[]
+012875_000009:[]
+013937_000022:[9, 11, 13]
+023964_000028:[]
+010574_000030:[2, 4]
+014946_000019:[]
+000059_000038:[0]
+002210_000001:[]
+000310_000028:[]
+008952_000031:[7, 12, 15, 18]
+013647_000000:[]
+003760_000039:[]
+001579_000027:[7, 9, 10, 18]
+013748_000001:[6, 10, 15, 17]
+019504_000028:[]
+005821_000029:[4]
+014522_000009:[]
+010363_000016:[]
+009091_000027:[]
+008211_000005:[]
+005324_000002:[]
+022682_000039:[]
+009181_000001:[15]
+001933_000028:[]
+012272_000027:[11]
+020635_000019:[]
+019301_000003:[14]
+010306_000030:[]
+013238_000019:[]
+015699_000000:[]
+014855_000006:[]
+007375_000006:[]
+012180_000022:[13]
+012487_000035:[]
+021294_000017:[6]
+019449_000024:[]
+013038_000019:[1, 2, 9, 14, 19]
+023446_000038:[]
+002126_000025:[3, 6, 16]
+005364_000028:[]
+022527_000015:[0, 1, 14]
+006627_000031:[]
+018851_000021:[]
+000440_000012:[4, 5, 17]
+003815_000028:[]
+018283_000012:[]
+021304_000011:[]
+000893_000039:[]
+024841_000031:[]
+005978_000025:[0, 7, 13, 15, 17]
+022808_000037:[]
+021916_000019:[0]
+022837_000030:[]
+012560_000001:[9]
+017800_000004:[10, 15]
+006130_000012:[19]
+012586_000031:[]
+014215_000007:[]
+008496_000034:[9]
+020381_000012:[]
+016114_000002:[6]
+002045_000024:[]
+007448_000013:[0, 1, 7, 10, 11, 12, 15, 17, 19]
+024158_000005:[7, 18]
+007828_000026:[]
+000601_000024:[0, 9, 12, 14, 16]
+009592_000012:[0, 6, 7, 9, 10, 14]
+018337_000014:[]
+015935_000009:[]
+009365_000009:[]
+008946_000013:[]
+003977_000001:[]
+024353_000028:[12]
+001505_000008:[]
+008451_000024:[]
+020345_000008:[]
+023828_000012:[]
+024997_000029:[]
+005947_000019:[3]
+011812_000014:[]
+021739_000034:[]
+024162_000013:[]
+021307_000026:[]
+015940_000023:[8, 15]
+023237_000025:[]
+006799_000023:[2, 12]
+012166_000020:[1, 8]
+015891_000026:[9, 16]
+023609_000033:[10]
+024752_000008:[5, 9, 13]
+022089_000009:[]
+011823_000007:[]
+015044_000035:[]
+016073_000015:[]
+019356_000005:[2, 4, 11]
+019237_000014:[]
+017903_000007:[1, 18]
+013870_000025:[8, 11]
+005212_000026:[4, 5, 13, 14]
+009622_000020:[1, 4, 11, 12, 18]
+003799_000003:[]
+017284_000008:[]
+018991_000017:[6, 10]
+024438_000018:[]
+024619_000022:[0, 12]
+024963_000015:[2]
+017310_000035:[]
+004691_000018:[]
+010238_000026:[12]
+011284_000027:[6, 10]
+015480_000038:[5]
+007438_000005:[2, 6, 11, 12]
+010696_000011:[]
+013948_000000:[18]
+007050_000031:[]
+003742_000011:[]
+000345_000019:[19]
+024393_000002:[]
+004400_000034:[]
+002301_000022:[]
+015775_000038:[5]
+018655_000003:[0, 8, 17, 19]
+007449_000003:[]
+015098_000012:[]
+019484_000038:[3, 9]
+008753_000032:[]
+000972_000035:[0]
+013842_000038:[1, 6, 13, 14]
+007858_000033:[13, 15]
+010547_000037:[]
+006726_000011:[]
+021221_000003:[]
+012679_000003:[]
+000478_000014:[]
+006076_000001:[3, 13, 16]
+020281_000016:[]
+001491_000027:[]
+010771_000023:[0, 3, 9, 12, 13]
+009850_000011:[]
+022439_000037:[]
+003029_000035:[]
+024908_000039:[7, 13]
+023527_000025:[0, 5, 12, 14]
+019466_000010:[10, 13, 17]
+015101_000029:[19]
+009399_000022:[0, 1, 2, 4, 8, 11, 12, 14, 18]
+022281_000034:[]
+007110_000023:[]
+001261_000019:[]
+010210_000020:[]
+003950_000034:[]
+013067_000034:[3, 12, 13]
+001416_000000:[10]
+007562_000027:[14]
+023694_000030:[5, 7, 13, 14, 16, 18]
+002990_000018:[]
+002325_000022:[12, 17]
+014205_000029:[10]
+006592_000032:[11]
+024496_000035:[12]
+010855_000013:[]
+000188_000032:[]
+022661_000009:[0, 5]
+012378_000034:[0, 17]
+021999_000022:[]
+013605_000034:[4]
+001750_000034:[]
+023644_000021:[4, 6, 15]
+013439_000023:[3, 10, 14]
+010388_000001:[]
+013473_000020:[1]
+013736_000037:[0, 1, 6, 8, 14]
+003250_000026:[]
+015281_000031:[]
+000222_000034:[]
+011725_000003:[]
+020797_000014:[]
+010011_000027:[]
+003121_000016:[15]
+023251_000031:[]
+005419_000003:[0, 5, 6, 8, 18]
+023513_000031:[18]
+022215_000017:[]
+014228_000020:[]
+014852_000036:[]
+020567_000033:[]
+001655_000030:[4]
+012082_000030:[8]
+009971_000019:[]
+007223_000016:[10]
+018251_000032:[2]
+019209_000014:[]
+008121_000031:[]
+008781_000010:[]
+019085_000009:[4, 6, 9, 11, 14, 17, 18]
+014998_000018:[]
+019487_000031:[11]
+012044_000005:[]
+014370_000036:[]
+017928_000000:[11]
+002174_000018:[2, 6, 15, 19]
+005423_000035:[5, 10, 18]
+007791_000002:[8]
+023908_000005:[2, 3, 4, 10]
+001565_000003:[0, 11]
+010606_000018:[2, 5, 16]
+006331_000037:[8]
+007392_000037:[]
+021304_000033:[]
+009521_000037:[15]
+021611_000034:[]
+010016_000039:[]
+014386_000006:[]
+011632_000020:[]
+001483_000029:[6, 11, 17]
+013450_000000:[]
+005979_000032:[]
+003491_000016:[]
+022375_000022:[]
+018619_000005:[]
+004922_000004:[]
+006289_000031:[]
+005326_000006:[]
+018262_000017:[8]
+001290_000034:[19]
+019645_000002:[]
+014037_000012:[]
+002009_000020:[18]
+002616_000024:[4]
+007062_000007:[]
+017934_000000:[]
+016126_000004:[]
+014022_000038:[]
+003997_000039:[]
+018081_000015:[6, 18]
+004252_000030:[8, 13, 17]
+021949_000025:[2]
+007203_000031:[]
+019464_000016:[14, 16]
+020218_000028:[]
+020742_000010:[]
+014264_000000:[0, 4, 5, 12, 14]
+003624_000005:[]
+021916_000032:[3]
+019860_000023:[]
+024162_000036:[18]
+023867_000037:[]
+003624_000019:[]
+005170_000027:[0]
+014336_000026:[]
+001833_000028:[]
+013018_000026:[]
+018287_000007:[]
+016791_000001:[]
+021573_000022:[]
+011653_000024:[]
+021717_000033:[]
+004723_000033:[0]
+005308_000038:[7, 10, 11, 17]
+020051_000023:[2]
+020062_000011:[3]
+021949_000010:[2]
+010328_000031:[]
+019338_000021:[3, 6, 7]
+020874_000039:[]
+024220_000000:[]
+023407_000028:[]
+018595_000011:[2, 7, 14, 16]
+023784_000009:[]
+022354_000034:[0]
+004769_000024:[]
+010764_000019:[]
+002520_000020:[2, 5]
+016585_000021:[2]
+005113_000030:[]
+012536_000026:[3, 14, 15]
+005726_000017:[]
+000021_000000:[19]
+016695_000019:[]
+022550_000034:[0, 2, 4, 5, 8, 11, 15]
+011051_000008:[3, 7]
+004498_000034:[]
+008142_000027:[9, 12, 15]
+006430_000019:[3]
+012534_000031:[0, 5, 19]
+000602_000001:[]
+006124_000038:[]
+006474_000027:[14]
+017442_000020:[17]
+017626_000003:[]
+020601_000015:[7]
+008879_000004:[1]
+013037_000009:[15]
+005884_000000:[]
+008777_000024:[]
+020561_000000:[]
+024907_000012:[]
+017674_000039:[]
+007576_000038:[13]
+017908_000025:[]
+020076_000018:[]
+005330_000004:[]
+014682_000031:[]
+023628_000038:[6, 13]
+019713_000033:[5, 7, 17, 19]
+024546_000016:[]
+008939_000012:[0, 11]
+001303_000025:[]
+012927_000024:[3, 10, 11, 16]
+021662_000033:[4, 10, 17]
+012499_000017:[9]
+014038_000023:[]
+021840_000023:[]
+006674_000020:[8, 19]
+005139_000033:[]
+020037_000010:[]
+005176_000031:[]
+013430_000033:[2, 10, 12, 19]
+009409_000012:[]
+017258_000016:[7, 16, 17]
+000944_000034:[]
+003854_000033:[]
+024304_000001:[]
+023362_000019:[]
+000939_000035:[]
+008482_000028:[]
+020367_000026:[]
+022091_000001:[5, 11, 12, 14]
+002766_000034:[]
+016273_000001:[]
+024050_000015:[17, 18]
+007005_000003:[9]
+001795_000011:[1, 4, 16]
+012749_000009:[]
+007440_000013:[]
+015190_000008:[1, 7, 12, 14, 19]
+015373_000010:[]
+016317_000019:[13, 18]
+009869_000039:[]
+010098_000027:[]
+012386_000024:[]
+023050_000015:[]
+000033_000037:[12]
+005163_000026:[]
+000419_000026:[]
+001171_000009:[5, 17]
+010224_000022:[]
+014706_000006:[]
+015623_000000:[]
+018711_000004:[]
+024127_000006:[]
+013113_000007:[]
+009568_000017:[]
+015277_000011:[]
+009203_000016:[]
+023152_000004:[]
+018922_000033:[]
+007782_000012:[1, 3, 9, 15, 19]
+015037_000000:[]
+019480_000013:[3]
+002421_000011:[]
+003811_000002:[]
+007857_000000:[]
+014175_000013:[18]
+011390_000004:[3, 19]
+014484_000028:[1, 5]
+005643_000002:[4, 17, 19]
+007535_000012:[]
+006437_000007:[]
+003896_000036:[]
+024408_000003:[]
+009046_000029:[]
+005740_000024:[]
+020534_000004:[]
+017393_000009:[1]
+019607_000030:[]
+021811_000027:[6]
+000221_000020:[17]
+001452_000038:[1, 3, 10, 11, 12, 16, 17]
+008578_000014:[0, 2, 5, 9, 10, 15, 16]
+007718_000012:[13, 15, 17]
+016848_000035:[]
+021957_000019:[11, 13, 19]
+001269_000020:[]
+014379_000021:[2, 5, 6]
+008726_000024:[]
+001146_000024:[11]
+004927_000026:[0]
+016472_000015:[]
+024774_000012:[2, 7]
+000063_000019:[]
+018171_000000:[]
+007911_000012:[]
+012942_000013:[]
+010349_000029:[9]
+002132_000036:[]
+001938_000039:[]
+015266_000035:[]
+016759_000027:[]
+006561_000028:[]
+023345_000007:[]
+010454_000028:[3, 4, 19]
+021000_000031:[14]
+018718_000007:[]
+011254_000015:[]
+009685_000037:[16, 18]
+012779_000010:[1, 4, 8]
+021711_000007:[12]
+001703_000006:[8, 13]
+007050_000002:[]
+022715_000032:[9]
+024845_000000:[3, 16]
+012839_000028:[5]
+008028_000017:[1, 6, 16, 18]
+001910_000030:[0, 2]
+000096_000002:[12]
+010448_000037:[]
+011399_000008:[1, 5, 10, 12]
+005789_000024:[]
+001121_000023:[]
+000704_000014:[15]
+014994_000013:[]
+009874_000039:[]
+009790_000005:[]
+011299_000017:[]
+014342_000033:[]
+023389_000017:[]
+021476_000020:[7, 19]
+002096_000021:[]
+015231_000016:[]
+018798_000012:[]
+000673_000034:[]
+005209_000003:[7]
+006296_000022:[]
+000339_000012:[]
+013602_000007:[]
+013380_000038:[]
+009115_000007:[]
+019499_000030:[6, 8]
+004516_000017:[19]
+021899_000014:[]
+024103_000002:[]
+013076_000034:[]
+017739_000030:[10, 14, 17]
+013799_000024:[]
+000198_000005:[15]
+024084_000028:[15]
+017226_000011:[]
+003285_000013:[0]
+011172_000032:[]
+008850_000020:[]
+009688_000030:[]
+014604_000018:[0, 1, 4, 9, 11, 14]
+001610_000039:[]
+013590_000015:[5, 7]
+001383_000028:[]
+020320_000015:[]
+014012_000003:[13, 19]
+010620_000013:[]
+016182_000013:[]
+021616_000004:[2]
+011916_000036:[]
+024101_000004:[1, 14]
+014990_000012:[7]
+014040_000006:[]
+004689_000027:[4]
+018612_000024:[18]
+020868_000031:[]
+000424_000007:[]
+023300_000002:[7]
+016892_000007:[]
+024071_000033:[5, 9, 13]
+022984_000017:[]
+004592_000003:[1, 14]
+020918_000020:[]
+003330_000001:[]
+008178_000026:[]
+020433_000029:[]
+021573_000038:[]
+008102_000030:[]
+024003_000038:[]
+011727_000016:[]
+019747_000000:[]
+020952_000013:[]
+005836_000014:[]
+019966_000001:[]
+019271_000026:[4, 10]
+013960_000032:[11, 17]
+012054_000021:[]
+014990_000033:[6, 7]
+013632_000026:[]
+002285_000009:[]
+015039_000007:[]
+000102_000017:[]
+016132_000038:[]
+021863_000029:[15, 16]
+013074_000006:[6]
+007974_000032:[]
+024609_000016:[6, 11]
+011277_000000:[]
+000848_000034:[0, 5, 6, 18, 19]
+011834_000010:[]
+005898_000033:[9, 14]
+018562_000035:[]
+010051_000033:[14]
+001264_000023:[0]
+023564_000010:[]
+022350_000039:[]
+007590_000023:[18]
+007830_000001:[]
+016858_000015:[0]
+023752_000032:[1]
+023244_000028:[]
+002874_000014:[10]
+016820_000012:[1, 3, 4, 5, 11, 12]
+021904_000011:[]
+018650_000027:[4, 11, 16]
+005156_000018:[4, 9, 15]
+017807_000015:[]
+003070_000039:[]
+001687_000009:[]
+000195_000005:[]
+006345_000008:[6]
+004227_000035:[]
+013644_000029:[]
+017922_000018:[]
+023193_000037:[1]
+007686_000009:[]
+011427_000014:[]
+011409_000011:[6]
+011871_000011:[]
+005041_000002:[2, 5, 7, 11]
+004171_000027:[0]
+015673_000007:[16]
+000135_000015:[]
+017321_000021:[4, 15]
+021599_000031:[]
+013190_000028:[3]
+003835_000000:[]
+009849_000001:[]
+002540_000010:[]
+012167_000020:[]
+012900_000013:[]
+003299_000013:[2, 6, 7, 17]
+015025_000026:[]
+023225_000002:[]
+010906_000012:[]
+017032_000024:[]
+005201_000032:[2, 10, 15, 16, 18]
+012243_000010:[6]
+024601_000024:[]
+013035_000023:[]
+000997_000019:[3]
+014766_000002:[4]
+023085_000006:[]
+019936_000005:[]
+001972_000007:[]
+005678_000022:[]
+005210_000001:[]
+012613_000030:[14]
+018541_000028:[]
+001384_000021:[]
+012843_000021:[]
+023034_000017:[]
+019687_000037:[]
+013759_000025:[5]
+024558_000039:[]
+011263_000007:[]
+018759_000028:[2, 5]
+009708_000030:[]
+022457_000006:[16]
+004990_000007:[]
+015409_000035:[2, 4, 10]
+000593_000027:[]
+009747_000034:[]
+021457_000024:[9]
+008735_000027:[]
+024289_000020:[]
+015002_000003:[]
+004760_000016:[]
+020850_000010:[5, 6, 9, 15]
+022782_000037:[2]
+023415_000031:[0, 14, 15, 16]
+012740_000029:[3]
+020972_000038:[1, 19]
+012290_000016:[]
+015391_000028:[18]
+006956_000001:[15]
+000805_000025:[]
+018618_000032:[]
+003537_000024:[1]
+020045_000011:[]
+014111_000021:[0, 18]
+021657_000023:[]
+007786_000000:[7]
+006667_000007:[0]
+016811_000001:[10]
+001872_000031:[16]
+023849_000013:[]
+000800_000016:[]
+011138_000011:[0, 3, 13, 19]
+020570_000026:[]
+008149_000034:[10]
+011394_000028:[1, 11]
+004529_000010:[]
+017317_000017:[]
+022651_000030:[5, 9]
+004159_000032:[]
+009186_000038:[]
+017305_000032:[]
+023064_000029:[]
+009918_000005:[]
+020345_000000:[]
+000506_000025:[]
+003392_000017:[]
+013609_000032:[10]
+005304_000002:[]
+019919_000034:[7, 17]
+002409_000021:[9]
+021794_000020:[]
+012044_000024:[]
+020604_000034:[]
+006588_000002:[]
+004342_000018:[]
+006431_000017:[]
+020743_000024:[12]
+023943_000016:[]
+012054_000013:[4]
+000676_000004:[]
+018821_000038:[]
+001386_000033:[0]
+002334_000025:[0, 17]
+001338_000020:[15]
+020371_000027:[13]
+001702_000039:[]
+013743_000039:[]
+008083_000000:[7, 18]
+013887_000037:[6]
+012659_000034:[]
+004392_000002:[]
+018506_000025:[]
+009073_000018:[6, 13]
+023630_000010:[]
+022061_000026:[0]
+003500_000037:[]
+009365_000013:[8]
+002776_000011:[]
+004235_000035:[1, 14]
+002079_000016:[9]
+011729_000028:[1, 7, 12]
+019378_000035:[]
+003295_000029:[10, 11, 14]
+022955_000003:[]
+010861_000012:[]
+015955_000021:[19]
+009436_000039:[]
+014173_000004:[11]
+017395_000029:[]
+011760_000038:[3, 12]
+016597_000023:[]
+018446_000030:[]
+020015_000031:[]
+019723_000027:[3, 4, 12, 13, 17]
+021908_000005:[]
+024902_000033:[]
+019428_000026:[0]
+018770_000002:[]
+021733_000018:[]
+008099_000035:[]
+009409_000016:[]
+010371_000000:[]
+022741_000022:[]
+004711_000010:[5]
+013633_000003:[]
+002582_000013:[]
+005732_000012:[]
+009290_000014:[4, 10, 15]
+002374_000027:[]
+022095_000025:[]
+018744_000022:[]
+015391_000016:[]
+014966_000001:[0, 4, 6, 18]
+017293_000000:[1, 12, 13]
+013469_000012:[]
+008769_000028:[1, 6, 8, 9]
+019846_000025:[]
+006364_000008:[]
+013523_000029:[]
+017269_000026:[]
+023731_000010:[8]
+002899_000032:[]
+023053_000038:[]
+022270_000005:[2, 16]
+020092_000006:[]
+021321_000029:[]
+002727_000033:[4, 9, 13, 14]
+005330_000005:[1]
+011507_000018:[]
+002379_000033:[]
+005581_000008:[]
+001532_000003:[]
+019018_000023:[]
+008098_000004:[]
+001369_000032:[3, 7, 18]
+024215_000036:[]
+010019_000015:[7, 15]
+002210_000018:[]
+017569_000039:[15]
+016970_000004:[]
+023009_000016:[]
+005334_000023:[]
+003058_000032:[14]
+021957_000018:[3, 14, 15]
+006327_000012:[1, 2, 6, 7, 8, 9, 11, 12, 13, 18, 19]
+007456_000017:[9, 19]
+000911_000028:[]
+024398_000008:[]
+009644_000030:[]
+010487_000033:[]
+002242_000018:[6]
+015982_000011:[]
+009655_000012:[2, 3, 11, 13, 14, 16, 18]
+022133_000018:[]
+008738_000002:[]
+008961_000038:[]
+006495_000014:[]
+000360_000023:[]
+006871_000026:[19]
+022005_000037:[]
+023557_000004:[]
+008890_000028:[8, 11]
+002360_000033:[]
+004988_000009:[]
+008946_000006:[6, 10]
+013622_000011:[]
+014571_000005:[11]
+024715_000022:[]
+002849_000039:[]
+000479_000007:[6, 7, 8, 13]
+020458_000010:[]
+020115_000023:[]
+017938_000015:[3]
+005148_000017:[]
+012275_000000:[]
+016638_000021:[9, 11]
+013742_000006:[13]
+011778_000002:[]
+021962_000024:[9]
+013111_000038:[]
+019006_000003:[]
+015751_000004:[]
+012241_000024:[]
+022536_000018:[]
+010808_000025:[]
+002116_000018:[0, 4, 11, 13, 17]
+000187_000012:[17]
+016672_000028:[8]
+018280_000036:[]
+014000_000012:[17]
+012560_000015:[4]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000436_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000436_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a214a0ca5a7750583bc629bd6eac372a7d9e11d9
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000436_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+005744_000021:[13]
+014627_000011:[]
+002811_000007:[9, 13, 15]
+014100_000003:[4, 10, 12, 15, 19]
+016782_000013:[0, 4, 6, 7, 12, 15, 16, 19]
+007639_000008:[1, 6]
+001210_000017:[]
+012536_000039:[3, 5]
+006510_000004:[]
+020476_000017:[0, 3, 6, 14]
+004242_000032:[]
+017323_000018:[10]
+015627_000019:[]
+022606_000022:[]
+020124_000027:[]
+004753_000022:[]
+000432_000002:[11]
+009877_000036:[]
+004377_000011:[]
+003463_000009:[]
+024300_000019:[]
+017222_000039:[]
+020782_000000:[]
+021599_000016:[3]
+010493_000019:[]
+021551_000003:[3, 13]
+019964_000039:[]
+023087_000018:[]
+011425_000024:[]
+023676_000010:[]
+012246_000033:[]
+023983_000027:[0, 14]
+009383_000032:[]
+015153_000023:[]
+011037_000037:[]
+024811_000033:[]
+011726_000003:[]
+018214_000004:[6, 13]
+008483_000016:[]
+022677_000024:[]
+024893_000013:[5]
+009753_000038:[7, 9]
+017938_000019:[3, 18]
+020522_000039:[]
+020986_000029:[]
+006822_000028:[]
+003027_000004:[]
+016918_000029:[]
+005062_000013:[5, 6, 18]
+005922_000034:[2]
+022934_000020:[10]
+021323_000017:[4, 5]
+024982_000016:[10]
+000310_000013:[7]
+014427_000011:[1]
+015585_000021:[]
+018405_000012:[]
+018545_000005:[9]
+006108_000009:[]
+000487_000033:[]
+009762_000015:[0, 8, 11, 14, 17]
+007879_000030:[14]
+014448_000025:[12]
+001827_000020:[19]
+002642_000004:[0]
+012174_000024:[5]
+010268_000019:[]
+011255_000020:[]
+001972_000003:[5]
+021650_000026:[8, 13, 18]
+007932_000000:[13]
+011430_000012:[]
+013135_000039:[1]
+002732_000014:[]
+008119_000009:[]
+010905_000039:[]
+023016_000035:[]
+004916_000028:[]
+003885_000030:[]
+012099_000017:[3]
+024217_000014:[2]
+016119_000002:[6]
+014653_000027:[]
+015322_000002:[]
+022452_000005:[]
+023152_000019:[]
+014499_000016:[]
+013642_000006:[2, 12]
+017170_000014:[6, 11, 12]
+003420_000016:[1, 12, 19]
+008836_000021:[]
+001108_000035:[]
+009846_000000:[7]
+020209_000011:[]
+010265_000016:[14, 18]
+024334_000034:[]
+024488_000029:[]
+004158_000039:[0]
+024098_000001:[4, 15]
+010252_000036:[]
+019240_000003:[]
+020474_000000:[]
+008012_000021:[]
+015284_000000:[]
+002530_000036:[]
+015364_000004:[]
+008192_000026:[]
+001228_000010:[7, 14, 15, 16, 17]
+023308_000036:[18]
+019135_000002:[]
+007272_000003:[1]
+008322_000034:[4, 5]
+002502_000016:[4, 17]
+017250_000004:[3]
+011348_000001:[8, 16]
+020264_000036:[7, 12]
+002752_000007:[]
+012166_000017:[2]
+012977_000019:[9]
+023570_000028:[]
+016167_000017:[]
+011997_000008:[]
+003314_000028:[]
+018509_000002:[]
+001262_000003:[9, 12, 17]
+013726_000037:[]
+020195_000025:[]
+014035_000033:[]
+019050_000018:[]
+021093_000028:[10]
+006724_000004:[19]
+017290_000039:[]
+022788_000030:[]
+000038_000027:[1, 3, 4, 7, 8, 9, 13]
+008696_000008:[]
+022523_000010:[7]
+021169_000029:[]
+020623_000009:[]
+002575_000009:[1, 9, 18]
+007909_000029:[1, 17]
+009901_000012:[]
+023340_000015:[11]
+024180_000038:[13, 18]
+001794_000015:[]
+024643_000000:[1, 3]
+015687_000024:[]
+021532_000031:[]
+012206_000022:[]
+023204_000003:[10]
+003860_000039:[8, 10]
+021495_000021:[]
+023115_000003:[]
+009734_000002:[]
+005717_000036:[3, 5]
+017708_000026:[]
+015876_000033:[0, 2, 9, 10, 16, 19]
+000142_000032:[]
+006046_000022:[]
+000500_000036:[]
+009158_000036:[]
+017002_000000:[]
+012091_000031:[9, 15]
+004054_000037:[]
+013823_000017:[]
+021717_000014:[]
+016274_000037:[]
+019565_000018:[2]
+019563_000026:[]
+013057_000002:[]
+005346_000022:[1, 2, 16]
+003946_000006:[]
+012921_000006:[1, 4, 11, 17]
+024118_000022:[15]
+001984_000017:[1, 6, 12, 14]
+013889_000036:[8]
+003291_000012:[]
+003790_000011:[]
+006245_000021:[]
+019081_000036:[12]
+005729_000032:[]
+024093_000011:[]
+005504_000027:[]
+013148_000030:[]
+004107_000000:[0, 1, 3, 7, 12, 14, 15, 18]
+015918_000001:[]
+002063_000008:[0, 2, 8, 9, 12]
+004420_000006:[10]
+021640_000012:[2, 9]
+007586_000035:[]
+006645_000033:[4, 6, 8, 9, 11, 13, 18]
+001749_000013:[4]
+015845_000031:[]
+006488_000010:[]
+013665_000037:[]
+014963_000005:[]
+024554_000018:[]
+006092_000020:[]
+016124_000029:[0]
+021374_000008:[]
+021106_000025:[10, 14]
+003752_000035:[]
+000842_000026:[]
+012832_000022:[]
+006596_000028:[]
+006303_000038:[]
+008190_000021:[]
+003641_000007:[]
+004252_000007:[]
+013055_000012:[4, 8, 9, 10, 12, 13, 15, 19]
+002240_000034:[]
+012362_000029:[11]
+014957_000017:[0]
+011355_000035:[0, 1, 6]
+002427_000030:[]
+014693_000015:[13]
+010734_000033:[]
+017996_000005:[6, 8, 12]
+002346_000014:[8, 9, 11, 13, 14, 17]
+005971_000037:[10, 14]
+023277_000017:[]
+018892_000023:[0]
+011790_000025:[7]
+001227_000023:[]
+010804_000018:[]
+005450_000014:[]
+014853_000034:[]
+009295_000005:[15]
+006928_000002:[]
+011985_000026:[]
+022728_000031:[]
+008358_000005:[]
+014155_000028:[]
+001813_000005:[17]
+002740_000017:[17]
+017083_000005:[]
+003848_000031:[7, 13, 16]
+009788_000008:[]
+022724_000018:[9, 13]
+008774_000010:[2]
+007635_000027:[11, 13, 16, 18]
+011095_000031:[]
+006792_000023:[13]
+020675_000002:[]
+011224_000015:[]
+002924_000022:[]
+022035_000030:[]
+009376_000025:[15]
+014719_000017:[]
+012939_000017:[10]
+010553_000028:[3, 5, 10, 19]
+022032_000036:[]
+013645_000033:[]
+013261_000018:[]
+000122_000035:[5, 8, 9, 16, 18]
+007063_000028:[]
+002581_000009:[]
+018671_000038:[]
+016372_000030:[8]
+001524_000037:[]
+010199_000032:[5, 9, 12, 13, 15, 16]
+002998_000027:[]
+021294_000008:[]
+002256_000023:[17, 18, 19]
+004764_000035:[19]
+007271_000019:[]
+013827_000020:[]
+005955_000003:[]
+009015_000032:[]
+002255_000016:[]
+016409_000028:[9, 11]
+006582_000015:[]
+001288_000024:[]
+024596_000003:[]
+010886_000016:[6, 11]
+019691_000035:[1]
+021956_000010:[]
+000530_000017:[]
+003703_000014:[]
+001854_000027:[]
+022903_000021:[0, 4, 6, 10, 15, 17]
+022106_000033:[5, 10, 16]
+019361_000002:[17]
+006461_000028:[0]
+016916_000002:[]
+021250_000029:[]
+023829_000012:[2]
+010494_000032:[]
+000255_000006:[]
+002946_000006:[]
+003327_000026:[3, 5, 8, 10, 12, 16]
+010849_000021:[]
+013823_000019:[]
+014224_000012:[7]
+010434_000038:[]
+023940_000032:[]
+024762_000004:[]
+013457_000006:[]
+000517_000033:[]
+015728_000021:[]
+023994_000018:[12, 13]
+012967_000008:[]
+019341_000003:[15]
+005066_000037:[]
+006356_000001:[]
+017586_000019:[13, 15]
+017414_000005:[]
+015763_000005:[]
+015790_000034:[5]
+020480_000031:[4]
+022405_000038:[3]
+003638_000030:[]
+019712_000001:[]
+024518_000008:[]
+010603_000001:[]
+016682_000038:[]
+008110_000031:[]
+009633_000001:[]
+012121_000027:[]
+007970_000024:[1, 6, 12]
+009031_000010:[5]
+007194_000020:[1, 4, 5, 10, 15, 18, 19]
+000581_000015:[4, 9, 13, 14]
+013998_000004:[1, 2, 4, 5, 11]
+005784_000033:[5, 16]
+006268_000008:[]
+005743_000009:[17]
+003952_000034:[]
+016528_000010:[]
+000563_000025:[]
+021405_000039:[]
+019767_000001:[18]
+023718_000015:[]
+011499_000025:[19]
+002828_000032:[]
+017258_000019:[2, 3, 10, 16]
+019282_000006:[3, 18]
+006731_000002:[]
+003725_000027:[]
+007417_000000:[2, 15, 17]
+013366_000032:[4, 15]
+024729_000027:[12]
+024441_000032:[]
+000784_000020:[]
+017541_000010:[]
+009775_000028:[]
+020153_000016:[2]
+015990_000016:[0, 4]
+003089_000013:[0, 1, 7, 9, 11]
+001567_000035:[6]
+017663_000010:[1, 13, 18]
+003160_000008:[]
+021800_000003:[6, 11]
+022233_000024:[]
+012806_000029:[]
+020052_000025:[]
+009242_000018:[0]
+010935_000002:[2, 3, 5, 7, 11, 12, 13, 15, 19]
+000000_000032:[2, 13, 17, 19]
+008700_000017:[]
+020658_000004:[1, 8, 10, 15, 17]
+004962_000036:[]
+009071_000016:[]
+001341_000024:[]
+012405_000023:[13]
+004949_000035:[10, 13]
+016060_000008:[0, 8, 9, 13]
+004302_000014:[]
+012583_000028:[]
+009475_000023:[]
+023547_000027:[3, 9]
+012323_000024:[12]
+008893_000007:[13]
+023682_000007:[]
+012464_000035:[15]
+006297_000030:[0]
+016074_000033:[]
+017539_000019:[]
+008985_000007:[]
+004072_000004:[]
+009193_000029:[0, 3]
+017609_000023:[2, 12]
+015807_000020:[]
+005784_000022:[14]
+004023_000021:[7]
+019876_000018:[]
+021093_000034:[10]
+022358_000009:[18]
+002368_000006:[]
+002851_000027:[7, 13]
+021950_000020:[3, 4]
+007949_000005:[]
+019115_000026:[3]
+007150_000027:[19]
+003895_000016:[]
+014184_000006:[]
+000753_000003:[]
+006837_000011:[]
+016345_000028:[]
+008617_000033:[1, 9, 10, 11, 12, 16, 17]
+014321_000009:[0, 2, 3, 8, 11, 12, 15, 19]
+011301_000000:[17]
+003266_000000:[]
+023719_000003:[]
+019457_000021:[2]
+011427_000004:[]
+020704_000036:[]
+002084_000033:[7]
+000061_000032:[]
+018130_000023:[]
+013681_000012:[]
+005334_000009:[]
+017152_000036:[]
+002656_000018:[5]
+023080_000003:[]
+024830_000025:[4, 5, 13, 15, 19]
+000130_000021:[]
+007962_000026:[2]
+014506_000027:[19]
+016273_000033:[14]
+005908_000017:[]
+002091_000020:[10]
+010545_000000:[]
+018300_000002:[]
+024134_000030:[]
+017420_000007:[]
+004791_000034:[]
+020353_000030:[]
+002182_000028:[18]
+004307_000039:[]
+017084_000025:[]
+007448_000015:[1, 9]
+003635_000026:[]
+006078_000033:[5, 10, 12]
+014996_000018:[8, 11]
+014376_000030:[]
+021900_000016:[]
+009514_000007:[8, 12]
+012907_000018:[1]
+003982_000032:[1, 4, 6, 7, 8, 13, 16]
+014705_000023:[0, 5]
+015587_000030:[]
+010004_000001:[]
+006594_000022:[0, 3, 4, 10, 13, 15, 16]
+014415_000029:[10]
+004512_000025:[4, 12, 14]
+017455_000027:[19]
+006453_000010:[]
+002210_000028:[6]
+014229_000022:[10]
+000957_000001:[]
+024239_000011:[5]
+015710_000021:[9]
+010811_000017:[]
+022837_000020:[19]
+018467_000022:[]
+008620_000025:[14, 17]
+021776_000029:[]
+020116_000000:[]
+005466_000026:[]
+006124_000036:[]
+020580_000002:[]
+015318_000008:[12, 13]
+007564_000036:[]
+023603_000013:[14]
+018461_000008:[]
+014543_000033:[]
+009712_000030:[3]
+018652_000027:[1, 3, 6, 8, 15]
+017247_000034:[4]
+004512_000034:[]
+009362_000017:[]
+014854_000030:[]
+023615_000004:[]
+013432_000022:[]
+023550_000017:[16]
+012359_000001:[]
+006441_000003:[]
+019560_000016:[5, 8, 15]
+002599_000016:[0, 13, 16]
+002284_000020:[1]
+013373_000008:[]
+005724_000018:[10]
+008586_000009:[]
+016192_000022:[6, 15]
+001523_000029:[]
+014611_000005:[]
+022456_000036:[13]
+000188_000001:[8, 18]
+015136_000006:[5]
+013760_000030:[4]
+020444_000000:[]
+001343_000037:[]
+010685_000030:[]
+006553_000019:[6, 9]
+015920_000001:[10]
+009917_000011:[]
+015016_000022:[]
+014501_000006:[]
+006444_000016:[16]
+010478_000018:[]
+000695_000004:[]
+016610_000022:[]
+004430_000022:[6, 7, 8, 12, 14, 17]
+016097_000016:[]
+011086_000037:[]
+017925_000016:[]
+003617_000035:[4]
+008044_000006:[5, 7]
+011489_000007:[]
+024792_000016:[]
+010746_000037:[]
+006076_000019:[10]
+008349_000010:[]
+006875_000012:[3, 14]
+016766_000008:[1, 2, 3, 4, 5, 6, 8, 10, 11, 13, 14, 15, 16, 17, 18, 19]
+012101_000009:[]
+004265_000031:[]
+016388_000033:[]
+014501_000011:[]
+015551_000004:[]
+019687_000028:[5, 7, 8, 11, 13, 16]
+006204_000003:[]
+006460_000007:[]
+022467_000006:[]
+002831_000031:[7]
+003208_000003:[]
+019377_000031:[]
+016579_000024:[]
+008057_000012:[6, 14]
+015286_000030:[]
+020024_000010:[15]
+011805_000004:[]
+003579_000031:[]
+021931_000008:[]
+006232_000000:[7, 19]
+020230_000009:[]
+004033_000016:[]
+000832_000021:[]
+015556_000016:[13, 14]
+006303_000017:[]
+000871_000011:[]
+010180_000003:[0, 1, 6, 9, 11, 15]
+009907_000026:[]
+015704_000019:[19]
+016626_000031:[]
+021994_000025:[9]
+013670_000016:[]
+007223_000028:[]
+014089_000036:[]
+015658_000037:[19]
+020196_000038:[4]
+006853_000002:[]
+002264_000004:[]
+009855_000035:[7, 13, 19]
+000808_000012:[]
+006803_000033:[1, 19]
+015204_000014:[9]
+013230_000017:[1]
+021113_000025:[]
+022212_000034:[2]
+004564_000028:[]
+008532_000006:[13, 19]
+013421_000008:[]
+008788_000010:[1, 9]
+009676_000017:[]
+020846_000013:[]
+008875_000004:[8]
+010804_000038:[]
+013494_000023:[]
+000180_000038:[15]
+021243_000008:[]
+011236_000028:[10]
+011011_000020:[0, 3, 8, 10, 11, 13, 14, 18]
+010350_000004:[]
+018628_000032:[]
+002020_000005:[]
+021751_000032:[]
+000173_000033:[1, 3, 7, 9, 19]
+009747_000014:[]
+000016_000022:[]
+016743_000002:[]
+018556_000006:[0, 3, 7, 8, 16]
+019163_000032:[1]
+009867_000000:[]
+019135_000006:[18]
+000581_000021:[]
+019540_000017:[]
+008397_000010:[12]
+022008_000001:[]
+002715_000014:[]
+001572_000030:[]
+010217_000030:[]
+000439_000004:[]
+008916_000033:[11]
+018714_000016:[0, 1]
+002942_000016:[1, 5, 10, 11, 14]
+004549_000038:[2, 3, 9, 15]
+005982_000019:[1]
+018749_000024:[]
+001977_000039:[]
+000187_000011:[]
+011496_000032:[]
+003926_000026:[1]
+008480_000003:[]
+007882_000034:[]
+014999_000021:[11, 16]
+010324_000007:[]
+015482_000029:[15]
+023465_000017:[]
+020534_000012:[13]
+020554_000037:[]
+005909_000039:[7, 9, 10]
+001177_000000:[9, 11, 19]
+000963_000039:[2, 13]
+023712_000027:[]
+021419_000014:[8, 10]
+019008_000017:[19]
+016075_000011:[]
+013590_000019:[]
+008648_000035:[3, 5]
+020243_000014:[1, 16, 19]
+001306_000038:[]
+007854_000031:[2, 18]
+003528_000009:[]
+003285_000019:[]
+008571_000018:[]
+000512_000032:[]
+016029_000035:[]
+021658_000017:[]
+009951_000030:[8]
+024537_000039:[]
+019638_000009:[]
+023777_000036:[]
+021539_000010:[8]
+010058_000010:[]
+007055_000019:[13]
+022724_000027:[]
+000769_000007:[0, 12]
+002609_000017:[]
+001226_000031:[4, 13]
+011592_000022:[]
+011776_000014:[]
+017883_000012:[]
+015624_000000:[]
+003822_000003:[]
+013867_000039:[]
+007821_000007:[0, 10, 15]
+006117_000033:[]
+018955_000036:[]
+015904_000004:[4, 18]
+010004_000030:[]
+020663_000009:[]
+000458_000004:[]
+002784_000008:[11]
+017714_000014:[]
+010160_000003:[]
+012983_000001:[]
+001485_000010:[0]
+016517_000011:[]
+022438_000017:[10, 11]
+011936_000038:[1, 12, 19]
+013676_000016:[]
+008355_000017:[0, 7]
+018472_000005:[]
+009157_000039:[14]
+007029_000029:[]
+000507_000008:[]
+024913_000025:[]
+006522_000007:[]
+018607_000027:[]
+003520_000011:[]
+000933_000001:[2]
+010909_000032:[]
+017546_000022:[0]
+017300_000035:[]
+011806_000036:[8, 13]
+013175_000012:[]
+013866_000001:[16]
+005279_000026:[3, 9, 10, 15]
+024783_000033:[]
+011311_000027:[]
+000703_000014:[]
+018221_000030:[]
+011928_000002:[]
+007995_000004:[]
+008455_000007:[11, 14]
+021581_000016:[17]
+006830_000031:[]
+001904_000009:[1, 7]
+021415_000017:[1, 6, 7, 10, 15, 16, 18]
+000696_000010:[19]
+002794_000023:[]
+004087_000024:[]
+019678_000011:[1, 15, 16]
+004416_000008:[]
+005128_000002:[]
+015130_000014:[]
+019694_000033:[11]
+020608_000011:[]
+017044_000032:[16]
+016743_000000:[14]
+023888_000027:[]
+019390_000028:[15, 16]
+012777_000036:[]
+015745_000024:[]
+020486_000025:[0, 9]
+020444_000029:[]
+007977_000032:[12]
+005347_000025:[]
+008213_000038:[]
+019503_000007:[]
+024352_000004:[]
+002548_000037:[]
+022539_000014:[2]
+008870_000037:[]
+011498_000029:[14]
+021328_000016:[]
+010098_000004:[0]
+011488_000023:[]
+011781_000016:[]
+012012_000014:[]
+005443_000034:[3]
+006805_000029:[]
+012476_000028:[]
+006257_000017:[]
+013100_000009:[]
+012734_000023:[5]
+011281_000026:[]
+007971_000023:[13]
+007365_000016:[]
+024225_000039:[4, 5]
+003299_000018:[]
+004626_000008:[4]
+009290_000006:[]
+024187_000014:[6, 11]
+015585_000002:[]
+022957_000014:[]
+023858_000034:[]
+018337_000005:[]
+001822_000026:[0, 2, 3]
+000776_000015:[0, 13]
+014781_000027:[5, 8, 10, 13]
+000223_000023:[0, 17]
+016667_000000:[6]
+007776_000035:[]
+020751_000038:[]
+003944_000025:[]
+007042_000029:[]
+007218_000028:[11]
+024742_000019:[]
+006462_000023:[11]
+000418_000000:[]
+009494_000011:[]
+010490_000023:[9]
+013974_000000:[10]
+011197_000025:[]
+016435_000015:[]
+024046_000001:[12]
+012755_000016:[]
+023947_000024:[]
+008717_000024:[]
+007686_000036:[]
+015040_000030:[]
+010222_000012:[]
+013971_000030:[]
+007682_000030:[]
+021227_000030:[1, 5, 12]
+010077_000006:[]
+002814_000026:[]
+013945_000011:[]
+021532_000036:[3]
+024393_000032:[2]
+007330_000003:[]
+011635_000017:[]
+002065_000034:[12]
+004973_000026:[14]
+000601_000025:[2, 16]
+022447_000023:[16]
+008975_000015:[9]
+007590_000011:[15]
+010191_000004:[4, 10, 11]
+012278_000009:[1]
+018230_000010:[]
+014798_000004:[]
+013339_000007:[]
+013897_000020:[0]
+004956_000023:[]
+014549_000032:[]
+021419_000029:[4]
+009068_000034:[0, 4, 12, 14, 17, 18]
+008331_000008:[]
+007266_000011:[]
+006561_000010:[]
+002728_000022:[]
+007504_000014:[]
+017639_000008:[11]
+019068_000016:[]
+019046_000032:[16]
+013280_000010:[]
+014887_000002:[17]
+013803_000009:[]
+011596_000014:[12]
+021311_000021:[4, 9]
+015658_000026:[1]
+013440_000037:[]
+007062_000019:[]
+009363_000015:[]
+003252_000012:[16]
+012337_000011:[]
+016405_000031:[]
+009347_000006:[]
+014613_000008:[]
+000953_000005:[]
+016299_000020:[14]
+002767_000017:[]
+019390_000007:[10]
+020627_000030:[]
+019231_000016:[3, 6, 7, 12]
+020600_000018:[18]
+024026_000031:[7]
+022302_000032:[]
+023084_000029:[]
+017056_000007:[5, 6, 10, 11, 18]
+008523_000009:[11]
+005857_000006:[]
+005725_000024:[15]
+003744_000003:[]
+020595_000022:[16]
+007562_000006:[]
+008228_000000:[7]
+014201_000018:[]
+002858_000037:[1, 11]
+008111_000005:[]
+017461_000012:[1]
+002102_000034:[2, 5]
+001295_000026:[14]
+008169_000003:[6, 10, 12]
+005233_000016:[]
+014756_000010:[19]
+019033_000001:[]
+001544_000038:[]
+020096_000031:[]
+021639_000002:[]
+008599_000023:[]
+003818_000001:[2, 6]
+021895_000025:[8, 16]
+010621_000030:[16]
+013622_000025:[]
+016438_000002:[]
+003771_000022:[]
+019786_000026:[]
+008682_000008:[6]
+012809_000034:[]
+001426_000012:[]
+000867_000034:[15]
+011365_000000:[]
+013763_000021:[]
+023608_000014:[]
+015542_000006:[]
+012024_000024:[]
+021659_000037:[1, 5, 10, 13, 16, 17]
+005867_000026:[]
+000719_000002:[]
+000422_000002:[2, 14]
+022775_000012:[1, 9]
+012714_000025:[2]
+008067_000012:[]
+024146_000024:[7, 9, 11, 16]
+015504_000029:[10]
+023178_000039:[]
+003246_000012:[1, 8, 11, 14, 16]
+021236_000024:[]
+021672_000007:[2]
+015429_000013:[]
+021608_000022:[]
+005298_000035:[6, 19]
+000725_000024:[]
+005613_000033:[2, 9]
+009544_000030:[12]
+023404_000017:[]
+002631_000038:[]
+014569_000031:[]
+004443_000021:[17]
+001379_000000:[13, 14]
+012393_000015:[2]
+016356_000002:[]
+003925_000022:[]
+007462_000034:[2, 8, 12, 15]
+017496_000025:[15]
+017927_000002:[]
+020488_000023:[]
+017037_000013:[]
+014372_000007:[]
+019755_000000:[]
+017239_000009:[]
+000687_000011:[7]
+018256_000018:[]
+011866_000019:[5]
+005311_000004:[1]
+020351_000027:[]
+011472_000000:[]
+023485_000029:[15]
+002372_000008:[]
+002391_000011:[]
+006467_000009:[1, 3, 5, 13, 14, 17]
+016967_000023:[]
+009378_000019:[]
+010449_000010:[]
+017523_000030:[]
+010748_000034:[]
+017846_000017:[2]
+009106_000016:[]
+014470_000037:[]
+002417_000009:[]
+007791_000030:[]
+003873_000038:[]
+015172_000006:[]
+004906_000006:[]
+017204_000035:[]
+002247_000002:[]
+007368_000018:[]
+012463_000017:[]
+012533_000027:[0, 1, 2, 6, 7, 8, 14]
+007627_000021:[]
+011651_000004:[14]
+004034_000009:[7, 8, 13]
+010720_000017:[]
+007859_000027:[]
+024594_000010:[5]
+003349_000014:[]
+021305_000026:[]
+002055_000001:[12]
+021653_000005:[]
+024835_000034:[]
+015361_000020:[7, 14, 17, 19]
+016837_000017:[]
+022862_000029:[1, 3, 6, 7, 8, 15, 16, 17, 18, 19]
+007876_000000:[]
+017810_000038:[]
+003850_000000:[]
+010000_000017:[]
+006273_000020:[5, 15]
+011879_000021:[]
+009239_000011:[]
+020802_000028:[]
+012420_000023:[6]
+001301_000005:[]
+016195_000019:[]
+023170_000028:[]
+004071_000015:[]
+001691_000036:[]
+018718_000036:[10]
+018659_000000:[]
+002208_000013:[2]
+014334_000017:[]
+024204_000024:[]
+000129_000035:[]
+007846_000017:[]
+003221_000027:[]
+013296_000006:[]
+007229_000018:[]
+024416_000031:[]
+018858_000002:[]
+018558_000025:[]
+008872_000016:[]
+021586_000004:[]
+016432_000009:[]
+013609_000005:[5, 9, 11, 13, 19]
+001614_000032:[]
+005372_000033:[]
+019454_000014:[]
+005634_000034:[2, 14]
+023361_000012:[]
+000165_000007:[]
+024818_000031:[]
+022323_000000:[]
+000579_000030:[]
+010586_000015:[]
+016247_000030:[]
+011171_000032:[15]
+006089_000004:[7]
+005485_000008:[15]
+008331_000011:[1]
+000087_000039:[]
+017126_000034:[]
+015961_000021:[6, 8, 10, 13]
+003649_000038:[]
+016919_000012:[0, 2, 4]
+000842_000037:[4]
+008680_000023:[]
+023573_000022:[13]
+000721_000017:[]
+003915_000013:[]
+020394_000000:[]
+013062_000017:[17]
+018840_000011:[]
+021976_000029:[]
+011719_000003:[]
+024064_000006:[]
+016724_000028:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000447_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000447_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eccec14ff790b182f80a87b57ae94e54cac600f3
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000447_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+019453_000008:[]
+013515_000009:[19]
+006072_000013:[]
+006792_000037:[]
+019214_000002:[]
+019656_000025:[]
+013572_000012:[]
+019722_000021:[]
+023352_000028:[]
+011744_000026:[1, 7]
+010827_000034:[6]
+010730_000029:[]
+000632_000013:[]
+018435_000001:[6, 11, 13, 16]
+010160_000033:[16]
+017452_000004:[1, 4, 6, 7, 9, 12, 14, 17]
+019987_000039:[6, 13]
+021262_000016:[]
+015028_000006:[4]
+004587_000007:[3]
+003322_000032:[]
+020031_000039:[1, 5, 9, 18, 19]
+003853_000013:[12, 14]
+013485_000017:[0, 3, 6]
+001640_000002:[4]
+011251_000015:[13]
+000918_000016:[]
+000743_000026:[9, 17]
+023693_000034:[4, 5, 13, 14, 16]
+016338_000001:[]
+004526_000025:[0, 19]
+010783_000018:[]
+008223_000002:[]
+010627_000035:[]
+023456_000007:[]
+017443_000013:[]
+003072_000003:[]
+007874_000012:[6]
+014734_000028:[]
+024427_000030:[]
+003632_000010:[18]
+022316_000030:[19]
+008261_000009:[7]
+020523_000011:[]
+009599_000037:[]
+018511_000001:[]
+024842_000022:[]
+003475_000024:[5, 8]
+021542_000005:[]
+000088_000039:[]
+007024_000017:[]
+011574_000032:[2]
+006749_000035:[]
+021609_000022:[]
+012633_000021:[2, 4, 9, 14, 16]
+012998_000033:[]
+018242_000014:[13]
+011964_000029:[17]
+011869_000024:[18]
+014286_000019:[]
+006263_000027:[]
+023822_000036:[7]
+022659_000024:[7]
+000220_000010:[]
+023498_000021:[12, 18, 19]
+023976_000004:[3]
+024749_000006:[]
+004948_000039:[7]
+011789_000007:[]
+022168_000027:[]
+023634_000003:[16]
+005646_000011:[1, 6, 8]
+003192_000005:[]
+022058_000017:[]
+008764_000022:[]
+006680_000032:[]
+005152_000039:[]
+022668_000034:[3]
+017988_000022:[1, 4, 6, 7, 13]
+000648_000001:[7]
+016178_000032:[3, 8]
+014850_000027:[]
+011382_000014:[14]
+022579_000005:[]
+009591_000001:[5]
+000193_000039:[4, 11]
+021154_000009:[6]
+019326_000035:[]
+005731_000007:[]
+017732_000021:[]
+007992_000010:[9, 17]
+009464_000011:[]
+022996_000024:[]
+022884_000015:[]
+005592_000018:[]
+024578_000011:[]
+005220_000012:[3, 5, 9, 12, 19]
+000797_000012:[]
+010996_000033:[]
+008038_000011:[10, 11]
+009625_000033:[]
+017970_000027:[]
+007947_000015:[]
+024783_000017:[0]
+007024_000018:[]
+013310_000006:[16]
+023887_000004:[]
+006836_000011:[]
+021256_000037:[]
+012486_000017:[]
+012529_000034:[]
+005125_000033:[0, 9, 10, 13]
+015167_000008:[17]
+004533_000027:[]
+017980_000007:[]
+014193_000039:[12]
+013997_000014:[2, 5, 9, 16]
+005792_000022:[]
+013287_000016:[0, 12, 19]
+009609_000023:[2]
+017494_000037:[13]
+022759_000026:[6]
+019628_000014:[]
+020118_000007:[]
+011203_000024:[]
+018116_000012:[]
+007649_000035:[18]
+014933_000036:[]
+016428_000023:[2, 7, 11, 19]
+000222_000018:[11]
+010392_000017:[]
+008404_000033:[]
+001208_000003:[1, 2, 9, 13]
+008381_000031:[]
+014008_000034:[]
+000952_000039:[]
+023385_000010:[0]
+009355_000011:[]
+009510_000019:[]
+024777_000016:[]
+021780_000020:[5, 12]
+016151_000010:[10]
+010998_000036:[13, 14, 16]
+006553_000011:[8]
+019837_000032:[5]
+017244_000039:[6]
+003956_000018:[]
+003003_000013:[3, 5, 10]
+018996_000037:[]
+000472_000015:[]
+014558_000037:[8]
+014800_000031:[]
+021842_000018:[]
+019481_000024:[5, 19]
+002153_000017:[]
+007242_000009:[]
+005948_000008:[]
+008484_000025:[1]
+024060_000038:[]
+015476_000025:[1]
+015990_000027:[0]
+005904_000039:[3]
+014738_000013:[1, 5, 10, 12, 15]
+010617_000032:[]
+018746_000023:[]
+017525_000026:[]
+017571_000026:[]
+001277_000003:[11, 19]
+002234_000004:[]
+005286_000014:[10, 12, 15]
+024102_000026:[11]
+008948_000034:[13, 19]
+006387_000030:[]
+002571_000028:[]
+008638_000007:[]
+008496_000011:[18]
+001311_000029:[]
+001606_000016:[]
+010328_000007:[]
+013481_000032:[]
+003808_000017:[4]
+008656_000004:[7]
+009130_000031:[]
+010496_000008:[]
+017800_000035:[]
+024900_000000:[]
+002066_000016:[]
+023621_000033:[]
+010577_000006:[18]
+014853_000011:[19]
+012729_000024:[9, 17, 19]
+001599_000008:[7, 11, 13]
+008362_000008:[]
+000335_000007:[]
+017582_000020:[2]
+010391_000022:[7]
+020724_000032:[1, 15]
+005385_000008:[3]
+005061_000036:[]
+000571_000019:[]
+007252_000004:[]
+021045_000001:[]
+016517_000034:[6, 15]
+019449_000012:[]
+000906_000013:[1, 19]
+002086_000016:[]
+008665_000014:[]
+008512_000015:[6]
+009262_000035:[]
+010374_000036:[]
+018468_000014:[]
+009862_000002:[]
+001647_000035:[1, 3, 16, 18, 19]
+010825_000016:[10]
+004390_000005:[9, 11]
+018004_000005:[]
+011080_000023:[]
+007185_000024:[11, 13, 19]
+019631_000019:[]
+022201_000036:[]
+008951_000019:[]
+007154_000031:[0]
+006395_000039:[]
+012520_000031:[]
+020214_000003:[]
+019300_000032:[]
+011232_000020:[]
+023113_000002:[3]
+009512_000005:[]
+015983_000021:[0, 1, 5, 13]
+006932_000034:[]
+021137_000026:[]
+020058_000034:[]
+005962_000001:[]
+013222_000031:[]
+020195_000019:[4, 14]
+016605_000010:[]
+022599_000008:[2, 9, 14, 16]
+011316_000020:[]
+020927_000010:[11]
+016786_000001:[2, 5]
+011563_000008:[]
+000599_000005:[12]
+015813_000005:[6, 8, 13, 19]
+013259_000011:[]
+005374_000010:[10, 18]
+013753_000023:[]
+023344_000037:[]
+016086_000020:[]
+005649_000001:[5, 18]
+006515_000021:[]
+011737_000014:[9]
+013412_000020:[]
+018328_000023:[1, 3, 6]
+005942_000002:[]
+006599_000011:[6]
+006145_000030:[]
+021663_000019:[]
+018511_000030:[]
+004165_000025:[]
+022612_000002:[5]
+014408_000011:[]
+004893_000026:[]
+015547_000015:[0, 10, 12]
+004283_000020:[9, 19]
+017921_000019:[]
+024697_000032:[]
+015723_000010:[]
+014785_000018:[]
+021385_000021:[0, 1, 2, 3, 5, 9, 11, 12, 13, 16, 18, 19]
+003418_000022:[]
+008185_000022:[1, 17]
+014017_000010:[]
+021346_000020:[0, 5, 11, 12, 13, 15, 18]
+021667_000008:[6, 8, 16]
+003259_000020:[4, 6]
+022206_000004:[2, 5]
+018022_000027:[0, 3, 4, 17]
+002769_000030:[]
+020072_000002:[]
+019431_000015:[6]
+016622_000004:[1, 3, 4, 10, 11]
+001893_000013:[3]
+015959_000034:[]
+009706_000017:[17]
+022720_000039:[2]
+015285_000032:[18]
+021416_000009:[2, 5, 9]
+015497_000007:[]
+022382_000035:[13, 14]
+019179_000020:[15]
+002097_000007:[0, 6, 7, 10, 11, 12]
+019848_000035:[]
+007623_000015:[17]
+014078_000004:[]
+015637_000008:[0]
+012279_000000:[]
+005936_000021:[4, 19]
+021739_000039:[18]
+001943_000010:[]
+009908_000013:[]
+004999_000019:[]
+005894_000006:[]
+018920_000030:[10, 17]
+008446_000016:[14]
+009786_000035:[0, 10, 18]
+018279_000033:[]
+006690_000003:[]
+004455_000025:[9]
+008442_000005:[]
+020596_000013:[]
+000705_000034:[]
+005538_000016:[]
+000370_000000:[]
+009969_000033:[]
+015457_000021:[9]
+000654_000009:[]
+024689_000016:[]
+022333_000019:[6, 7]
+024375_000024:[]
+023032_000037:[]
+017625_000003:[10]
+017621_000038:[]
+013430_000007:[10]
+013329_000034:[3, 6, 7, 9, 10, 18]
+014689_000030:[1]
+008251_000029:[19]
+021443_000004:[12, 19]
+004419_000004:[]
+017970_000023:[]
+016360_000035:[]
+007162_000008:[6]
+024028_000019:[11]
+010691_000006:[17, 19]
+008844_000036:[0]
+006801_000022:[6]
+008570_000036:[]
+015215_000025:[]
+000831_000017:[]
+021613_000015:[]
+001507_000028:[0, 12]
+000250_000015:[4, 7, 11, 15, 19]
+017637_000005:[]
+016388_000002:[16]
+000212_000021:[]
+009516_000020:[]
+016487_000031:[]
+011846_000023:[0, 3, 4, 6, 7, 9, 14, 15]
+004470_000035:[8]
+018760_000018:[1]
+015430_000031:[]
+005583_000024:[]
+003446_000025:[]
+007815_000031:[]
+015392_000014:[7, 15, 18]
+008837_000015:[]
+023789_000003:[8, 9, 10]
+020306_000033:[0, 7]
+014601_000026:[]
+003091_000013:[8, 10]
+014210_000011:[12]
+011826_000020:[14]
+018562_000021:[0, 4]
+009761_000008:[2, 15]
+014592_000018:[]
+019790_000017:[]
+011449_000000:[]
+003038_000005:[]
+019674_000031:[]
+024119_000030:[0, 2, 9, 10, 18]
+020686_000014:[]
+022995_000012:[2]
+001966_000033:[]
+009614_000030:[9]
+020273_000017:[]
+022113_000035:[]
+023574_000013:[13]
+021117_000000:[]
+003448_000012:[]
+021410_000035:[]
+010246_000009:[2]
+022898_000022:[]
+000471_000028:[9]
+011919_000022:[]
+002396_000030:[]
+013927_000004:[]
+008369_000038:[]
+012361_000029:[]
+000868_000039:[10, 12]
+003834_000027:[]
+018091_000028:[]
+007685_000037:[1, 2, 3, 8, 10, 14, 15, 18]
+021974_000003:[1, 2, 14]
+001303_000031:[5]
+000245_000026:[]
+006199_000024:[]
+001143_000025:[]
+008070_000003:[]
+021124_000008:[]
+022541_000035:[]
+015767_000026:[]
+016300_000038:[]
+014303_000016:[]
+004854_000002:[4]
+012832_000032:[]
+008335_000003:[]
+003492_000034:[16]
+020266_000006:[]
+006446_000012:[1]
+017392_000020:[0, 4, 9, 14]
+024081_000012:[0, 1, 9, 10, 11]
+010158_000020:[]
+006575_000000:[]
+002057_000034:[]
+006628_000017:[]
+005984_000011:[]
+020931_000030:[2]
+002208_000024:[11]
+016625_000019:[12]
+012727_000021:[5]
+004235_000006:[]
+017826_000000:[10]
+003857_000038:[]
+021906_000021:[1, 8]
+007949_000033:[3, 4]
+020875_000025:[15]
+024468_000003:[1, 2, 5, 6, 19]
+021443_000026:[]
+005142_000029:[6, 16]
+012623_000019:[]
+024029_000033:[]
+020935_000035:[2, 19]
+003232_000035:[2, 5, 6, 7, 8, 9, 13, 17]
+022608_000021:[15, 16]
+005564_000005:[]
+001984_000032:[1]
+013899_000033:[2, 14]
+016991_000018:[0, 15]
+011626_000016:[]
+010932_000003:[]
+003690_000007:[]
+008333_000037:[10, 13, 16]
+011674_000022:[8]
+023627_000021:[]
+015285_000009:[3]
+013805_000013:[]
+016903_000010:[15]
+022470_000020:[18]
+000364_000033:[]
+006027_000028:[]
+005621_000003:[]
+024186_000004:[17]
+001110_000031:[3, 6, 10, 19]
+017180_000030:[]
+002192_000020:[1, 3]
+014526_000007:[]
+004852_000035:[7, 19]
+012394_000034:[6, 8, 11]
+020045_000003:[9]
+024371_000029:[]
+010451_000032:[]
+011244_000037:[]
+008614_000039:[4, 17, 19]
+023238_000021:[4, 8, 11]
+008564_000001:[7, 8, 11]
+020513_000021:[]
+003476_000015:[]
+014260_000028:[]
+024109_000024:[]
+008191_000017:[5, 13, 19]
+017890_000004:[]
+020021_000018:[]
+001900_000038:[]
+009875_000023:[]
+019185_000005:[16, 18]
+020061_000023:[]
+018221_000026:[]
+003612_000023:[]
+005695_000018:[]
+023342_000033:[16]
+014546_000008:[1, 3, 6, 10]
+022582_000032:[]
+003322_000001:[]
+008729_000003:[2]
+000753_000034:[4]
+003638_000024:[]
+022150_000039:[17, 19]
+014081_000010:[]
+002992_000003:[9, 12, 18, 19]
+024899_000020:[]
+008224_000007:[6]
+006211_000021:[]
+012095_000016:[]
+012205_000001:[]
+006032_000010:[]
+001659_000005:[18]
+024552_000002:[14]
+012636_000006:[]
+012855_000021:[17]
+009314_000019:[]
+022578_000019:[8]
+020204_000030:[]
+010028_000027:[]
+013990_000038:[]
+003574_000004:[]
+024768_000003:[]
+014962_000036:[]
+015557_000015:[2, 14]
+016225_000016:[]
+001632_000015:[]
+009684_000036:[]
+001616_000013:[]
+021584_000008:[]
+013657_000001:[4, 14, 15]
+021536_000025:[4]
+006903_000027:[]
+021027_000039:[]
+011283_000027:[]
+005970_000015:[9, 18]
+002353_000031:[6, 9]
+005981_000003:[]
+017209_000039:[11]
+021422_000028:[19]
+002517_000027:[0]
+015124_000024:[]
+022969_000034:[]
+006961_000035:[]
+009433_000039:[]
+019187_000035:[]
+023138_000005:[]
+017536_000039:[]
+024574_000007:[2, 3, 4, 8, 15, 16, 18]
+013588_000003:[3, 5, 9, 13, 18]
+004580_000001:[]
+024289_000034:[]
+022252_000024:[]
+010757_000024:[]
+013452_000012:[]
+020682_000000:[]
+010099_000036:[]
+019655_000012:[6]
+005470_000008:[]
+017092_000022:[]
+009711_000032:[1, 16]
+004375_000038:[]
+001776_000014:[5]
+013628_000012:[0, 12, 14, 16]
+002095_000005:[6, 17]
+019438_000003:[3]
+022197_000038:[]
+001948_000029:[10, 18]
+007788_000013:[2, 4, 9]
+017491_000038:[3, 18]
+000293_000029:[6, 17]
+006383_000002:[2]
+005826_000014:[]
+020064_000004:[]
+009661_000007:[]
+014513_000013:[]
+006886_000036:[]
+003888_000028:[17]
+016794_000022:[]
+008859_000015:[]
+022086_000004:[]
+007582_000004:[8]
+000117_000031:[5]
+021305_000027:[7, 8]
+013979_000023:[]
+009346_000013:[7]
+018250_000013:[4, 11]
+001344_000030:[]
+017445_000015:[1, 5, 7, 9, 15]
+005979_000028:[10]
+000980_000005:[]
+003243_000020:[17]
+024278_000035:[]
+021827_000033:[]
+022755_000015:[]
+024381_000012:[9]
+017878_000007:[]
+006375_000014:[]
+021610_000021:[]
+006882_000000:[13]
+018827_000039:[]
+001593_000023:[]
+012291_000024:[9]
+003643_000026:[8]
+018085_000029:[]
+007377_000022:[]
+021102_000037:[]
+005342_000000:[6]
+003312_000023:[18]
+023177_000029:[1, 5, 9, 10, 11, 13, 18]
+013619_000000:[]
+004163_000007:[]
+016351_000020:[]
+012530_000036:[4]
+003181_000003:[16]
+008689_000001:[]
+003770_000026:[]
+003940_000034:[7]
+003010_000036:[]
+023831_000016:[]
+015011_000004:[]
+003873_000030:[]
+024434_000032:[]
+023157_000005:[17]
+005237_000026:[]
+019640_000020:[]
+024461_000020:[18]
+010285_000003:[13]
+013113_000010:[]
+013539_000008:[]
+009599_000011:[]
+017571_000021:[1, 3, 6, 7, 13, 18]
+011721_000030:[5, 17]
+011103_000018:[]
+000544_000020:[]
+005022_000002:[]
+002188_000030:[]
+007257_000027:[15]
+007617_000032:[]
+011702_000011:[]
+023270_000027:[]
+008598_000014:[]
+000490_000026:[]
+012083_000003:[]
+024248_000026:[4]
+019699_000030:[2]
+015079_000038:[0]
+004044_000008:[]
+008596_000005:[]
+020340_000001:[]
+011193_000001:[3, 4]
+019390_000012:[]
+018829_000023:[]
+013112_000028:[]
+021440_000022:[]
+018529_000014:[]
+018946_000014:[]
+000723_000017:[17]
+018209_000003:[]
+022005_000038:[]
+001886_000024:[3, 7]
+021287_000031:[]
+012702_000000:[]
+004805_000000:[]
+002384_000033:[]
+012905_000009:[1]
+012556_000001:[15]
+011196_000033:[]
+016175_000000:[]
+002267_000013:[]
+022538_000006:[]
+021334_000010:[17]
+011642_000030:[]
+020673_000012:[]
+014287_000022:[]
+005348_000035:[3, 5, 6, 7]
+019894_000025:[]
+006863_000013:[8]
+001595_000027:[]
+016126_000039:[]
+022694_000015:[]
+000157_000034:[]
+003236_000010:[]
+019473_000009:[]
+006183_000005:[5]
+009941_000005:[]
+010965_000009:[]
+017610_000005:[]
+000042_000017:[]
+017130_000012:[]
+022198_000014:[12, 15, 16]
+016213_000028:[]
+011202_000012:[]
+014790_000036:[]
+018622_000026:[0, 4, 5, 6, 8, 10, 15, 18]
+005594_000009:[0, 11, 13]
+020945_000031:[2, 9]
+019360_000004:[]
+002392_000032:[]
+012411_000016:[]
+002404_000010:[5]
+014921_000009:[1, 12, 16]
+003465_000009:[]
+022408_000004:[]
+005199_000003:[15]
+007028_000034:[]
+024670_000032:[]
+020998_000017:[]
+013900_000001:[0, 7]
+020973_000019:[]
+010540_000011:[]
+010972_000027:[]
+005038_000033:[]
+008060_000026:[0, 5, 6, 8, 14]
+015363_000015:[1, 11]
+018952_000029:[]
+001899_000002:[]
+024048_000039:[4]
+020022_000029:[]
+021638_000016:[5, 6]
+024610_000009:[]
+021390_000012:[]
+024247_000022:[13]
+000519_000007:[]
+001215_000001:[]
+018608_000011:[]
+000745_000015:[]
+000934_000000:[]
+000107_000037:[2, 7, 8, 16]
+010886_000035:[]
+007914_000036:[]
+015715_000011:[]
+020388_000017:[1, 8]
+009848_000036:[]
+023059_000009:[10]
+002788_000023:[14]
+007025_000037:[]
+004189_000028:[6]
+022897_000019:[7, 12, 13]
+013197_000025:[]
+008350_000009:[]
+023286_000002:[]
+008620_000007:[17]
+011101_000000:[]
+002524_000033:[]
+011697_000039:[]
+013423_000032:[10]
+011567_000022:[]
+011889_000026:[1, 5]
+008283_000025:[5, 7, 9, 10, 12, 13]
+012644_000001:[0, 10]
+007665_000039:[6]
+007493_000001:[]
+012454_000013:[5, 6, 17, 18]
+024401_000009:[9]
+010860_000006:[2, 9, 12, 16]
+023245_000031:[]
+009414_000023:[8, 12]
+015531_000031:[12]
+019852_000010:[]
+020308_000017:[12, 16]
+020314_000002:[13]
+013086_000016:[]
+009427_000023:[]
+005692_000037:[6, 9, 18]
+005817_000003:[]
+013835_000037:[0]
+023093_000003:[7, 8, 19]
+007000_000038:[2, 8, 13, 19]
+001170_000039:[]
+011835_000013:[]
+020620_000005:[]
+016806_000012:[]
+024934_000039:[16]
+009066_000010:[]
+023158_000023:[5, 12]
+017193_000033:[]
+012009_000005:[]
+024105_000008:[]
+018912_000032:[]
+010936_000010:[12]
+021306_000023:[]
+015986_000028:[]
+005434_000004:[]
+009988_000021:[]
+001428_000013:[]
+020491_000029:[]
+017081_000023:[]
+021620_000003:[11]
+023731_000023:[8]
+024855_000039:[2, 15, 19]
+001079_000012:[9]
+000365_000013:[6]
+013334_000030:[]
+002083_000020:[]
+018256_000023:[]
+013319_000011:[]
+009416_000012:[]
+009106_000024:[10]
+001376_000010:[3, 11]
+007476_000020:[16]
+001050_000003:[]
+002261_000016:[]
+011824_000012:[]
+002031_000012:[]
+018393_000007:[0]
+000706_000030:[4]
+004872_000009:[14]
+001608_000006:[12]
+004744_000034:[]
+022063_000000:[]
+017806_000036:[11]
+019637_000011:[0, 2, 6, 7, 8, 10, 12, 14, 15, 16, 18, 19]
+020746_000004:[]
+000744_000036:[18]
+009625_000010:[]
+013369_000035:[]
+001918_000025:[1, 5, 14]
+016651_000016:[]
+012873_000001:[]
+004678_000016:[1, 9]
+021873_000016:[]
+007566_000032:[6]
+024878_000036:[16]
+003892_000009:[]
+023536_000023:[]
+022151_000009:[]
+024023_000032:[5, 11]
+007883_000038:[]
+002525_000032:[1]
+013970_000001:[]
+014914_000023:[]
+016774_000023:[]
+023702_000005:[]
+013037_000037:[9]
+011287_000011:[]
+005932_000034:[]
+013158_000036:[1, 7, 15, 17]
+004184_000002:[]
+008393_000006:[0]
+005109_000008:[]
+001334_000034:[13]
+023767_000015:[]
+016906_000003:[0, 1, 3, 6, 7, 8, 11, 13, 15, 16, 17, 18]
+024296_000001:[]
+008336_000029:[3, 13, 14]
+004719_000016:[]
+011101_000017:[]
+006423_000021:[]
+010059_000038:[]
+019870_000008:[]
+021954_000021:[]
+016369_000023:[]
+015514_000018:[]
+012240_000005:[]
+021997_000024:[]
+024201_000000:[]
+005181_000002:[]
+009551_000037:[]
+015997_000018:[6, 11, 17]
+023019_000029:[4, 18]
+024244_000001:[]
+005865_000034:[18]
+021547_000002:[7]
+015866_000038:[1, 5, 9]
+021236_000007:[4]
+013493_000009:[]
+020218_000016:[13, 19]
+023632_000015:[4, 7, 10]
+019427_000022:[]
+006975_000016:[2, 10]
+015506_000013:[1, 12]
+017630_000004:[]
+013810_000001:[]
+014847_000008:[]
+003863_000038:[7]
+018921_000011:[]
+010822_000001:[3]
+012955_000035:[]
+019613_000003:[3]
+019987_000018:[]
+009139_000019:[18]
+003105_000029:[8, 15, 18]
+011443_000014:[]
+017654_000028:[]
+014469_000026:[4, 18]
+011586_000024:[]
+015822_000014:[]
+024292_000014:[]
+018189_000000:[]
+024968_000000:[]
+002145_000029:[0, 8, 12]
+006992_000025:[]
+019195_000027:[0, 7, 10, 18]
+022030_000032:[]
+023333_000008:[3]
+011035_000000:[]
+022012_000023:[0, 6, 8, 15, 16]
+022588_000016:[]
+017536_000030:[]
+014550_000030:[12]
+022045_000035:[0, 12, 16]
+010913_000028:[]
+018174_000012:[10, 14]
+004492_000022:[0, 5, 6, 14, 16]
+017642_000015:[]
+012407_000009:[]
+001806_000038:[2, 10]
+004233_000016:[10]
+004556_000034:[]
+002548_000012:[]
+017363_000000:[]
+009616_000003:[]
+003119_000013:[5, 17]
+023702_000029:[3, 8]
+018189_000017:[]
+005733_000025:[]
+014621_000037:[3, 10]
+005638_000034:[]
+019154_000035:[11]
+016382_000033:[]
+020992_000034:[]
+009215_000029:[]
+008069_000016:[]
+019942_000025:[4, 5]
+008484_000029:[]
+020811_000025:[]
+005052_000039:[5, 12]
+016759_000008:[]
+019657_000019:[11]
+016306_000027:[]
+011794_000038:[]
+000181_000026:[]
+012677_000003:[2, 7, 11]
+023353_000015:[]
+006336_000031:[]
+007324_000036:[]
+022239_000038:[]
+011691_000027:[]
+004442_000012:[]
+007235_000000:[]
+011991_000026:[]
+014364_000007:[]
+004769_000034:[]
+023959_000038:[]
+005044_000037:[]
+016760_000030:[]
+001800_000014:[18]
+012076_000011:[1, 3, 5, 10, 17]
+005123_000004:[]
+015294_000003:[2, 4, 5, 9, 16]
+024647_000031:[]
+024200_000000:[1]
+018465_000005:[]
+019406_000009:[]
+018117_000021:[8, 13]
+023816_000010:[]
+024896_000026:[]
+000893_000034:[]
+012034_000018:[]
+012078_000013:[13]
+002064_000002:[]
+005966_000030:[]
+018033_000009:[]
+005033_000015:[]
+000278_000028:[]
+016538_000014:[0, 2, 6, 7, 19]
+024714_000000:[]
+000842_000031:[16]
+013139_000025:[]
+006256_000018:[]
+001710_000030:[]
+003547_000025:[]
+016528_000006:[0]
+019446_000002:[0, 5, 14, 16]
+018053_000025:[]
+003278_000021:[3, 13, 17, 19]
+003084_000013:[]
+015018_000025:[]
+023721_000003:[]
+005710_000000:[]
+004845_000006:[0, 2]
+011668_000038:[]
+004918_000023:[2, 7, 14, 17]
+014434_000035:[]
+005801_000002:[0]
+003679_000004:[]
+018006_000032:[]
+023342_000005:[]
+017114_000016:[]
+000981_000039:[3, 4, 7, 9, 12, 17]
+010318_000034:[]
+012923_000015:[1]
+019388_000020:[]
+021316_000000:[]
+023159_000033:[]
+020119_000034:[]
+023090_000000:[]
+005993_000038:[]
+024212_000003:[9, 12, 15]
+008781_000000:[9]
+014651_000004:[]
+018511_000002:[5, 16]
+023416_000002:[]
+011065_000030:[]
+006963_000034:[15]
+020903_000036:[2, 4, 8, 19]
+001757_000016:[6, 9, 12, 13, 19]
+004953_000009:[]
+024041_000030:[2]
+019321_000022:[4, 15, 19]
+004431_000009:[0, 7, 10, 16]
+001584_000032:[16]
+002927_000012:[7, 11]
+008075_000012:[11]
+003250_000031:[13]
+003659_000035:[2, 7]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000474_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000474_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4eae18b92e778904208d5279b73d511d1bf4009d
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000474_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+004918_000009:[]
+008418_000021:[1, 4, 17]
+013423_000018:[]
+011280_000022:[6]
+003692_000000:[9]
+003390_000013:[16]
+013522_000001:[]
+020868_000002:[]
+002031_000004:[]
+002227_000012:[4, 11, 18]
+004748_000018:[18]
+018278_000003:[]
+019376_000019:[]
+004079_000022:[13]
+017724_000015:[]
+021319_000003:[3, 4, 6]
+010235_000037:[]
+016609_000008:[]
+007081_000013:[8]
+010115_000031:[11]
+008531_000032:[]
+024049_000014:[]
+022244_000008:[]
+007567_000038:[]
+004048_000024:[]
+014516_000030:[]
+022577_000032:[]
+022920_000011:[]
+000217_000018:[0, 4, 7, 9]
+009148_000001:[]
+018806_000025:[11]
+009484_000017:[13, 19]
+003574_000002:[]
+014602_000037:[]
+000061_000037:[]
+009222_000031:[]
+002047_000035:[]
+007603_000003:[]
+024177_000024:[7]
+024923_000011:[6]
+006923_000006:[4, 11]
+023385_000012:[]
+000288_000039:[]
+012555_000035:[]
+018472_000036:[0, 2, 7, 9, 10, 12, 13, 15, 17]
+012757_000012:[]
+002976_000021:[0]
+013068_000022:[]
+008928_000030:[]
+008477_000039:[0]
+020124_000028:[]
+002857_000007:[]
+019162_000021:[19]
+009538_000024:[7]
+003941_000009:[2, 3, 10]
+021972_000010:[3]
+016666_000035:[]
+021015_000021:[5]
+007528_000023:[]
+024698_000027:[]
+015342_000039:[]
+012082_000010:[]
+003182_000039:[16]
+022575_000016:[12]
+018731_000027:[]
+007674_000011:[1]
+000173_000023:[]
+001751_000027:[]
+008296_000018:[13]
+020948_000035:[15]
+007442_000019:[]
+003700_000031:[]
+018354_000007:[]
+019335_000027:[]
+003934_000005:[]
+013933_000032:[]
+017366_000032:[4]
+008510_000029:[7]
+019344_000036:[]
+001134_000032:[]
+011106_000004:[]
+008804_000011:[]
+017569_000029:[11]
+006082_000007:[]
+003685_000038:[]
+010107_000030:[]
+016722_000003:[11]
+024352_000028:[]
+020546_000022:[0, 9]
+018217_000020:[1, 3, 5, 7, 13, 18]
+018579_000015:[7]
+006316_000032:[]
+018561_000008:[3, 17]
+010679_000005:[]
+012505_000008:[4, 17]
+000245_000010:[3]
+023463_000008:[2, 10]
+012745_000018:[6]
+007881_000015:[]
+013399_000016:[]
+014934_000034:[]
+022612_000039:[]
+019381_000010:[]
+008178_000012:[]
+012920_000016:[3, 15]
+012104_000031:[1, 4, 9]
+013505_000023:[5]
+007900_000026:[7, 13, 17]
+024626_000009:[8]
+004387_000016:[]
+017714_000037:[]
+022463_000018:[]
+015035_000024:[]
+012847_000026:[]
+015212_000021:[]
+019811_000021:[]
+007730_000027:[]
+022966_000024:[]
+020333_000004:[1, 11]
+015764_000012:[10]
+017482_000021:[3]
+008955_000037:[13]
+001895_000031:[]
+006201_000011:[]
+020051_000026:[3, 13]
+011453_000027:[]
+024302_000025:[]
+017154_000026:[]
+010357_000024:[]
+018352_000019:[6, 9]
+019660_000023:[]
+015713_000016:[]
+022546_000024:[5]
+018222_000029:[13, 16]
+014129_000032:[15, 16]
+022763_000026:[]
+017813_000036:[7]
+013018_000006:[]
+016269_000029:[5]
+017455_000023:[8, 9, 11, 17, 19]
+000893_000025:[]
+007680_000038:[]
+006591_000015:[]
+014949_000017:[]
+000573_000012:[]
+019434_000036:[9]
+002246_000004:[15]
+007613_000039:[0]
+003005_000030:[1, 4, 8, 12, 17]
+015449_000014:[]
+006587_000018:[17]
+007239_000013:[]
+015436_000018:[17, 18]
+020492_000002:[]
+005609_000016:[4, 5, 6, 17]
+009852_000039:[]
+001262_000035:[]
+023887_000028:[]
+004833_000001:[]
+008389_000006:[9, 19]
+017593_000038:[]
+007867_000031:[9]
+001430_000015:[]
+021835_000019:[]
+021988_000028:[8]
+018927_000026:[8]
+004556_000038:[0]
+012056_000034:[]
+003522_000002:[]
+018321_000028:[]
+015507_000026:[0]
+022156_000009:[]
+000318_000039:[1, 9, 11]
+006659_000000:[]
+014115_000001:[4, 9, 10, 12, 15, 16, 17, 18, 19]
+014556_000009:[4]
+015301_000035:[]
+000608_000005:[]
+004203_000032:[4]
+014501_000010:[]
+013361_000023:[0, 11]
+009713_000028:[1, 7, 8]
+009888_000008:[3, 10, 12, 14]
+003512_000019:[]
+019892_000010:[]
+007220_000009:[]
+017149_000034:[0, 3]
+015616_000015:[]
+003628_000013:[5]
+009038_000025:[7]
+016753_000032:[]
+009794_000025:[3, 4, 6]
+004229_000013:[14]
+014384_000012:[13, 15, 17]
+024639_000023:[]
+023094_000022:[11]
+008465_000033:[]
+002695_000008:[]
+015239_000015:[]
+022378_000022:[10, 18]
+000288_000027:[7, 9]
+010520_000018:[]
+007317_000013:[]
+018403_000002:[]
+011332_000005:[0, 7, 8]
+008641_000035:[]
+023925_000010:[3]
+013230_000029:[1, 6, 11]
+006474_000017:[]
+006775_000011:[0, 18]
+010079_000020:[5]
+003351_000025:[]
+018178_000017:[]
+016786_000009:[2, 5, 13, 17]
+004480_000035:[2, 4, 6, 7, 13, 15]
+015484_000010:[8]
+003792_000033:[19]
+010318_000008:[0, 7, 19]
+001947_000013:[]
+011249_000013:[]
+001843_000002:[]
+017471_000022:[8, 14]
+014741_000018:[15]
+018227_000037:[7]
+006442_000012:[]
+009421_000008:[13, 16]
+001595_000037:[]
+015083_000007:[]
+003452_000006:[]
+005238_000034:[4, 6, 13]
+017010_000023:[]
+023327_000029:[]
+015054_000002:[1, 4, 10, 13, 18]
+016837_000011:[]
+005337_000024:[]
+000972_000009:[]
+017103_000012:[6]
+003349_000016:[]
+007470_000017:[]
+004816_000020:[]
+021940_000019:[4, 12, 19]
+014121_000001:[9, 13]
+012089_000036:[17]
+011792_000003:[]
+016909_000024:[0, 3]
+008724_000029:[6, 9, 14]
+003404_000038:[]
+022896_000000:[]
+016350_000019:[1, 2, 7, 18]
+012019_000025:[]
+015698_000013:[]
+007182_000022:[]
+013388_000020:[]
+013363_000029:[]
+010880_000013:[]
+004910_000014:[]
+009333_000032:[]
+015782_000030:[12]
+020852_000034:[]
+002482_000014:[]
+005343_000019:[]
+000595_000021:[]
+011834_000024:[7]
+022358_000025:[]
+022585_000037:[14]
+012273_000029:[]
+018970_000039:[1, 7]
+005247_000023:[2, 5, 6]
+016041_000018:[]
+014045_000025:[]
+009487_000007:[13]
+014019_000031:[]
+013879_000003:[3, 19]
+008455_000018:[4, 11]
+009044_000024:[]
+021476_000000:[7, 10]
+014176_000004:[]
+011267_000008:[]
+008591_000022:[4]
+014550_000013:[]
+017882_000000:[13, 15, 16, 17, 19]
+018613_000028:[17]
+006758_000016:[]
+012005_000004:[0, 8, 19]
+015488_000028:[]
+023607_000022:[]
+009064_000025:[1]
+016203_000013:[5, 9]
+021796_000037:[]
+023820_000038:[]
+020769_000008:[]
+009009_000005:[2, 5]
+006758_000035:[]
+009418_000024:[13]
+013749_000035:[]
+006787_000029:[]
+010700_000000:[4]
+013986_000030:[]
+002039_000027:[]
+006644_000011:[]
+015605_000005:[15]
+008714_000002:[0, 4, 8]
+000659_000002:[9, 19]
+004803_000015:[2, 15]
+001558_000015:[]
+016211_000014:[3, 6]
+011074_000016:[1]
+004772_000005:[]
+019136_000016:[]
+015650_000037:[4]
+007574_000023:[9]
+015569_000024:[]
+006817_000003:[]
+023655_000031:[]
+024461_000010:[7]
+010829_000011:[2, 6, 7, 9, 12, 13, 14, 16, 17]
+018792_000034:[]
+009650_000023:[16]
+014597_000027:[]
+007874_000031:[]
+003937_000019:[]
+018703_000015:[14, 15]
+017477_000019:[]
+024598_000023:[]
+017883_000031:[]
+022378_000020:[10]
+009619_000017:[10, 16]
+014995_000013:[]
+002239_000017:[0, 18]
+018082_000026:[]
+007471_000037:[]
+009675_000010:[7, 8, 14, 19]
+011454_000029:[]
+002090_000000:[]
+021935_000017:[]
+005435_000013:[]
+013527_000025:[]
+013559_000004:[2]
+023189_000013:[3]
+017873_000019:[4]
+000690_000030:[0]
+022856_000028:[]
+015824_000034:[]
+014989_000008:[12]
+019134_000039:[]
+002549_000015:[1, 11]
+021180_000000:[]
+007786_000014:[7, 11, 14]
+012718_000000:[3, 4, 6, 7, 11, 14]
+002875_000038:[6]
+021377_000001:[8]
+014659_000028:[]
+005155_000007:[13, 15]
+016681_000014:[0, 2, 14, 17, 18, 19]
+018515_000033:[7, 16, 19]
+022676_000010:[15]
+006152_000008:[1, 13]
+017820_000021:[]
+004165_000022:[]
+012574_000032:[]
+014920_000023:[]
+016472_000031:[10, 15]
+003773_000020:[]
+019803_000027:[8]
+016166_000010:[]
+021790_000034:[]
+011840_000000:[11]
+024442_000011:[]
+006759_000009:[9]
+013743_000021:[0, 1, 5, 16, 17]
+006173_000011:[]
+005506_000018:[5, 7, 14, 16]
+023635_000028:[8]
+010378_000009:[]
+019650_000018:[2]
+018713_000001:[]
+001217_000007:[12]
+021907_000015:[4]
+024315_000034:[3, 5, 6, 13]
+017459_000005:[]
+024993_000037:[]
+020533_000006:[]
+014873_000017:[]
+018141_000020:[]
+016982_000025:[6, 19]
+002156_000039:[]
+003998_000015:[9, 18]
+007396_000018:[]
+010166_000037:[]
+021295_000029:[]
+003369_000031:[18]
+004534_000038:[9]
+019569_000028:[5, 10, 14]
+011389_000009:[6, 12]
+015056_000007:[]
+018346_000035:[7, 10]
+015330_000020:[0, 10, 16]
+014616_000008:[]
+018343_000017:[2]
+020417_000037:[]
+024747_000036:[]
+010556_000001:[]
+007671_000002:[]
+024840_000024:[]
+008686_000031:[11, 14, 19]
+023783_000035:[]
+023025_000025:[2]
+021708_000031:[0]
+000768_000037:[]
+024379_000010:[]
+015133_000021:[]
+010437_000029:[0, 3, 4, 6, 9, 12]
+008600_000034:[]
+012879_000011:[7]
+021354_000029:[4, 15, 18]
+019029_000003:[]
+004210_000007:[]
+015486_000039:[8, 14]
+000240_000012:[]
+011188_000001:[]
+002683_000003:[2]
+018188_000036:[]
+000768_000028:[]
+023124_000035:[6]
+007358_000009:[]
+020399_000004:[16]
+014449_000035:[6]
+012327_000014:[]
+014589_000008:[]
+006156_000024:[11, 15]
+016057_000014:[]
+013999_000008:[]
+023735_000009:[]
+016333_000006:[]
+013286_000017:[0, 1, 7, 12, 14]
+013475_000007:[4]
+011052_000028:[8]
+002734_000013:[]
+009403_000021:[14]
+003370_000022:[]
+018835_000004:[14]
+011447_000005:[]
+012448_000007:[]
+019819_000031:[0, 9]
+006593_000018:[]
+004016_000017:[]
+001496_000010:[4, 11, 17]
+001422_000016:[1]
+021172_000038:[]
+001427_000035:[]
+019784_000037:[3]
+003576_000024:[]
+022121_000013:[12]
+018448_000039:[9, 12, 14]
+014725_000024:[]
+019465_000014:[]
+007009_000004:[]
+006086_000010:[0]
+012033_000004:[]
+007722_000028:[4, 6, 11, 12]
+007134_000008:[]
+007481_000014:[]
+021542_000020:[9]
+007779_000024:[]
+001766_000026:[]
+024940_000005:[]
+020630_000032:[2, 6, 8, 14, 19]
+003412_000006:[5]
+014716_000029:[4]
+024260_000022:[]
+024115_000014:[]
+014738_000009:[5]
+003598_000025:[]
+018229_000029:[]
+008312_000010:[]
+021846_000022:[9, 18]
+019375_000038:[]
+008092_000033:[3, 7]
+000129_000027:[]
+004235_000029:[]
+008672_000016:[15, 17]
+000353_000018:[1]
+014330_000014:[4]
+005600_000017:[6]
+021432_000005:[]
+012532_000008:[0, 11]
+019560_000015:[]
+008878_000037:[3, 12, 14, 15]
+005203_000038:[18]
+001190_000032:[2, 10]
+000015_000006:[]
+018489_000004:[7, 11, 18]
+004461_000017:[]
+010851_000030:[3, 13, 14, 15, 17]
+001827_000025:[14]
+016680_000025:[]
+012459_000023:[]
+021090_000033:[8, 14]
+022556_000031:[]
+024265_000035:[0, 19]
+002520_000001:[14]
+007534_000024:[11]
+004750_000003:[]
+011322_000016:[]
+000843_000016:[]
+012854_000011:[]
+011960_000004:[17]
+024032_000016:[]
+003632_000007:[]
+021770_000017:[1, 4, 14]
+009938_000015:[4]
+023043_000017:[0, 2]
+010426_000032:[10]
+006452_000009:[6, 16]
+006199_000002:[]
+007340_000010:[]
+017788_000022:[]
+007514_000000:[]
+004028_000032:[5, 12]
+015026_000034:[6, 12, 19]
+019841_000021:[]
+005652_000036:[3, 16]
+012160_000014:[9]
+012599_000010:[6, 7, 12]
+007039_000010:[]
+006923_000003:[6, 8, 14]
+000716_000025:[6, 17, 19]
+007665_000036:[]
+009526_000034:[]
+015558_000032:[]
+000509_000036:[5]
+024488_000014:[]
+015444_000017:[1, 17]
+007531_000017:[]
+002689_000023:[]
+012743_000020:[0, 11]
+016435_000010:[]
+024260_000020:[3, 17]
+017008_000007:[]
+021212_000030:[]
+016411_000029:[]
+020602_000025:[]
+015018_000028:[9]
+013125_000017:[]
+014711_000022:[4]
+012809_000004:[]
+024994_000015:[]
+021615_000014:[0, 2, 5, 10, 11, 13, 15, 19]
+017118_000018:[1, 6, 7, 10, 11, 12, 19]
+021910_000038:[]
+015382_000007:[]
+008084_000003:[]
+009888_000017:[]
+008587_000028:[13]
+005748_000001:[]
+019006_000002:[4]
+013582_000013:[]
+008621_000014:[]
+022645_000035:[]
+022769_000004:[]
+023398_000030:[]
+016066_000001:[]
+002284_000032:[1, 5]
+010787_000015:[5, 8, 11]
+020028_000026:[]
+001754_000019:[8]
+003754_000026:[4]
+013328_000008:[2]
+012514_000001:[11]
+019060_000027:[10]
+000898_000015:[]
+009035_000035:[]
+013690_000011:[]
+005975_000016:[]
+012511_000034:[16]
+010875_000024:[]
+009244_000022:[0, 10]
+006408_000031:[]
+000413_000001:[]
+015404_000023:[6]
+014896_000010:[]
+022718_000036:[]
+020179_000025:[]
+015825_000037:[11]
+005551_000032:[6]
+021199_000008:[1, 6]
+024320_000014:[0, 4, 5]
+000284_000013:[16]
+007738_000032:[11, 14]
+010128_000030:[9, 15, 17]
+012940_000035:[18]
+020493_000013:[0, 15]
+015619_000013:[4]
+000265_000010:[]
+004065_000029:[]
+001064_000015:[]
+021537_000004:[]
+023511_000037:[]
+019524_000017:[6]
+000979_000017:[]
+018138_000029:[]
+003144_000015:[]
+017925_000033:[]
+019806_000004:[1, 5, 7, 14, 19]
+015493_000017:[]
+011067_000035:[]
+005058_000024:[]
+014078_000036:[]
+005586_000019:[]
+020478_000026:[0, 11]
+010514_000008:[0, 18]
+013402_000028:[18]
+006539_000033:[]
+018536_000023:[17]
+004325_000009:[]
+012522_000034:[]
+004977_000035:[]
+006227_000011:[]
+015747_000009:[]
+002187_000022:[]
+024310_000002:[]
+006456_000000:[10]
+017992_000027:[5, 18]
+007441_000003:[]
+013560_000034:[15]
+021278_000014:[14]
+000532_000016:[17]
+007674_000034:[]
+015020_000033:[]
+021269_000004:[]
+012988_000012:[]
+006280_000018:[1, 10]
+016924_000011:[2, 3, 9]
+024696_000004:[4]
+012098_000032:[]
+020823_000025:[14]
+011334_000023:[]
+000950_000018:[]
+004411_000031:[]
+015806_000001:[0, 3, 10, 19]
+000254_000025:[5, 13, 18]
+013211_000037:[]
+019675_000010:[16]
+000647_000039:[5]
+015323_000039:[3, 8, 9, 10, 12, 15, 17, 19]
+018687_000036:[12, 16]
+009900_000023:[]
+024854_000002:[]
+003246_000004:[11]
+008385_000014:[7]
+011836_000004:[11]
+004922_000032:[1, 7, 13, 18]
+009788_000020:[]
+021866_000030:[]
+011126_000036:[]
+007438_000012:[]
+000530_000025:[]
+007856_000008:[1, 2, 3, 6, 13, 15, 17]
+017985_000026:[]
+012709_000023:[6]
+009818_000024:[4]
+001908_000009:[]
+014406_000033:[1, 3, 16]
+017835_000028:[9]
+018869_000033:[]
+023283_000018:[]
+013610_000016:[]
+003365_000004:[8, 15]
+005797_000031:[]
+014652_000028:[]
+010512_000035:[]
+011672_000030:[]
+016169_000022:[]
+007922_000021:[]
+014072_000025:[]
+007321_000000:[3, 8, 9, 10, 13, 14, 15]
+023313_000017:[13, 14]
+005102_000022:[]
+015040_000038:[13, 14, 17]
+022762_000035:[1, 2, 3, 12, 15, 18, 19]
+019008_000011:[3, 6]
+008344_000021:[]
+004397_000038:[6, 13]
+001639_000013:[8]
+016806_000016:[7]
+006370_000035:[2]
+020751_000004:[3, 18]
+005355_000021:[2, 5, 9, 13, 15]
+022140_000002:[7]
+002183_000002:[]
+020481_000030:[6]
+022331_000024:[]
+013007_000007:[3, 14]
+005102_000013:[]
+011119_000012:[]
+016340_000027:[]
+005103_000018:[]
+017526_000037:[]
+020111_000021:[]
+021142_000003:[6, 19]
+024982_000030:[10]
+012196_000019:[]
+013604_000011:[19]
+007672_000012:[]
+023778_000016:[0, 1, 8, 9, 12]
+002018_000035:[]
+015094_000036:[3, 13]
+021174_000030:[6]
+009217_000034:[]
+015606_000036:[]
+020367_000012:[]
+000668_000021:[]
+006480_000019:[]
+000423_000006:[]
+003800_000009:[11, 12, 15]
+017182_000003:[5]
+014134_000013:[]
+002345_000000:[]
+001342_000008:[]
+017009_000019:[19]
+007932_000004:[]
+014523_000013:[]
+016904_000012:[2, 3, 11, 15]
+008060_000025:[5, 14]
+002795_000006:[0, 2, 3, 6, 7, 8, 9, 10, 13, 14, 15, 17]
+022086_000038:[5]
+018643_000002:[]
+016966_000010:[0, 14, 15, 19]
+005598_000017:[]
+013312_000038:[]
+005911_000027:[18]
+016422_000010:[]
+000649_000014:[11]
+023702_000030:[2, 3, 6, 8, 11, 13]
+013176_000025:[]
+019884_000003:[11]
+018799_000034:[]
+016618_000010:[]
+024568_000011:[]
+019646_000033:[0, 1]
+020153_000018:[15]
+022026_000009:[]
+009289_000032:[]
+023263_000013:[2, 3, 4, 11, 14, 15, 18, 19]
+015173_000020:[15]
+013863_000023:[]
+013171_000035:[]
+004614_000017:[]
+019055_000029:[11, 13, 17]
+021683_000032:[5, 7, 11]
+005934_000038:[0, 1, 11, 16]
+023712_000014:[]
+012231_000007:[]
+005198_000006:[]
+009256_000023:[4]
+019661_000015:[1, 3, 6, 12, 17]
+018361_000034:[]
+017665_000008:[]
+002868_000038:[4, 6]
+022096_000022:[4, 8, 12, 13, 14, 16, 18]
+002754_000004:[5, 6, 15]
+017792_000035:[]
+018441_000026:[]
+018505_000035:[]
+024548_000006:[]
+009447_000023:[]
+022500_000019:[]
+006296_000031:[9]
+006524_000035:[]
+018463_000025:[]
+022893_000030:[]
+008360_000015:[4]
+022577_000010:[]
+014777_000029:[]
+013007_000026:[]
+009948_000030:[]
+014518_000025:[18]
+000910_000001:[7]
+001750_000036:[]
+005547_000022:[1]
+003737_000015:[1, 8, 9]
+021063_000027:[]
+016943_000009:[]
+012618_000032:[17]
+018800_000032:[18]
+000291_000001:[]
+017484_000031:[]
+014071_000032:[7]
+010722_000003:[]
+017513_000033:[]
+011861_000023:[]
+001424_000009:[]
+022151_000033:[]
+011679_000005:[]
+009690_000034:[0, 3, 7, 9]
+020855_000004:[]
+018341_000026:[]
+008814_000018:[]
+024286_000019:[]
+021736_000020:[10]
+018462_000036:[0, 11]
+004966_000024:[]
+017417_000033:[18]
+008832_000038:[]
+014536_000011:[12]
+023621_000013:[0, 8, 19]
+002881_000013:[]
+002469_000004:[18]
+017576_000037:[]
+014133_000029:[7, 12, 14]
+004018_000009:[]
+000550_000031:[8]
+012445_000029:[]
+017697_000014:[4]
+019206_000035:[]
+013322_000026:[]
+021325_000004:[3]
+017577_000025:[6]
+008165_000033:[]
+021333_000034:[7, 15, 16]
+004065_000036:[]
+004801_000037:[]
+017404_000015:[]
+005669_000033:[]
+011923_000031:[15]
+008095_000032:[]
+005766_000022:[]
+005043_000020:[12]
+004614_000022:[11]
+024719_000018:[8, 10, 16]
+007874_000028:[]
+010542_000005:[11, 12, 15]
+022814_000033:[]
+022701_000032:[]
+004453_000004:[]
+014259_000011:[]
+018951_000031:[1, 5]
+009762_000007:[]
+021719_000001:[5, 10]
+009397_000032:[1, 3, 5, 16, 18]
+007081_000028:[]
+018485_000023:[]
+021760_000008:[]
+011858_000025:[]
+009147_000015:[0, 1, 3, 15]
+007081_000019:[]
+023013_000030:[0, 5]
+020032_000033:[]
+016360_000018:[]
+001698_000027:[14]
+013770_000025:[]
+014328_000025:[]
+018773_000009:[]
+022873_000009:[5, 6, 8, 15, 17, 19]
+019158_000028:[]
+008785_000019:[]
+004125_000014:[]
+009135_000008:[]
+005711_000011:[]
+013034_000011:[12]
+010671_000004:[]
+011451_000039:[]
+007208_000018:[17]
+005817_000009:[14]
+022090_000006:[]
+022593_000022:[2]
+024549_000006:[]
+001462_000025:[0, 17]
+018666_000018:[5]
+013260_000008:[]
+019792_000033:[3, 7, 11, 12]
+012435_000013:[]
+020949_000018:[0, 2]
+003380_000035:[]
+022554_000039:[]
+002706_000031:[]
+009863_000019:[]
+010517_000012:[]
+016422_000012:[]
+011142_000034:[2, 6, 10, 14]
+017331_000015:[17]
+005470_000023:[2]
+022066_000024:[]
+017358_000032:[15]
+004921_000013:[]
+007652_000011:[3]
+002104_000006:[6, 17]
+017774_000018:[]
+008322_000015:[4, 5]
+022222_000003:[]
+018645_000022:[]
+008125_000030:[]
+023746_000029:[]
+018448_000025:[5, 6, 7, 9, 12, 15]
+016113_000015:[6, 9, 10, 13]
+000208_000021:[4, 10, 12, 13, 16, 18, 19]
+002326_000033:[3, 8, 17]
+020974_000031:[]
+015729_000006:[10, 18]
+007650_000012:[]
+022681_000017:[]
+014138_000009:[5, 12, 13]
+014709_000017:[]
+008680_000004:[15]
+011704_000025:[6, 12]
+004072_000006:[]
+021967_000005:[2, 18]
+004850_000010:[19]
+017123_000039:[1]
+003290_000007:[]
+024827_000039:[7]
+003036_000021:[]
+023108_000036:[9, 10, 15]
+022756_000031:[]
+007072_000031:[]
+010832_000002:[11]
+017863_000007:[]
+018144_000018:[]
+011457_000007:[]
+021668_000002:[]
+019276_000030:[]
+007959_000033:[]
+001060_000009:[]
+004071_000005:[6, 18]
+024669_000022:[]
+006145_000024:[]
+008048_000028:[13]
+004724_000015:[]
+018109_000018:[]
+011644_000028:[]
+011402_000022:[]
+006349_000026:[]
+014135_000003:[]
+009367_000024:[12]
+006195_000010:[]
+002213_000017:[]
+006405_000030:[]
+007116_000029:[4]
+022547_000039:[2, 9]
+007749_000000:[]
+015666_000014:[]
+013595_000031:[]
+014297_000020:[]
+008107_000031:[3]
+022732_000001:[14, 18]
+003471_000003:[6]
+015044_000010:[]
+002406_000016:[]
+013430_000032:[13]
+021864_000014:[]
+019599_000026:[0, 5, 13]
+008667_000001:[]
+001948_000023:[]
+017342_000013:[]
+016439_000021:[]
+015338_000033:[3]
+007040_000014:[10, 19]
+015578_000005:[]
+018546_000009:[]
+016791_000016:[5]
+007983_000010:[17]
+024701_000023:[10]
+012848_000002:[]
+002427_000019:[14]
+018987_000006:[14]
+024313_000019:[]
+016856_000014:[12]
+013633_000001:[8]
+023135_000027:[]
+018626_000035:[9, 13, 15, 17, 18]
+012166_000007:[19]
+016858_000035:[]
+003918_000004:[9, 17, 18]
+004445_000010:[2, 4, 5, 6, 16, 19]
+010029_000021:[]
+024385_000005:[4, 6]
+024963_000004:[15]
+023889_000009:[]
+016904_000018:[0]
+005185_000014:[]
+012603_000024:[]
+020829_000035:[]
+021210_000005:[17]
+001384_000025:[4, 5]
+011106_000018:[14]
+002624_000038:[6, 8, 10, 12, 14, 16]
+006225_000039:[]
+024563_000028:[]
+002859_000034:[]
+004098_000020:[]
+018345_000022:[]
+017427_000036:[]
+005929_000005:[]
+004786_000019:[15]
+012363_000023:[1]
+002671_000012:[]
+013895_000004:[]
+004833_000014:[9, 12, 13, 14, 19]
+008341_000022:[]
+020692_000011:[1]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000487_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000487_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..94b0738891b761a0ab82959312172e7fafc927e5
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000487_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+013411_000032:[]
+023655_000033:[0]
+000037_000009:[]
+023804_000011:[4]
+021058_000039:[6]
+008162_000002:[]
+022861_000019:[6, 8]
+006721_000039:[]
+003450_000034:[11]
+015602_000002:[3]
+015830_000012:[]
+021912_000033:[]
+021338_000010:[]
+017261_000006:[4, 14, 18]
+007260_000006:[14]
+022749_000003:[]
+000246_000023:[]
+013667_000022:[0, 3, 4, 6, 7]
+005623_000010:[9, 18]
+004289_000023:[]
+021752_000021:[4]
+012770_000024:[14]
+007448_000005:[]
+015175_000003:[]
+015416_000008:[12]
+024734_000004:[]
+018386_000021:[]
+006739_000023:[0, 15, 18]
+004746_000001:[]
+000787_000026:[]
+004438_000007:[]
+016169_000005:[0]
+002851_000037:[]
+023963_000014:[6]
+010721_000019:[]
+006296_000027:[9]
+012087_000038:[2, 4, 9, 15, 16, 19]
+018560_000010:[6]
+014048_000003:[2]
+007445_000019:[7, 17, 19]
+022271_000016:[1]
+003567_000015:[]
+014296_000020:[3, 4, 7, 15, 18]
+007192_000008:[]
+017393_000030:[]
+019382_000029:[]
+006680_000031:[]
+007910_000015:[]
+005217_000039:[]
+015652_000017:[0]
+018186_000038:[1, 3]
+015973_000018:[0, 14, 19]
+008728_000021:[]
+000215_000004:[8, 9, 19]
+020955_000005:[6]
+022658_000026:[2, 5]
+014497_000008:[]
+011458_000000:[]
+012680_000025:[3, 9, 11]
+000330_000021:[]
+022932_000005:[]
+006060_000015:[11]
+017963_000000:[]
+023415_000025:[0, 2, 4, 7, 9, 10, 11, 15, 16]
+001110_000011:[8]
+009798_000031:[4, 10]
+000191_000001:[2]
+005952_000032:[]
+019261_000030:[2, 5, 17]
+009383_000015:[]
+015290_000039:[7]
+006491_000020:[]
+005240_000039:[6]
+004236_000011:[]
+018072_000016:[]
+014708_000032:[]
+002929_000001:[2]
+015613_000032:[]
+008224_000029:[]
+010665_000011:[]
+002472_000025:[]
+000808_000024:[]
+021646_000028:[]
+015856_000025:[8]
+015899_000012:[8]
+012803_000019:[]
+012689_000037:[12, 13, 15, 18]
+010139_000023:[3, 8, 14, 15]
+001544_000021:[]
+018607_000028:[4, 9, 14, 17]
+009404_000013:[12, 15]
+017130_000026:[3, 9]
+020807_000005:[7]
+007064_000015:[0]
+006948_000030:[]
+004907_000004:[]
+021533_000007:[11, 19]
+024354_000011:[3]
+007709_000005:[1]
+020014_000026:[]
+003965_000025:[]
+014099_000039:[]
+018702_000030:[]
+017888_000039:[]
+007551_000010:[]
+006782_000008:[]
+004340_000018:[]
+003488_000013:[]
+024362_000037:[]
+007949_000037:[]
+014813_000035:[]
+004841_000020:[]
+023897_000008:[]
+011913_000021:[]
+001393_000032:[]
+018256_000010:[]
+012130_000002:[]
+015350_000039:[18]
+000553_000004:[]
+005019_000027:[]
+016543_000000:[]
+020452_000018:[2, 3, 19]
+001179_000008:[]
+007781_000025:[]
+007115_000002:[0]
+009632_000034:[]
+019444_000007:[]
+014528_000009:[]
+002562_000025:[7]
+015645_000003:[]
+002726_000006:[]
+018988_000006:[9]
+015626_000002:[13, 17]
+001651_000024:[3, 7, 11, 12, 16, 17]
+001022_000026:[]
+010547_000010:[]
+006124_000004:[]
+018956_000007:[]
+014601_000015:[]
+005189_000000:[]
+016349_000038:[8]
+010942_000005:[]
+020804_000025:[4, 6, 13, 14, 16, 19]
+011509_000007:[]
+024810_000011:[13]
+023590_000031:[8, 17]
+015928_000004:[]
+011599_000011:[3]
+015722_000022:[]
+013089_000012:[9]
+003488_000038:[]
+016673_000026:[]
+001011_000030:[]
+005129_000036:[3, 10]
+017809_000000:[]
+011056_000036:[]
+023428_000039:[]
+014683_000005:[]
+017239_000002:[]
+014624_000004:[6]
+012687_000011:[]
+018213_000007:[]
+000939_000020:[]
+012037_000008:[]
+019076_000032:[19]
+015277_000003:[5, 6, 17]
+004157_000008:[]
+019420_000025:[12, 19]
+002122_000009:[]
+002765_000018:[]
+019766_000000:[7, 10, 17]
+001475_000025:[]
+023460_000016:[]
+003217_000023:[]
+001198_000038:[]
+002513_000036:[10, 13, 15]
+021964_000035:[]
+004218_000036:[]
+005067_000039:[2, 8, 11, 15]
+016201_000007:[]
+019029_000032:[]
+021808_000011:[15]
+016791_000009:[11]
+007165_000027:[2, 4]
+015584_000000:[]
+006799_000021:[]
+010772_000022:[1, 2, 19]
+012868_000032:[15]
+022954_000017:[8, 10, 16, 18]
+002654_000034:[]
+013788_000017:[12]
+012645_000033:[3, 4]
+024934_000037:[16]
+004717_000013:[]
+000225_000038:[]
+023315_000004:[]
+006349_000039:[12]
+011800_000016:[]
+014401_000029:[3, 4, 8, 10]
+011859_000011:[8, 9, 11]
+014026_000014:[]
+022404_000024:[]
+021273_000038:[9, 17]
+008088_000015:[]
+015021_000012:[15]
+023561_000013:[6, 7, 12, 14, 16, 17]
+012298_000011:[]
+015963_000002:[3, 5, 16, 17]
+016269_000004:[]
+014420_000037:[0]
+001074_000006:[2, 7]
+001302_000017:[]
+023537_000000:[]
+016470_000010:[5]
+021135_000026:[]
+012526_000031:[12, 13, 17]
+013799_000036:[7, 15]
+015624_000031:[]
+007273_000021:[]
+012530_000025:[]
+009763_000010:[3]
+017892_000018:[]
+001920_000013:[9]
+002435_000023:[1, 11, 17, 18]
+019466_000001:[3]
+020294_000014:[]
+024244_000010:[]
+004046_000022:[3, 19]
+013546_000014:[]
+001041_000017:[]
+000404_000004:[]
+021096_000004:[17]
+005635_000022:[5]
+020280_000035:[]
+012131_000008:[]
+021354_000016:[]
+016222_000039:[1, 3]
+014564_000008:[]
+020383_000037:[7, 11]
+007499_000023:[]
+002167_000001:[]
+016737_000034:[10, 19]
+024712_000021:[0, 8]
+008619_000030:[]
+007040_000020:[10, 12]
+009036_000000:[16]
+012427_000005:[]
+002255_000028:[6]
+005538_000036:[]
+004874_000012:[]
+009083_000037:[15, 17]
+018838_000019:[9, 12]
+016281_000029:[1, 5]
+000869_000002:[1]
+013312_000028:[]
+018063_000030:[]
+015913_000025:[5]
+007266_000032:[]
+000666_000030:[]
+021989_000018:[]
+023271_000035:[]
+008803_000027:[]
+011998_000004:[]
+001794_000036:[]
+010089_000031:[18]
+024468_000014:[]
+024224_000039:[]
+014059_000018:[5, 9]
+005420_000020:[11]
+018687_000014:[]
+003783_000024:[]
+015789_000005:[8]
+006858_000017:[]
+020617_000006:[1, 3, 4]
+018864_000019:[6]
+011939_000010:[11]
+000680_000015:[]
+006666_000021:[]
+010744_000013:[]
+015637_000033:[]
+002115_000035:[]
+010728_000020:[]
+009972_000005:[0, 1, 12]
+017724_000005:[18]
+017382_000009:[15]
+001866_000003:[]
+019004_000037:[]
+008100_000028:[]
+017814_000028:[]
+000718_000014:[]
+020444_000013:[]
+002846_000006:[]
+018181_000008:[]
+000811_000020:[16, 19]
+002786_000034:[13]
+010145_000023:[]
+018453_000029:[]
+005389_000004:[2, 14]
+024648_000033:[19]
+009172_000007:[]
+002669_000025:[]
+012153_000034:[2, 4, 6]
+024341_000029:[0, 15]
+011601_000012:[0, 4, 7, 11, 16, 19]
+022550_000039:[5]
+009534_000000:[]
+015613_000034:[16]
+001867_000015:[]
+021030_000013:[2, 9, 11]
+002870_000032:[]
+007069_000033:[0, 13]
+016868_000008:[1, 4, 6, 9, 12, 19]
+019133_000003:[]
+000377_000038:[]
+016415_000007:[]
+011225_000036:[]
+010714_000021:[]
+001496_000019:[]
+002470_000002:[]
+023123_000006:[0, 1]
+012326_000017:[5]
+010033_000035:[12, 17]
+000938_000037:[]
+005708_000028:[1, 3, 6, 9, 16, 18, 19]
+021343_000034:[]
+023957_000016:[]
+006412_000019:[7, 11, 14]
+010534_000009:[]
+011222_000005:[1, 18]
+018013_000029:[]
+002198_000000:[1, 5, 12, 13, 15]
+021118_000025:[5]
+019218_000022:[]
+023908_000018:[16]
+023865_000025:[]
+004118_000002:[]
+011285_000014:[]
+023540_000003:[5, 7, 13]
+024670_000011:[5]
+001571_000025:[]
+016276_000026:[]
+001243_000001:[]
+003521_000017:[5, 6, 14]
+020468_000031:[]
+001925_000036:[]
+008583_000028:[]
+017522_000003:[2]
+020397_000020:[19]
+004316_000016:[14, 18]
+002805_000008:[]
+012835_000016:[5, 19]
+006784_000028:[1, 2, 4, 5, 8, 10, 11]
+008071_000020:[0, 7, 14]
+013181_000039:[]
+000316_000026:[]
+022580_000027:[19]
+003316_000008:[]
+018389_000000:[]
+013755_000020:[]
+003575_000022:[]
+012563_000002:[]
+017675_000028:[1]
+006779_000023:[4, 12]
+002315_000007:[6]
+006575_000008:[16, 19]
+017399_000016:[5]
+019638_000039:[18]
+007078_000028:[]
+002924_000021:[18]
+017481_000014:[]
+021271_000012:[]
+012786_000023:[6, 10, 15, 16]
+014066_000013:[17]
+013243_000037:[13]
+000997_000021:[15]
+006516_000002:[]
+022385_000016:[4]
+009588_000012:[]
+021809_000006:[0, 3, 14]
+004635_000018:[4]
+009365_000038:[]
+006140_000013:[]
+008584_000032:[]
+006410_000039:[]
+014986_000013:[]
+021966_000009:[]
+024906_000003:[]
+005177_000025:[]
+005412_000017:[]
+008816_000019:[4, 11]
+021247_000010:[]
+021176_000027:[]
+014612_000007:[]
+014306_000007:[]
+016807_000014:[]
+018356_000018:[4, 8, 12, 15]
+024458_000027:[]
+016163_000006:[]
+016496_000037:[10]
+006508_000000:[1, 12, 18]
+016408_000014:[11, 12, 14, 16, 18]
+011635_000007:[]
+008501_000010:[6]
+017510_000009:[8]
+021877_000010:[6]
+010378_000008:[8]
+003724_000023:[2, 18]
+003039_000013:[]
+017893_000034:[0, 2]
+009394_000019:[]
+000807_000030:[7]
+010882_000031:[]
+014455_000009:[13]
+004764_000015:[]
+003832_000018:[4]
+014256_000032:[]
+021470_000013:[]
+012635_000015:[]
+017887_000022:[4, 14, 16]
+012280_000005:[2, 13]
+008228_000018:[7]
+014622_000025:[]
+023967_000027:[]
+017179_000038:[8, 18]
+016652_000010:[2, 4, 12]
+013317_000033:[3, 7, 16]
+015237_000022:[]
+019144_000008:[7]
+013393_000000:[]
+018882_000021:[4, 9]
+015287_000027:[2]
+023879_000025:[2, 13]
+006850_000031:[0, 2, 4, 5]
+015007_000024:[3]
+021894_000007:[0, 8]
+008231_000036:[]
+017509_000012:[]
+004297_000004:[]
+001338_000008:[3]
+004905_000000:[0, 10]
+000468_000014:[6, 7, 11, 16]
+002520_000004:[]
+000413_000005:[]
+021283_000002:[]
+014988_000027:[]
+024385_000007:[]
+021787_000031:[7, 9, 11]
+020937_000033:[]
+010948_000010:[17]
+001071_000029:[]
+020669_000028:[0, 13]
+011777_000007:[]
+015781_000036:[]
+017473_000002:[]
+018738_000036:[]
+019439_000039:[]
+014842_000006:[]
+013929_000007:[5, 12, 14, 18]
+005124_000004:[14]
+000313_000003:[1, 2, 18]
+013112_000036:[]
+017823_000000:[10]
+007259_000038:[3, 16]
+003054_000039:[]
+010451_000017:[]
+010323_000000:[4]
+017703_000019:[12, 18]
+007872_000022:[]
+014604_000014:[]
+000389_000007:[5, 8, 11, 14, 17, 18]
+013237_000009:[]
+022020_000038:[]
+002695_000021:[1, 4]
+003750_000034:[]
+018533_000000:[]
+011950_000025:[8]
+022992_000004:[]
+003853_000039:[5]
+016903_000001:[]
+008367_000014:[]
+012649_000005:[]
+019646_000025:[]
+012468_000012:[]
+015490_000009:[12]
+005114_000002:[]
+006628_000003:[]
+016028_000028:[3]
+018625_000016:[2, 14]
+003646_000021:[]
+021348_000014:[3, 4, 18]
+016027_000019:[3]
+004081_000026:[]
+007386_000038:[]
+022689_000016:[]
+008348_000001:[11]
+017203_000020:[17]
+024474_000036:[]
+012631_000008:[]
+007172_000011:[]
+015431_000033:[3, 8, 12]
+021707_000014:[]
+023279_000004:[]
+018438_000026:[3, 12, 15, 16, 17, 18]
+002200_000000:[]
+003279_000021:[]
+008339_000035:[6]
+019378_000026:[0, 19]
+013055_000010:[19]
+011064_000008:[]
+016842_000035:[]
+001274_000035:[]
+008634_000031:[]
+002379_000014:[5]
+013572_000030:[]
+012918_000039:[]
+014004_000022:[9, 10, 13, 16, 17]
+001719_000003:[3]
+014360_000022:[]
+000164_000016:[17]
+008056_000013:[]
+013363_000002:[]
+016184_000003:[9, 17]
+023336_000000:[13]
+009118_000003:[]
+016274_000035:[]
+011016_000016:[]
+015508_000033:[]
+007763_000033:[10]
+008170_000005:[]
+010165_000006:[]
+012204_000003:[]
+022415_000037:[]
+004996_000019:[]
+001945_000020:[3, 5, 8]
+016540_000004:[]
+019031_000016:[]
+024554_000029:[]
+015650_000031:[]
+007995_000035:[]
+006660_000036:[3, 4, 6]
+022512_000000:[]
+004792_000022:[11]
+020517_000035:[]
+001238_000038:[]
+015868_000023:[]
+001385_000012:[]
+019405_000000:[19]
+006034_000014:[]
+011145_000013:[]
+016480_000025:[]
+012456_000000:[1]
+022429_000002:[]
+017412_000028:[0]
+001788_000028:[11, 14, 16, 18]
+012729_000010:[19]
+014178_000004:[5, 17]
+011476_000002:[]
+015139_000009:[18]
+002435_000034:[1, 6, 7, 18, 19]
+023075_000039:[]
+009896_000028:[]
+018977_000026:[]
+003043_000019:[]
+004838_000024:[0, 2]
+017115_000036:[0, 15]
+021901_000011:[8, 19]
+024082_000022:[3, 6]
+013470_000020:[]
+005338_000036:[]
+015095_000038:[1]
+015773_000031:[]
+021211_000028:[]
+007936_000031:[]
+004178_000025:[]
+005175_000029:[]
+016882_000017:[]
+004296_000030:[]
+023220_000034:[]
+019900_000020:[]
+008162_000000:[]
+018662_000001:[]
+022038_000035:[4, 5, 6, 12]
+012172_000019:[0]
+002897_000007:[]
+017639_000035:[]
+005182_000000:[]
+003857_000015:[]
+008852_000001:[]
+015314_000013:[5]
+023720_000017:[]
+016540_000014:[]
+019331_000020:[7, 10, 17]
+011867_000031:[]
+009658_000022:[17, 18]
+005246_000013:[1, 6, 18]
+022473_000017:[]
+014358_000014:[]
+012609_000038:[]
+024283_000010:[]
+013898_000024:[15]
+014451_000012:[2, 3, 7, 8, 11, 14, 15, 16]
+015801_000020:[]
+013322_000005:[]
+008196_000006:[14]
+016700_000014:[]
+024068_000007:[1, 3, 10, 17]
+016976_000038:[3]
+002781_000004:[]
+013860_000012:[5, 17]
+003840_000022:[13]
+021847_000016:[16]
+001848_000004:[3, 16]
+007025_000005:[]
+003985_000007:[0, 6, 15]
+007049_000002:[16]
+000315_000018:[]
+009191_000018:[]
+003348_000013:[3, 13]
+007148_000037:[4, 10]
+023387_000031:[5, 8]
+001377_000014:[]
+015805_000031:[4, 12]
+005077_000004:[]
+004320_000026:[]
+003300_000018:[]
+008534_000021:[]
+000489_000026:[1]
+007012_000027:[16]
+001296_000009:[]
+000066_000009:[1, 8]
+024305_000035:[]
+014245_000037:[1]
+006883_000014:[]
+010141_000037:[]
+017423_000028:[]
+005591_000031:[8]
+020851_000026:[7, 10]
+002285_000005:[]
+006261_000033:[17]
+008065_000013:[]
+008878_000012:[5, 11]
+020763_000014:[]
+022258_000015:[]
+009133_000014:[16]
+018207_000004:[11]
+014366_000017:[5, 18]
+021086_000002:[]
+006812_000024:[1, 6]
+000705_000006:[]
+022994_000021:[]
+001727_000009:[]
+016594_000028:[]
+005286_000005:[]
+001333_000025:[0, 6, 10, 13]
+008154_000023:[4, 8, 9, 10, 14]
+021019_000005:[9]
+003505_000034:[]
+005781_000020:[]
+012877_000003:[7, 8, 12]
+006669_000034:[12]
+014882_000034:[6]
+010041_000010:[8]
+002969_000038:[18]
+016796_000009:[17]
+008763_000017:[]
+007440_000011:[]
+004399_000031:[0, 6, 10]
+012850_000008:[]
+012890_000035:[11, 13, 15]
+005281_000004:[3, 5, 8]
+017328_000028:[]
+001331_000029:[5, 6, 10, 12, 13, 14]
+021448_000023:[0, 1]
+001396_000013:[]
+018771_000022:[6, 10]
+019852_000018:[]
+021044_000009:[5]
+011354_000020:[]
+004325_000014:[]
+015926_000019:[14]
+008855_000009:[10]
+010331_000020:[]
+009861_000006:[15]
+003251_000017:[]
+002646_000038:[]
+016002_000000:[10, 12]
+010707_000019:[11]
+007503_000026:[]
+001057_000019:[]
+000580_000013:[]
+007330_000027:[14]
+006024_000021:[3, 9, 19]
+007168_000001:[8]
+004868_000034:[]
+023693_000024:[]
+019269_000005:[14, 16]
+015913_000005:[13]
+008980_000013:[]
+013896_000018:[]
+001756_000030:[5, 17]
+000705_000022:[]
+001046_000025:[]
+021438_000006:[2, 9, 15]
+022265_000022:[]
+010473_000000:[]
+011641_000000:[]
+006220_000021:[]
+009650_000007:[16]
+024598_000004:[]
+009499_000027:[]
+020022_000014:[10]
+002555_000026:[]
+003897_000016:[]
+006281_000028:[13]
+002275_000020:[]
+005970_000017:[9, 13, 17]
+019565_000017:[2, 19]
+009025_000021:[0, 12]
+020146_000011:[15]
+024032_000008:[2, 14]
+020006_000008:[16, 19]
+024329_000005:[]
+023274_000013:[]
+011754_000006:[]
+010721_000033:[]
+005113_000007:[]
+021182_000038:[]
+016551_000010:[3]
+012369_000004:[]
+022026_000028:[]
+018892_000025:[]
+010843_000028:[]
+010048_000031:[]
+012573_000003:[1]
+016371_000017:[]
+004532_000026:[]
+009554_000014:[2]
+019793_000036:[]
+006837_000032:[0, 3, 6, 10, 12, 14, 16, 19]
+003868_000021:[0]
+008358_000028:[]
+005288_000013:[]
+009599_000005:[]
+013148_000013:[]
+013329_000007:[]
+018515_000039:[6, 7, 17, 19]
+008453_000010:[]
+011735_000027:[3, 11, 14]
+002720_000027:[]
+023804_000022:[]
+023051_000024:[]
+009204_000035:[0, 4, 9, 10, 19]
+020436_000012:[2]
+001003_000026:[]
+001239_000031:[]
+022874_000020:[]
+023202_000022:[4, 11]
+017556_000036:[]
+017073_000039:[]
+014470_000029:[]
+011688_000010:[]
+004280_000005:[11, 16]
+012807_000002:[11]
+011188_000005:[0, 7]
+017917_000009:[]
+016425_000035:[]
+014744_000033:[1]
+008470_000014:[]
+003187_000016:[]
+001294_000004:[]
+018750_000003:[]
+022546_000010:[]
+017027_000012:[]
+004128_000026:[12, 17]
+000212_000028:[18]
+010778_000001:[]
+005105_000031:[9]
+012401_000004:[12]
+012596_000000:[2]
+014532_000007:[3]
+004159_000015:[]
+022330_000015:[]
+013464_000011:[7, 15]
+022219_000000:[]
+015321_000023:[]
+013833_000035:[]
+015637_000015:[9, 14]
+003732_000015:[]
+008815_000006:[]
+012989_000030:[]
+004937_000011:[]
+014527_000038:[15]
+014913_000015:[]
+006312_000024:[]
+016738_000021:[13]
+017962_000035:[]
+019477_000015:[1, 2, 6, 7, 9, 10, 16]
+014010_000003:[]
+017879_000006:[]
+022998_000021:[2, 5]
+013809_000036:[]
+014790_000038:[]
+004895_000039:[]
+013229_000013:[]
+017166_000014:[]
+005838_000008:[]
+011701_000000:[4]
+011722_000007:[14]
+011909_000003:[3, 4, 9, 10]
+002285_000010:[]
+010792_000031:[]
+008550_000027:[17]
+002873_000029:[]
+022318_000031:[]
+022018_000000:[]
+014296_000008:[]
+003301_000007:[7, 10]
+023407_000017:[]
+016138_000034:[]
+019799_000027:[18]
+020968_000022:[]
+007359_000022:[1, 3, 8, 9, 15]
+016039_000005:[14]
+022473_000032:[]
+017083_000026:[2]
+019290_000039:[]
+021886_000017:[]
+012360_000007:[15, 16, 17]
+021292_000031:[]
+022245_000001:[3]
+016865_000017:[]
+024283_000023:[9, 11, 18]
+021238_000022:[]
+016182_000016:[3, 12, 14, 15, 16, 17]
+003974_000001:[]
+015604_000032:[8]
+016748_000033:[]
+008632_000019:[]
+024399_000008:[]
+003073_000028:[8, 11, 14]
+016290_000031:[]
+023861_000014:[4, 10, 11, 17, 18]
+015247_000023:[]
+012052_000020:[]
+006076_000004:[]
+006899_000001:[6]
+016327_000012:[]
+020110_000016:[]
+010777_000018:[6]
+020079_000012:[0, 12]
+000300_000018:[3, 14, 19]
+013236_000017:[5, 6, 7, 9, 11, 14, 15, 19]
+000402_000031:[]
+009300_000005:[8, 11, 15]
+015804_000039:[]
+009039_000010:[6]
+019278_000007:[]
+018011_000030:[12, 17]
+000066_000002:[2]
+019434_000030:[]
+009232_000017:[]
+023239_000028:[]
+022023_000012:[13]
+009360_000026:[]
+002768_000032:[2]
+024539_000012:[]
+016745_000029:[]
+006176_000016:[]
+010598_000011:[0, 1, 7, 19]
+000495_000025:[0, 1, 5, 6, 12, 15, 16, 17, 18, 19]
+020904_000038:[]
+004572_000023:[]
+006384_000031:[11, 16]
+001822_000016:[3]
+020085_000028:[]
+006788_000010:[]
+021584_000001:[]
+018402_000023:[]
+001239_000024:[]
+011787_000019:[16]
+000386_000021:[1]
+005926_000011:[]
+021042_000011:[13]
+016362_000033:[]
+017861_000013:[]
+020858_000001:[6]
+011685_000024:[16]
+014699_000033:[]
+004586_000037:[7, 9, 14, 15, 19]
+016737_000021:[12, 16]
+005279_000006:[4]
+003541_000025:[]
+013187_000017:[19]
+018954_000033:[]
+022086_000015:[]
+015087_000036:[8, 13, 19]
+018313_000002:[]
+004899_000010:[]
+017086_000020:[]
+022362_000023:[3, 18]
+023707_000003:[6, 16, 17]
+010844_000020:[18]
+017489_000020:[]
+007168_000014:[5, 14]
+015913_000017:[]
+006030_000015:[]
+006636_000013:[]
+009587_000028:[13]
+010245_000034:[16]
+000906_000035:[]
+020205_000023:[7]
+002353_000036:[14]
+023504_000022:[]
+015991_000019:[0, 14]
+009456_000005:[13]
+018030_000011:[]
+021704_000001:[8]
+000216_000022:[13]
+018719_000012:[19]
+023821_000022:[]
+000512_000035:[]
+016359_000038:[14]
+022356_000000:[]
+002175_000032:[5, 12, 19]
+012200_000003:[14, 18]
+004563_000031:[16]
+001892_000001:[10]
+011294_000031:[]
+012267_000027:[]
+021049_000018:[0]
+013096_000014:[7]
+008125_000034:[5, 6]
+016872_000017:[8]
+008349_000016:[]
+008206_000035:[12]
+003596_000004:[0]
+001293_000025:[]
+008708_000005:[]
+006769_000028:[]
+001245_000010:[7]
+018781_000024:[]
+018270_000036:[]
+000383_000017:[]
+006159_000039:[]
+012169_000017:[7]
+012772_000023:[8]
+014506_000011:[18, 19]
+013817_000026:[]
+014150_000011:[6]
+011328_000034:[1, 8]
+015271_000038:[]
+015974_000002:[13, 14, 15]
+003124_000034:[]
+009323_000008:[2, 14]
+020139_000004:[]
+001740_000026:[]
+008174_000002:[]
+012806_000000:[]
+013468_000037:[1, 19]
+011793_000013:[4, 17]
+002795_000037:[3, 13]
+024654_000038:[]
+000733_000034:[]
+011392_000038:[]
+017820_000003:[]
+003855_000002:[]
+003213_000021:[7]
+020279_000038:[]
+000421_000027:[3, 11, 17]
+008332_000014:[6]
+000874_000006:[]
+004529_000012:[]
+023585_000006:[11, 12]
+014012_000031:[]
+007494_000003:[]
+016839_000007:[]
+018972_000000:[]
+022048_000036:[]
+016248_000027:[]
+012639_000026:[9]
+002329_000023:[]
+000933_000028:[]
+014659_000022:[2, 8, 9, 10]
+007529_000011:[]
+011561_000018:[12]
+014089_000038:[7]
+020101_000015:[]
+005500_000025:[11]
+015240_000016:[9]
+005332_000026:[0]
+023612_000014:[]
+010807_000038:[]
+003075_000011:[]
+011695_000010:[5]
+021920_000039:[16]
+018748_000039:[13]
+016965_000002:[5, 14]
+007801_000030:[]
+012589_000005:[2, 19]
+019711_000010:[13, 14]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000503_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000503_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f7c2b2aae04c83311e0f35b138a6742a5ca8ad0c
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000503_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+013968_000033:[]
+009871_000033:[]
+001093_000014:[]
+000969_000014:[]
+008396_000001:[]
+008926_000017:[9, 15]
+019725_000037:[1, 4, 5, 19]
+019744_000010:[]
+005332_000033:[0]
+001674_000002:[16]
+002214_000035:[]
+023284_000003:[9, 14]
+011190_000009:[]
+000306_000004:[6, 11, 15]
+022568_000015:[]
+020384_000034:[0, 4, 17, 18]
+009989_000027:[]
+015761_000017:[6]
+011030_000022:[]
+020053_000033:[0, 1, 5, 6, 11, 13, 16, 18]
+013960_000029:[]
+013881_000023:[]
+016044_000018:[]
+021049_000011:[]
+014647_000029:[]
+024925_000013:[]
+007557_000013:[17]
+006406_000012:[0, 11]
+012630_000016:[4, 13]
+014222_000016:[]
+005516_000024:[]
+006781_000005:[]
+011999_000009:[]
+022326_000019:[]
+011300_000038:[]
+019099_000013:[]
+005016_000030:[]
+008836_000030:[4, 6, 12, 13, 15, 17]
+023378_000015:[0, 2, 4, 5, 9, 11, 12, 15]
+004839_000013:[2, 13]
+022964_000032:[18]
+016644_000031:[]
+016630_000006:[]
+012723_000016:[]
+001390_000020:[]
+003714_000039:[]
+007625_000020:[]
+013056_000026:[]
+012621_000008:[]
+000943_000025:[4]
+021475_000009:[9]
+007085_000016:[]
+017930_000037:[3, 10, 14]
+008136_000029:[0, 2, 5, 6]
+010982_000034:[]
+012423_000029:[]
+020436_000028:[]
+017518_000011:[]
+023965_000022:[]
+011371_000011:[0, 1, 2, 7, 11, 16, 17]
+005201_000037:[]
+005484_000038:[]
+017036_000036:[]
+007824_000035:[]
+022450_000016:[]
+024098_000026:[]
+003523_000022:[13]
+010752_000018:[0, 11, 13, 15]
+023449_000020:[]
+008975_000006:[]
+019338_000013:[18]
+007111_000006:[]
+022381_000037:[]
+024086_000016:[4]
+007991_000026:[]
+004039_000014:[]
+019966_000029:[7]
+003969_000037:[15]
+004402_000025:[]
+001254_000001:[]
+009187_000031:[]
+023983_000012:[0]
+012238_000035:[1, 12, 18]
+001246_000017:[]
+016802_000034:[]
+019287_000000:[1, 10]
+023187_000014:[18]
+015050_000003:[]
+014179_000004:[]
+019122_000015:[]
+016657_000014:[]
+010932_000019:[]
+004902_000014:[3]
+000898_000007:[3]
+004056_000002:[6]
+010882_000034:[1, 5]
+005772_000002:[]
+010868_000008:[]
+019375_000021:[]
+017328_000004:[16]
+022277_000033:[]
+018769_000035:[]
+000683_000038:[19]
+013552_000013:[]
+013551_000028:[]
+008613_000037:[18]
+017659_000022:[4, 12]
+015607_000013:[13, 16, 19]
+019954_000005:[]
+009319_000035:[]
+004467_000014:[8, 18]
+001610_000013:[1, 3, 5, 7]
+010316_000013:[]
+010976_000035:[]
+010925_000033:[]
+014626_000022:[]
+019529_000022:[]
+019831_000011:[]
+015304_000026:[4, 12]
+011094_000036:[]
+005355_000035:[4, 5, 13, 14, 15]
+011669_000002:[12]
+006097_000013:[]
+001493_000010:[]
+003228_000032:[]
+001880_000032:[0, 6, 10]
+014879_000034:[0]
+018358_000038:[]
+001757_000038:[6, 9, 10, 14, 15]
+005054_000039:[]
+005545_000006:[6]
+011732_000005:[2]
+014879_000031:[]
+024278_000026:[]
+010236_000028:[2, 4, 12, 14, 15, 16]
+012312_000031:[]
+010534_000015:[0, 4, 5]
+014980_000024:[1, 7, 14, 16]
+019520_000018:[]
+022452_000039:[]
+017358_000014:[16]
+014783_000017:[]
+019289_000005:[]
+008860_000028:[1, 11, 15, 16]
+018901_000032:[]
+018107_000018:[6]
+019956_000031:[5]
+016532_000017:[]
+015934_000031:[]
+019211_000014:[]
+019705_000036:[]
+003974_000020:[]
+002582_000020:[]
+015179_000033:[14, 16]
+000778_000031:[]
+005595_000029:[17]
+006838_000009:[]
+014646_000026:[]
+019257_000036:[]
+015005_000000:[]
+016169_000027:[]
+003939_000010:[]
+019968_000005:[3]
+018992_000003:[3, 4, 8, 9, 11, 12, 15, 16, 19]
+016705_000021:[]
+018920_000011:[]
+002710_000030:[8, 16]
+012549_000010:[7]
+024632_000035:[]
+022377_000006:[13]
+013605_000025:[10]
+013967_000033:[2, 3, 10, 11, 13, 17]
+009354_000030:[2, 9, 15, 18]
+009106_000014:[]
+021480_000029:[9]
+011520_000015:[]
+017848_000017:[0]
+020090_000000:[]
+019886_000016:[13]
+014403_000003:[]
+018683_000019:[]
+015165_000031:[]
+018244_000009:[]
+004464_000026:[]
+009772_000037:[2, 4, 18]
+017404_000003:[1]
+014541_000011:[]
+021422_000003:[]
+000191_000032:[2]
+011559_000018:[]
+012786_000033:[10]
+006351_000018:[]
+023704_000007:[]
+006922_000030:[2]
+016437_000020:[19]
+011459_000019:[]
+022277_000034:[]
+019659_000029:[]
+002791_000034:[18]
+003074_000033:[]
+011998_000035:[]
+008802_000008:[]
+024810_000014:[]
+022320_000032:[15, 19]
+024663_000020:[]
+009600_000008:[]
+011450_000027:[]
+006281_000004:[]
+005719_000014:[]
+011958_000031:[8, 10, 14]
+001911_000034:[1]
+010440_000014:[2, 3, 10, 13]
+004925_000019:[]
+011335_000013:[17, 18, 19]
+010361_000007:[]
+021411_000035:[13, 15]
+005374_000001:[]
+022150_000016:[]
+003408_000031:[]
+014500_000014:[9]
+017835_000030:[15]
+005002_000009:[]
+006247_000011:[]
+004606_000017:[]
+017802_000006:[]
+017750_000029:[]
+016746_000036:[2, 5, 7]
+009067_000037:[]
+010018_000038:[0]
+004819_000001:[16]
+015469_000037:[]
+003829_000034:[7]
+001913_000011:[4, 5, 6, 14, 19]
+005795_000003:[]
+013959_000033:[16]
+006247_000001:[10]
+000407_000017:[]
+018259_000006:[]
+021597_000030:[]
+016914_000023:[13]
+016781_000034:[]
+008096_000013:[]
+013340_000026:[]
+003222_000026:[]
+015061_000000:[]
+005983_000030:[]
+013478_000018:[]
+013144_000005:[18]
+023183_000021:[2]
+021928_000021:[]
+005087_000017:[15]
+008347_000031:[2, 7, 9, 13, 15, 16]
+011738_000009:[7, 10, 17]
+002476_000012:[]
+009124_000039:[0, 7, 8, 9, 11, 12, 14, 15, 19]
+023184_000028:[]
+006844_000016:[]
+023423_000002:[9]
+005558_000025:[2, 5, 6, 11]
+012750_000026:[]
+012573_000009:[]
+020830_000016:[]
+003019_000034:[4, 7]
+015006_000028:[]
+023923_000024:[]
+016680_000027:[5, 13, 15]
+012161_000037:[]
+024348_000039:[]
+015195_000030:[]
+007571_000037:[]
+018680_000013:[]
+003443_000006:[]
+012264_000018:[18]
+003685_000005:[]
+013958_000034:[1]
+019482_000026:[14]
+014988_000015:[0]
+024325_000025:[5]
+024518_000037:[]
+013254_000028:[]
+000641_000022:[10, 17]
+014252_000037:[]
+023123_000027:[]
+015356_000028:[]
+014795_000024:[]
+000904_000028:[]
+011934_000012:[6]
+015911_000038:[]
+016231_000006:[]
+012734_000013:[]
+007280_000011:[10]
+023059_000016:[]
+005987_000020:[]
+006406_000031:[]
+008881_000028:[17]
+006164_000005:[]
+019382_000035:[]
+011151_000010:[]
+003894_000037:[]
+007768_000013:[10, 12, 17]
+021690_000014:[4]
+020754_000009:[5, 13]
+010698_000028:[]
+017471_000020:[14, 18]
+017067_000009:[]
+018879_000017:[]
+001698_000012:[8, 11, 14, 18]
+014892_000029:[]
+011849_000029:[]
+023776_000030:[]
+001484_000035:[]
+009064_000031:[]
+009823_000029:[1]
+001906_000015:[0, 4, 6, 16, 19]
+001362_000018:[7]
+005795_000007:[]
+004060_000033:[]
+004188_000015:[5, 8, 11, 16]
+020150_000006:[0]
+004637_000019:[]
+020227_000025:[]
+015606_000002:[]
+010090_000014:[3]
+017018_000023:[]
+016492_000016:[]
+010273_000006:[]
+015441_000010:[]
+012661_000034:[]
+024824_000000:[]
+021529_000012:[13]
+014413_000037:[6, 12]
+019509_000018:[11, 16]
+002801_000018:[]
+024273_000021:[1, 8]
+021450_000035:[]
+000935_000038:[]
+023642_000030:[]
+017786_000028:[17]
+007102_000032:[1, 5, 8]
+023036_000007:[19]
+006248_000034:[]
+011595_000030:[]
+000950_000024:[]
+003750_000002:[]
+021385_000024:[]
+024709_000015:[]
+023517_000012:[3, 8, 17]
+007436_000021:[11]
+013181_000020:[]
+024694_000021:[0, 7, 15]
+022101_000004:[4, 8, 10]
+020707_000037:[]
+010466_000011:[2, 5, 7, 10]
+019111_000035:[]
+018874_000023:[]
+007190_000013:[5]
+021138_000021:[]
+010064_000003:[16]
+002164_000006:[11, 14]
+022941_000004:[7]
+003332_000021:[10, 17, 18]
+020347_000003:[]
+009603_000032:[]
+001091_000010:[]
+003093_000014:[]
+012124_000024:[3, 7, 9, 12, 19]
+008536_000003:[]
+009171_000029:[]
+012871_000036:[12]
+006083_000022:[]
+024307_000026:[17]
+000216_000013:[9, 10, 13]
+004346_000037:[]
+009174_000005:[]
+019296_000022:[]
+020549_000011:[7, 16]
+019704_000024:[]
+000681_000001:[]
+014096_000029:[5, 14, 19]
+014320_000012:[14, 16]
+021568_000032:[]
+021543_000029:[]
+017428_000011:[1, 9, 19]
+003470_000012:[]
+022186_000004:[]
+005166_000035:[]
+003354_000025:[]
+012440_000022:[]
+015128_000027:[]
+009026_000033:[]
+005145_000031:[12]
+018737_000029:[]
+013822_000028:[]
+019927_000009:[]
+017656_000019:[]
+009447_000030:[]
+019420_000030:[]
+004394_000005:[1]
+011484_000019:[]
+006429_000026:[3, 10, 18]
+022665_000035:[]
+006499_000005:[]
+019618_000013:[]
+000910_000039:[]
+005639_000010:[]
+019704_000039:[]
+017485_000014:[4, 16, 17]
+004758_000032:[]
+024002_000022:[]
+020799_000014:[0, 5, 19]
+005857_000016:[]
+005090_000035:[]
+019574_000013:[14, 15, 17, 18]
+017164_000032:[]
+003559_000007:[2]
+013591_000020:[]
+017509_000002:[]
+010362_000037:[]
+008263_000036:[5]
+024568_000031:[8, 18]
+020223_000024:[0]
+021482_000010:[6]
+006436_000037:[]
+008548_000000:[]
+022956_000031:[13]
+017381_000020:[5]
+005541_000036:[10, 13, 18]
+020275_000030:[]
+022600_000001:[2, 17]
+017978_000014:[1, 2, 7, 8, 9, 10, 11, 12, 13, 19]
+005936_000030:[0, 8, 14, 19]
+001245_000001:[7, 13]
+016042_000028:[11, 14]
+005082_000036:[]
+012670_000001:[]
+008149_000027:[10]
+023499_000029:[2]
+017455_000019:[3, 8, 11, 12]
+014659_000024:[]
+019165_000012:[]
+004941_000030:[]
+007804_000009:[]
+017034_000012:[7]
+013031_000028:[]
+010287_000007:[2, 3, 8, 14]
+014254_000016:[17]
+015090_000000:[3, 8, 17]
+003849_000006:[]
+017945_000004:[]
+016133_000003:[14]
+009434_000005:[2, 12, 13]
+016456_000032:[3, 5, 8, 10, 11]
+009602_000021:[]
+002213_000036:[11, 13, 18]
+005650_000035:[]
+012985_000031:[]
+018619_000001:[]
+023309_000030:[]
+000981_000035:[]
+008984_000021:[]
+008819_000015:[]
+013235_000010:[]
+024844_000034:[]
+002612_000022:[1, 3, 13, 15, 16]
+020299_000018:[10]
+023166_000013:[]
+002038_000011:[]
+019489_000009:[]
+012656_000004:[]
+000710_000002:[6]
+019708_000036:[]
+007137_000029:[]
+015319_000003:[11]
+013936_000028:[]
+009153_000014:[12]
+015075_000013:[]
+022614_000028:[1, 2, 7, 9, 17]
+008581_000006:[0, 1, 19]
+002910_000005:[]
+005327_000031:[]
+011122_000007:[7]
+004420_000009:[2, 9, 13]
+024118_000004:[]
+021099_000031:[]
+021021_000000:[9, 19]
+017581_000038:[]
+016968_000026:[]
+023702_000010:[]
+007885_000007:[17]
+010654_000034:[7, 8, 19]
+014115_000006:[4, 9, 12, 15, 18]
+020825_000030:[0]
+000272_000003:[2]
+005211_000000:[7, 9, 12, 14, 16, 17]
+014440_000034:[8]
+012180_000024:[]
+017623_000022:[]
+020931_000017:[]
+022140_000009:[]
+001099_000012:[]
+001177_000030:[16]
+021476_000029:[7, 8, 11]
+011255_000034:[]
+011935_000025:[]
+016433_000012:[]
+011534_000024:[]
+013287_000002:[0, 5, 6, 12, 19]
+003037_000028:[8]
+021183_000018:[0]
+016836_000003:[15]
+001355_000006:[]
+013445_000016:[]
+005510_000010:[]
+014726_000009:[]
+010553_000024:[]
+009329_000032:[]
+021915_000032:[]
+005651_000017:[1]
+017753_000035:[]
+007720_000025:[]
+002022_000036:[]
+010150_000034:[]
+011824_000037:[]
+003025_000020:[]
+005055_000038:[]
+008939_000013:[]
+005780_000022:[15, 19]
+023217_000034:[]
+022463_000007:[2]
+019298_000007:[]
+007859_000000:[]
+021179_000037:[]
+002275_000019:[12]
+016390_000013:[2, 15]
+007586_000018:[]
+016443_000003:[1]
+004469_000027:[0, 7, 9]
+023028_000033:[]
+010739_000019:[14]
+012522_000005:[]
+005067_000019:[]
+011377_000012:[]
+009369_000029:[]
+022928_000007:[4]
+016814_000004:[]
+012896_000024:[]
+010547_000032:[1]
+004324_000039:[2]
+024033_000026:[]
+001754_000015:[]
+013841_000014:[0, 5, 8, 9, 12, 15, 17]
+006061_000009:[2, 3, 4, 6, 8, 18]
+014323_000033:[]
+016735_000032:[19]
+014623_000025:[13]
+002218_000039:[3, 11]
+008177_000000:[]
+023504_000010:[]
+020764_000007:[]
+015007_000017:[]
+022368_000004:[]
+003857_000018:[]
+008693_000027:[]
+010310_000015:[1, 10, 17, 19]
+015490_000028:[4, 12, 14]
+006486_000014:[]
+016180_000035:[10, 19]
+004889_000004:[]
+024444_000022:[]
+007846_000033:[]
+015590_000027:[]
+018919_000026:[17]
+023426_000015:[13]
+001381_000019:[]
+018910_000025:[1]
+013051_000021:[]
+019874_000015:[]
+022169_000017:[]
+020642_000014:[]
+014788_000012:[5]
+009642_000003:[]
+009973_000021:[11]
+021445_000003:[]
+009114_000027:[]
+004774_000025:[5]
+022856_000022:[]
+022217_000028:[2, 19]
+023486_000003:[]
+010223_000032:[]
+024306_000013:[]
+017907_000014:[8]
+011179_000028:[4, 16]
+013365_000008:[1]
+021968_000036:[]
+005592_000014:[]
+009802_000036:[]
+001356_000012:[]
+015738_000001:[0]
+020455_000034:[]
+024511_000004:[]
+000876_000020:[6, 14]
+015576_000022:[]
+007046_000010:[]
+015673_000023:[7, 8, 12, 16]
+014666_000035:[8]
+006384_000005:[8, 11, 14, 15, 16, 18]
+016092_000034:[]
+010049_000011:[]
+017899_000035:[0, 5]
+018905_000000:[]
+022065_000016:[]
+023492_000026:[8, 10, 13, 18]
+024048_000003:[10]
+004482_000004:[]
+007812_000016:[7, 16]
+012048_000022:[0, 5, 9]
+000917_000005:[14]
+007169_000020:[6, 11, 12, 19]
+005359_000034:[]
+002169_000004:[]
+024410_000007:[1, 2]
+015731_000018:[]
+022449_000032:[13]
+006963_000021:[11, 15]
+007621_000012:[17, 19]
+014896_000000:[]
+009339_000039:[0, 2, 6, 8, 11, 12, 18]
+010604_000019:[7, 9, 12]
+023032_000035:[]
+019886_000029:[13]
+010945_000003:[0, 15]
+008160_000032:[]
+017910_000011:[]
+016767_000004:[]
+016484_000026:[]
+011166_000002:[]
+024712_000008:[0, 8]
+021722_000035:[2, 6, 11]
+010737_000010:[5, 18]
+011839_000034:[19]
+019721_000010:[12]
+012487_000038:[9]
+003034_000033:[]
+014361_000026:[]
+000760_000012:[]
+007744_000032:[9]
+002668_000009:[]
+008868_000022:[]
+018630_000017:[1, 7, 15]
+002066_000033:[]
+018878_000026:[2]
+013605_000011:[]
+008327_000001:[]
+019640_000014:[9, 12]
+021972_000022:[16]
+018181_000006:[]
+011939_000021:[]
+007602_000012:[4]
+004843_000024:[]
+012436_000029:[]
+008350_000023:[]
+001078_000031:[]
+019115_000035:[]
+004054_000024:[]
+012234_000020:[]
+012684_000022:[]
+022820_000025:[]
+013425_000004:[2, 3, 11, 12, 15, 18]
+014293_000020:[4, 8, 11]
+020074_000023:[7]
+018906_000005:[]
+016717_000026:[5, 7, 9, 19]
+015509_000009:[]
+010967_000038:[]
+013063_000016:[6]
+000735_000016:[10]
+004557_000016:[5, 6, 10, 19]
+018911_000037:[]
+024409_000010:[2, 15, 17, 19]
+024148_000010:[1]
+018382_000027:[]
+019631_000014:[]
+003162_000030:[3, 7]
+001895_000038:[]
+019519_000019:[]
+009126_000014:[4, 7]
+014795_000028:[]
+008950_000009:[]
+023143_000015:[4, 5, 17]
+013001_000028:[]
+017956_000015:[]
+022478_000023:[]
+008323_000023:[4]
+015708_000023:[8]
+009039_000003:[]
+011025_000001:[]
+010296_000002:[0]
+000622_000029:[]
+014946_000018:[]
+022355_000030:[5, 13]
+016155_000038:[2, 5, 7, 8, 12, 18]
+008839_000005:[]
+005262_000034:[]
+014475_000019:[]
+007935_000021:[]
+016715_000003:[10, 11]
+014473_000034:[3]
+013278_000022:[]
+014627_000020:[]
+018203_000017:[2]
+001983_000017:[2, 9, 11, 15, 19]
+003260_000008:[]
+011673_000034:[]
+015623_000013:[]
+014578_000037:[15]
+009743_000011:[]
+005047_000015:[]
+010410_000025:[]
+002770_000035:[1, 3, 9, 10]
+016734_000006:[]
+015167_000023:[0, 10]
+017124_000022:[]
+005104_000023:[14]
+019592_000020:[]
+019693_000035:[]
+024772_000026:[]
+017155_000029:[17]
+023970_000011:[]
+019215_000031:[]
+008011_000000:[9, 16]
+002424_000006:[]
+022289_000009:[7, 10, 14]
+018462_000023:[]
+001597_000002:[19]
+003313_000002:[16]
+012659_000007:[]
+005544_000018:[7, 18]
+014890_000034:[2, 18]
+004563_000014:[]
+007638_000027:[]
+002847_000033:[]
+017122_000014:[]
+004079_000006:[5, 10]
+020238_000000:[]
+001037_000034:[8]
+019897_000021:[]
+024701_000025:[]
+001138_000032:[]
+018219_000026:[]
+004057_000026:[]
+008117_000036:[]
+009551_000023:[]
+019749_000005:[10, 19]
+019917_000034:[13]
+001610_000001:[1, 13]
+006890_000006:[2, 14]
+014290_000023:[0, 5]
+021297_000001:[]
+000075_000012:[]
+011950_000005:[]
+002441_000007:[]
+020790_000014:[17]
+015750_000017:[]
+022556_000025:[]
+019851_000030:[5, 6, 11, 16]
+018497_000032:[12]
+001455_000031:[2, 7, 11, 12]
+008866_000037:[]
+011048_000005:[10]
+003420_000011:[]
+013627_000019:[7]
+014516_000021:[]
+007520_000011:[12]
+006395_000009:[]
+010726_000019:[]
+018130_000012:[]
+007866_000036:[13, 14, 15, 18]
+020505_000020:[7, 19]
+010523_000019:[16]
+004439_000006:[]
+015850_000037:[]
+022714_000007:[]
+012633_000008:[2]
+005067_000016:[]
+015355_000031:[]
+005257_000012:[5]
+012179_000034:[18]
+007681_000003:[]
+012473_000033:[]
+015605_000036:[]
+007610_000000:[0, 2, 7, 19]
+014398_000031:[]
+001367_000011:[11]
+023495_000008:[9]
+010359_000004:[10]
+024137_000032:[]
+018478_000028:[]
+005926_000028:[18]
+024122_000017:[]
+016664_000029:[]
+001093_000026:[]
+012474_000036:[]
+018851_000001:[]
+011102_000022:[14]
+021989_000008:[6]
+020430_000008:[]
+021621_000009:[]
+001732_000013:[]
+014041_000037:[2, 3, 15, 17]
+014301_000020:[1, 3, 5, 8, 13, 16]
+007123_000029:[3, 8, 11]
+008308_000030:[0, 19]
+007670_000027:[4, 11]
+005252_000032:[]
+015495_000020:[]
+012870_000003:[3]
+024812_000006:[]
+019096_000008:[]
+008931_000025:[17]
+005820_000010:[]
+009712_000038:[]
+015147_000024:[16]
+004569_000027:[]
+016060_000012:[6, 8]
+011146_000029:[8, 9, 10, 11]
+001934_000029:[19]
+005416_000038:[8]
+015858_000028:[1, 10, 12, 14, 18, 19]
+014032_000018:[0, 10]
+000197_000002:[]
+000686_000009:[]
+004035_000025:[0]
+005095_000030:[9]
+018938_000037:[2]
+012936_000025:[5]
+005778_000003:[5]
+021039_000008:[19]
+020971_000006:[6]
+000834_000003:[]
+004046_000028:[9, 19]
+011136_000025:[12]
+018696_000032:[]
+024986_000003:[]
+021784_000010:[12]
+011208_000006:[]
+013276_000029:[5, 6, 8, 9, 13]
+004413_000025:[]
+009294_000022:[]
+000791_000024:[15]
+008360_000005:[]
+014899_000021:[11]
+021924_000028:[]
+016038_000026:[]
+008935_000014:[]
+024029_000024:[]
+019331_000017:[3, 5]
+014094_000014:[]
+000669_000028:[]
+017320_000028:[9, 19]
+014085_000017:[13]
+018568_000020:[0, 13, 19]
+018804_000002:[4]
+020075_000011:[5]
+011462_000035:[7, 11]
+012563_000029:[]
+017942_000015:[7]
+020686_000012:[3, 4, 6, 7, 11, 12, 16]
+020423_000027:[]
+004640_000011:[]
+008237_000019:[]
+018018_000014:[17]
+022695_000015:[4]
+023649_000033:[7, 17]
+003527_000029:[]
+002695_000029:[]
+024669_000008:[]
+020771_000008:[0, 11, 17]
+015286_000007:[]
+008120_000027:[15]
+010608_000025:[19]
+001516_000037:[]
+008690_000033:[]
+004848_000034:[8, 9, 19]
+015289_000000:[]
+002753_000009:[]
+007252_000012:[5, 11]
+016516_000025:[]
+014772_000007:[4]
+011003_000021:[7]
+001389_000039:[4]
+011434_000036:[]
+010425_000024:[]
+011999_000027:[]
+014834_000018:[]
+005951_000028:[]
+000466_000025:[19]
+015645_000028:[4, 15]
+002876_000015:[]
+018341_000028:[]
+012883_000013:[]
+019332_000029:[]
+014508_000033:[9, 19]
+021443_000025:[]
+004972_000013:[8]
+017938_000016:[14]
+001541_000001:[]
+009609_000031:[1, 12]
+020952_000001:[]
+002137_000019:[]
+010871_000038:[]
+000315_000009:[]
+018473_000007:[13, 16]
+018035_000014:[]
+009197_000001:[]
+016801_000032:[]
+011560_000007:[]
+004457_000016:[0]
+008112_000026:[11, 15]
+003136_000019:[]
+000713_000037:[]
+010848_000027:[]
+004715_000030:[]
+013515_000008:[15]
+020908_000026:[10]
+017880_000009:[]
+003660_000000:[]
+015215_000026:[]
+009332_000007:[]
+003969_000027:[2, 4, 8, 9]
+006942_000013:[]
+004419_000021:[]
+019891_000027:[]
+013419_000037:[]
+005738_000018:[10, 15]
+003721_000038:[]
+017549_000034:[]
+009993_000028:[2, 17, 19]
+008629_000017:[0]
+011342_000030:[7]
+019238_000023:[4]
+009054_000038:[]
+011825_000035:[]
+007385_000018:[]
+011726_000017:[4, 11, 12, 14, 16]
+009811_000000:[]
+006563_000030:[]
+007716_000001:[13]
+020344_000036:[3, 13]
+021128_000015:[12, 13]
+017384_000019:[]
+008888_000019:[]
+005103_000011:[13]
+017521_000021:[]
+018863_000018:[19]
+024782_000000:[]
+002930_000023:[]
+008672_000006:[15, 17]
+006275_000029:[7]
+001529_000025:[7]
+004835_000003:[]
+016967_000006:[2, 5]
+000589_000006:[]
+024229_000021:[]
+024875_000000:[]
+019096_000018:[11]
+018881_000034:[0, 1, 16]
+016889_000016:[]
+020186_000022:[]
+003067_000013:[11]
+011857_000017:[12]
+002246_000006:[4, 5, 9, 12]
+022897_000032:[7, 12, 13]
+011437_000033:[]
+014430_000005:[1]
+006465_000012:[3, 5, 13, 19]
+001582_000017:[]
+001262_000002:[]
+022283_000005:[2, 4, 5, 6, 17, 18]
+013073_000004:[3, 5, 6, 9, 10, 13]
+014535_000036:[10]
+014919_000021:[]
+020620_000017:[0, 7, 8, 9, 11, 12, 13, 15, 18]
+008821_000032:[4, 6, 17]
+003343_000003:[18]
+024908_000032:[]
+014555_000035:[]
+008187_000003:[]
+007884_000006:[]
+008706_000024:[2]
+024034_000033:[]
+022055_000037:[5, 14]
+018835_000012:[11]
+005226_000003:[7]
+020922_000036:[]
+019011_000024:[1]
+011016_000024:[0, 7]
+022727_000015:[]
+003524_000014:[]
+002827_000006:[1, 3, 4, 6, 8, 9, 10, 17]
+019171_000039:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000519_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000519_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..76222a6d0b6a1735046fc51e168af7008001ee9d
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000519_corrupted_depths.txt
@@ -0,0 +1,500 @@
+017587_000003:[]
+014927_000032:[12]
+012008_000029:[]
+020459_000029:[]
+001444_000010:[]
+005707_000008:[12]
+014802_000021:[14]
+011268_000002:[]
+016685_000006:[]
+020714_000025:[]
+010203_000024:[4, 13]
+005583_000000:[14]
+009428_000014:[6]
+003044_000031:[]
+004691_000023:[]
+017772_000000:[]
+003334_000000:[11, 13]
+009615_000021:[]
+013032_000024:[10, 13]
+021481_000009:[]
+000675_000002:[]
+017488_000012:[]
+012937_000013:[]
+000252_000006:[]
+014480_000019:[2, 9]
+007062_000002:[3, 4]
+013924_000022:[]
+022623_000018:[19]
+017879_000004:[]
+022774_000038:[12]
+014191_000038:[17]
+012527_000029:[]
+021053_000036:[19]
+024756_000024:[]
+010751_000013:[]
+016809_000035:[12]
+005178_000005:[]
+008213_000006:[]
+004656_000002:[]
+008920_000013:[]
+020616_000038:[11]
+003217_000007:[]
+015767_000015:[]
+008348_000013:[]
+010345_000034:[0]
+024884_000007:[7]
+000001_000017:[4, 19]
+001098_000014:[]
+017583_000015:[]
+023586_000010:[]
+013903_000037:[8]
+002005_000017:[8]
+011877_000030:[]
+014665_000023:[1]
+007107_000031:[3]
+001148_000028:[]
+022791_000004:[1, 10, 16]
+006827_000031:[]
+004441_000016:[]
+022565_000014:[]
+023985_000016:[12]
+015584_000029:[]
+009678_000039:[0, 18]
+021698_000009:[]
+004146_000014:[]
+015387_000020:[]
+022942_000037:[]
+007910_000007:[5, 6, 14]
+003231_000039:[4, 13, 17]
+009652_000008:[0, 16]
+001933_000016:[]
+015595_000010:[]
+010720_000016:[9]
+000558_000030:[3, 4, 8]
+006588_000033:[]
+017359_000025:[10]
+016466_000006:[7]
+004715_000004:[14]
+010822_000027:[]
+006724_000013:[4, 6, 9, 14]
+007546_000029:[]
+020384_000006:[18]
+024031_000002:[]
+018138_000015:[4]
+018749_000029:[9, 10, 15]
+009469_000021:[]
+005669_000036:[11]
+022049_000031:[]
+022647_000029:[11, 12, 13, 17]
+021476_000038:[]
+004725_000005:[]
+002639_000035:[15]
+005659_000030:[]
+015032_000027:[5]
+020568_000027:[15]
+010307_000026:[14]
+014073_000027:[9]
+001186_000033:[]
+019212_000011:[]
+012357_000028:[]
+015099_000033:[]
+016066_000026:[]
+008673_000036:[]
+012175_000008:[]
+022567_000025:[5, 10, 19]
+016777_000039:[]
+018027_000000:[]
+003757_000003:[1, 4]
+015548_000013:[]
+013077_000017:[6]
+010850_000011:[]
+002787_000030:[]
+024895_000027:[]
+000917_000028:[14]
+014503_000010:[]
+009436_000011:[1, 3, 7, 13, 16, 19]
+016063_000001:[14]
+007528_000011:[]
+018682_000006:[8]
+021672_000027:[5]
+021638_000003:[]
+019261_000009:[2, 3, 4, 5, 17]
+022929_000006:[]
+000757_000033:[4]
+000469_000019:[]
+024396_000015:[]
+006723_000003:[]
+002944_000007:[]
+003396_000025:[15, 16]
+011704_000000:[12]
+008982_000021:[]
+009017_000011:[]
+003681_000029:[]
+021667_000031:[0, 4, 11, 16]
+006549_000015:[]
+001030_000010:[1]
+001898_000037:[]
+016603_000013:[0, 4, 19]
+013633_000038:[]
+023291_000018:[8]
+007456_000012:[9]
+003712_000028:[8]
+020854_000021:[2, 19]
+009329_000024:[]
+017981_000019:[0, 10, 13]
+010649_000007:[]
+000574_000025:[]
+006076_000031:[]
+012548_000027:[6, 14]
+003236_000019:[]
+023531_000022:[]
+007880_000022:[]
+021272_000002:[]
+001428_000004:[4]
+019451_000028:[]
+020854_000028:[]
+010374_000003:[]
+015432_000009:[]
+011890_000006:[7]
+000588_000010:[]
+024709_000003:[]
+011805_000032:[]
+018507_000022:[16, 17, 19]
+010714_000037:[]
+007828_000024:[]
+003573_000007:[]
+002510_000004:[]
+005747_000000:[14]
+016604_000030:[3, 8, 12, 13]
+001769_000011:[3, 11, 14, 16, 17]
+013720_000003:[]
+019377_000007:[]
+009384_000025:[]
+004430_000008:[7, 15, 17, 18]
+017566_000039:[2]
+013739_000023:[9, 14]
+002324_000020:[]
+003878_000004:[]
+012974_000012:[4, 13]
+020089_000008:[10]
+014219_000031:[5, 11, 13]
+012708_000003:[]
+022978_000015:[14, 19]
+011156_000002:[]
+002629_000027:[]
+012414_000005:[8]
+014396_000001:[18]
+003236_000003:[]
+003541_000003:[16]
+014765_000007:[]
+007918_000024:[]
+004040_000009:[]
+022524_000031:[]
+008135_000035:[1, 5, 12]
+018664_000002:[]
+014977_000035:[2, 17]
+006008_000032:[16]
+016977_000009:[0, 18]
+019588_000039:[5]
+011433_000002:[]
+018723_000030:[]
+019705_000021:[]
+004535_000003:[]
+013459_000035:[]
+002340_000005:[]
+023194_000001:[]
+007093_000029:[]
+013752_000029:[5]
+002941_000009:[]
+012449_000037:[4, 6, 14]
+000634_000028:[]
+022926_000025:[]
+011039_000006:[17]
+007335_000010:[]
+009137_000013:[0, 13]
+001899_000004:[1, 5]
+008197_000038:[]
+004328_000029:[11]
+005696_000020:[2, 7, 8, 15]
+022085_000024:[]
+004544_000011:[]
+022832_000023:[]
+005485_000016:[]
+004298_000034:[3]
+004415_000026:[]
+005504_000017:[]
+002263_000004:[]
+010235_000034:[]
+024523_000025:[]
+000315_000008:[17]
+011987_000021:[6]
+013343_000017:[]
+013280_000019:[]
+022131_000013:[]
+004804_000035:[3, 19]
+024409_000030:[2, 15, 17]
+005506_000027:[5, 7, 13]
+020949_000003:[]
+015357_000037:[]
+020876_000010:[]
+008252_000022:[]
+008335_000035:[8]
+008621_000022:[]
+014356_000012:[15]
+014280_000001:[]
+020435_000024:[0, 2, 8, 13, 15]
+020020_000024:[]
+021081_000020:[]
+009952_000029:[5]
+017166_000027:[]
+020141_000003:[5]
+023807_000039:[11]
+001414_000026:[]
+023853_000010:[3]
+005924_000006:[]
+010512_000016:[9, 13, 14]
+003914_000006:[]
+019392_000037:[]
+011099_000034:[2, 14, 17, 19]
+021532_000018:[]
+017954_000038:[]
+015675_000027:[1, 4, 5, 6]
+003920_000008:[1, 6, 10, 11, 14, 16]
+008647_000008:[0]
+023375_000027:[0, 1, 4, 5, 6, 17]
+003767_000004:[]
+007361_000038:[1]
+023243_000024:[]
+014132_000009:[]
+006658_000029:[]
+010016_000017:[1, 18]
+014057_000002:[]
+010948_000002:[1, 2, 4, 6, 9, 16, 17]
+006202_000028:[]
+010244_000012:[]
+003133_000032:[]
+016382_000027:[]
+012244_000025:[17]
+022834_000025:[]
+018958_000009:[]
+012012_000019:[]
+005728_000013:[19]
+016839_000027:[]
+011735_000026:[1]
+011136_000018:[]
+007965_000002:[]
+006066_000036:[6, 12, 13, 14]
+003819_000036:[]
+014108_000037:[5]
+002681_000015:[]
+002251_000001:[]
+009478_000033:[]
+023931_000007:[19]
+018057_000000:[]
+003852_000001:[]
+024900_000028:[]
+004586_000018:[]
+020794_000027:[8, 10]
+014599_000008:[6, 7, 11, 15]
+017448_000005:[18]
+006602_000011:[]
+008210_000026:[]
+001419_000002:[]
+016554_000023:[]
+023259_000014:[]
+015782_000026:[]
+004671_000002:[15]
+020727_000011:[]
+007942_000027:[]
+013154_000017:[]
+003419_000023:[]
+012398_000015:[]
+012610_000029:[]
+018216_000012:[]
+002870_000011:[]
+019951_000032:[]
+022011_000029:[12]
+003323_000022:[]
+012703_000003:[]
+009902_000001:[0]
+008830_000011:[0, 8]
+013831_000027:[11]
+013790_000036:[]
+019335_000018:[]
+009850_000012:[]
+016259_000002:[10]
+021456_000015:[]
+020494_000012:[1, 7]
+010641_000025:[]
+012616_000019:[8, 15]
+018009_000034:[]
+016248_000039:[]
+003631_000031:[1, 6, 12]
+021995_000033:[5, 6, 9, 13]
+005258_000009:[7]
+005762_000007:[]
+001983_000015:[15]
+002000_000039:[19]
+007834_000002:[6, 11]
+019789_000030:[]
+000995_000033:[]
+012276_000010:[9]
+016165_000013:[9]
+006599_000007:[6]
+024577_000036:[2, 18, 19]
+000696_000006:[19]
+023207_000036:[5]
+004749_000006:[0, 8]
+015008_000003:[]
+006896_000013:[10, 17, 19]
+018397_000036:[]
+006996_000038:[]
+021196_000019:[1]
+020627_000002:[7]
+011223_000038:[16]
+005464_000034:[]
+004269_000038:[]
+014273_000020:[]
+010732_000002:[]
+007403_000035:[]
+024435_000025:[]
+004196_000011:[1, 6]
+005096_000038:[]
+000849_000032:[]
+013081_000005:[]
+011777_000026:[2, 3, 9, 11, 16, 19]
+020717_000020:[]
+004778_000039:[]
+018353_000020:[3, 11]
+016183_000022:[]
+014656_000022:[]
+007763_000021:[]
+015302_000033:[8, 12, 17]
+023098_000006:[]
+017055_000039:[8]
+017358_000023:[]
+003697_000018:[]
+018660_000013:[3, 6, 7, 9, 12, 16]
+003545_000021:[]
+007098_000030:[]
+006518_000011:[]
+017169_000001:[3, 6, 7, 8, 10, 12, 15, 16, 17]
+000140_000017:[]
+010822_000018:[1]
+004189_000034:[6, 19]
+014840_000023:[]
+020405_000039:[3, 4, 10, 11]
+007231_000030:[]
+024104_000013:[]
+015536_000021:[5]
+010436_000001:[7]
+021369_000019:[]
+011200_000002:[7]
+020200_000005:[]
+021536_000010:[4, 7, 15]
+019850_000032:[]
+009699_000000:[14]
+005376_000021:[]
+000867_000022:[]
+002775_000037:[19]
+007558_000031:[]
+014150_000038:[0, 11]
+006128_000001:[]
+018764_000016:[16, 19]
+017084_000022:[7]
+005178_000002:[0, 3, 9, 12]
+024715_000028:[]
+000621_000015:[]
+000542_000039:[]
+003698_000013:[]
+022959_000036:[]
+012558_000022:[]
+020349_000027:[2]
+016754_000034:[]
+017172_000001:[]
+006749_000019:[]
+020302_000002:[]
+001521_000031:[1, 16]
+018504_000035:[]
+013620_000026:[9]
+006005_000034:[5, 10]
+018028_000023:[8, 16]
+021650_000036:[18]
+003015_000028:[]
+023280_000036:[]
+017172_000039:[]
+024409_000005:[12, 17]
+000652_000019:[]
+005273_000030:[]
+020529_000001:[3, 5, 10]
+022222_000028:[1, 5, 6, 14, 19]
+001616_000000:[]
+003394_000015:[5, 19]
+024673_000031:[]
+018486_000035:[]
+010457_000023:[0, 3]
+022229_000018:[]
+016833_000038:[]
+018696_000031:[]
+007341_000002:[]
+000523_000003:[]
+002733_000014:[]
+024464_000023:[1, 9]
+018974_000004:[2]
+020767_000039:[11, 15]
+003262_000026:[0, 1, 2, 3, 4, 5, 6, 9, 10, 14, 16, 17]
+021116_000029:[]
+009831_000003:[]
+004826_000005:[]
+020682_000034:[]
+016664_000019:[]
+005502_000007:[]
+022310_000006:[5, 15]
+000327_000021:[11]
+000047_000014:[]
+020171_000019:[]
+017523_000001:[0]
+019730_000019:[11]
+021577_000002:[]
+019793_000033:[]
+007785_000027:[6]
+008254_000036:[]
+000796_000008:[12]
+012401_000008:[]
+013588_000007:[]
+002654_000019:[]
+021642_000018:[]
+024267_000005:[]
+010635_000020:[2, 8, 16]
+005298_000038:[6, 7, 11, 19]
+004072_000032:[7, 12]
+009482_000023:[15]
+016691_000033:[]
+003245_000018:[]
+023802_000026:[]
+008496_000027:[13]
+021533_000017:[]
+010238_000020:[]
+023545_000014:[]
+008909_000038:[5, 17, 19]
+003093_000010:[0, 5, 8, 10, 11, 16, 19]
+012265_000027:[]
+003033_000003:[8, 10]
+001218_000030:[]
+016539_000020:[12]
+016959_000018:[]
+011222_000014:[10, 18]
+007414_000003:[1, 3, 4, 5, 7, 15, 16, 19]
+017222_000035:[]
+024025_000039:[]
+000650_000030:[]
+019047_000011:[]
+010076_000002:[13, 16]
+016777_000020:[]
+018050_000032:[]
+010984_000005:[]
+000855_000005:[10, 18]
+010391_000025:[]
+003972_000010:[]
+012792_000024:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000530_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000530_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6728f3feaead4222d9a1aa2731b94e2769718dd4
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000530_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+008711_000038:[5, 9]
+013952_000038:[]
+006816_000003:[13]
+005088_000018:[]
+020785_000019:[12]
+014800_000007:[]
+001640_000006:[]
+020143_000022:[1, 9]
+008175_000028:[]
+015779_000033:[18]
+004369_000001:[]
+015734_000002:[]
+013028_000027:[]
+019152_000022:[]
+017073_000013:[]
+003091_000019:[]
+021451_000026:[]
+017519_000032:[1, 16]
+006152_000006:[]
+024843_000002:[4]
+009929_000006:[15]
+015513_000020:[19]
+008094_000030:[]
+009909_000038:[0, 8, 14, 15, 16, 18]
+013964_000020:[]
+023711_000006:[11]
+018470_000036:[]
+023462_000006:[]
+017364_000028:[]
+005092_000018:[]
+019374_000015:[13]
+011117_000035:[1, 4, 7]
+020980_000024:[]
+004293_000019:[8, 16, 19]
+007172_000016:[0]
+021680_000002:[]
+005780_000021:[4]
+008028_000024:[]
+022908_000013:[]
+018284_000025:[]
+001277_000006:[]
+007624_000018:[4, 8]
+019694_000018:[]
+018359_000019:[]
+012270_000011:[10]
+003653_000021:[]
+015393_000012:[]
+018973_000030:[]
+006482_000037:[]
+021260_000023:[]
+014103_000006:[16]
+009997_000021:[14]
+019832_000007:[9, 11, 14, 16]
+010651_000002:[]
+011151_000000:[]
+022532_000000:[]
+000530_000013:[]
+008544_000014:[4, 5, 8, 18]
+001612_000027:[3]
+003551_000000:[16]
+010603_000012:[5]
+023976_000034:[]
+002572_000038:[]
+014155_000013:[7, 8, 12, 13]
+006951_000008:[3, 6, 18]
+024715_000024:[]
+024549_000037:[18]
+017658_000014:[16]
+020372_000011:[4, 9, 12, 14, 15, 17]
+009222_000035:[0, 7, 9, 13, 14]
+008148_000009:[]
+007708_000039:[]
+017835_000011:[2, 15]
+004750_000019:[13]
+006523_000020:[16]
+013768_000006:[7, 14, 17]
+009686_000012:[7, 12, 19]
+008856_000026:[12]
+005954_000035:[0, 18]
+008254_000030:[]
+020596_000035:[]
+001580_000010:[]
+020754_000019:[]
+001989_000001:[]
+023323_000016:[]
+005240_000017:[]
+015428_000025:[]
+001713_000033:[13]
+001865_000016:[]
+015943_000007:[]
+009567_000006:[9, 19]
+009196_000004:[0, 1, 4, 9, 10, 19]
+013318_000020:[10, 13, 16, 18]
+018531_000005:[]
+021477_000008:[11]
+017007_000005:[]
+008361_000000:[12, 18]
+001576_000022:[]
+014318_000017:[19]
+003800_000013:[0]
+013724_000031:[15]
+024977_000013:[]
+009093_000025:[0]
+013705_000011:[]
+014141_000011:[]
+019942_000037:[18]
+004340_000007:[7, 15]
+002037_000019:[]
+021245_000028:[0, 5, 9, 14]
+007870_000033:[4, 7]
+013268_000015:[]
+024468_000038:[]
+020557_000006:[]
+006819_000024:[]
+004468_000012:[]
+002745_000008:[10, 19]
+017136_000029:[]
+016179_000029:[]
+000359_000008:[6, 7, 18]
+014368_000005:[9]
+008193_000015:[]
+004737_000036:[0]
+001924_000022:[4, 13]
+016762_000010:[]
+004524_000027:[]
+013875_000009:[]
+012141_000023:[4]
+003484_000037:[2, 19]
+016270_000016:[11, 16]
+012844_000023:[15, 18]
+005752_000013:[]
+005164_000026:[]
+000303_000030:[]
+019221_000032:[]
+009145_000002:[7, 15]
+010343_000009:[]
+012564_000007:[]
+006772_000024:[]
+007329_000025:[1, 6, 15]
+000877_000035:[]
+015071_000024:[]
+000025_000007:[]
+015291_000032:[]
+008618_000012:[]
+024415_000036:[]
+008999_000025:[1, 5, 7, 8, 13, 14, 16, 17]
+004928_000019:[]
+010481_000017:[]
+014875_000022:[14]
+006683_000026:[10]
+008634_000029:[5]
+012405_000037:[]
+002733_000002:[]
+004823_000037:[]
+010537_000007:[4, 17]
+005183_000025:[]
+012755_000039:[6, 18]
+008924_000000:[5, 9]
+012255_000030:[]
+016957_000008:[]
+013685_000039:[1, 3, 8, 9, 13, 16]
+013995_000012:[]
+016395_000007:[]
+010319_000026:[]
+003239_000031:[]
+006522_000018:[]
+023986_000038:[]
+020865_000004:[12]
+024845_000015:[2, 3, 6, 10, 11]
+005494_000022:[]
+019971_000013:[6, 9]
+022979_000003:[]
+016172_000008:[]
+023146_000034:[]
+006225_000004:[10, 11, 14]
+000190_000035:[]
+024674_000027:[3, 10, 16, 17]
+010427_000012:[]
+013667_000033:[0, 4, 6]
+013130_000038:[17]
+010845_000000:[3, 9, 11]
+001825_000014:[11, 12]
+020294_000008:[0, 2, 3, 4, 5, 17, 19]
+006133_000034:[]
+005525_000017:[18]
+008934_000015:[]
+006453_000025:[]
+024447_000018:[0, 16]
+020973_000014:[13, 18]
+010170_000010:[15]
+017169_000014:[17]
+011286_000030:[2, 3, 4, 5, 8, 9, 10, 12, 14, 18]
+023194_000004:[]
+002445_000032:[1, 15, 18]
+000409_000036:[]
+003375_000035:[17]
+021764_000031:[]
+007147_000033:[]
+024448_000017:[3]
+020680_000025:[]
+001329_000012:[5]
+015909_000011:[]
+011348_000009:[]
+014935_000013:[8, 13]
+024327_000029:[]
+006849_000028:[]
+004101_000039:[12, 14, 16]
+009117_000031:[14]
+005578_000007:[10]
+012325_000007:[]
+017787_000030:[8, 13, 18]
+015423_000013:[]
+012349_000005:[]
+003608_000028:[4]
+001116_000022:[10]
+000685_000024:[]
+024943_000015:[]
+013639_000016:[]
+015727_000023:[5, 11]
+010874_000022:[]
+014771_000032:[]
+002804_000030:[]
+018412_000015:[]
+018121_000019:[]
+008485_000003:[]
+023970_000026:[8]
+018134_000015:[10]
+019856_000036:[]
+023246_000032:[2, 5, 8, 10, 12, 18]
+010441_000016:[10, 19]
+011270_000015:[]
+016784_000032:[9]
+012834_000007:[17, 19]
+014628_000029:[1, 6, 15, 16]
+000909_000010:[2]
+019218_000030:[1]
+009590_000029:[]
+009170_000027:[0, 7, 14, 18]
+021404_000034:[]
+002231_000033:[12]
+023822_000021:[]
+005497_000029:[]
+013842_000022:[]
+001496_000036:[12, 14, 15, 17, 18]
+021770_000016:[1, 4]
+002071_000037:[]
+023758_000036:[14]
+003832_000000:[1]
+009401_000013:[]
+012327_000015:[]
+007200_000000:[5]
+002215_000039:[19]
+016167_000009:[]
+016771_000003:[17]
+018184_000011:[6]
+022288_000016:[]
+000089_000017:[7]
+024032_000039:[]
+010109_000009:[]
+008173_000024:[]
+010038_000004:[]
+014441_000025:[]
+023422_000026:[9]
+022219_000038:[]
+000774_000016:[]
+009624_000024:[]
+017358_000018:[17]
+013633_000032:[3, 4, 8, 10]
+019363_000013:[]
+004322_000013:[]
+008794_000037:[16, 17]
+015771_000030:[]
+018277_000035:[8]
+000035_000034:[]
+005249_000033:[5]
+012904_000008:[]
+007737_000001:[]
+007102_000025:[]
+008326_000010:[1]
+023675_000024:[]
+015290_000004:[]
+000161_000009:[]
+004928_000037:[]
+007629_000006:[0]
+010905_000017:[2]
+018016_000027:[]
+021245_000037:[1, 7, 8]
+022675_000013:[4, 8]
+009269_000005:[11]
+002252_000006:[3, 7]
+005853_000000:[0, 1, 5, 8, 11, 12, 13]
+019632_000017:[]
+014629_000016:[]
+004685_000033:[]
+013176_000024:[6, 9, 13]
+003205_000028:[]
+002034_000038:[1, 2, 7, 8, 11]
+007009_000006:[]
+005895_000015:[1, 15]
+021806_000009:[]
+003959_000029:[]
+016963_000027:[3, 10, 11, 18]
+011638_000022:[]
+018103_000008:[]
+020940_000031:[]
+017364_000027:[]
+000882_000005:[]
+007880_000003:[]
+007874_000015:[]
+000317_000014:[16]
+007711_000020:[]
+009565_000037:[4, 15]
+000620_000005:[]
+020298_000001:[]
+011600_000025:[]
+020848_000028:[5]
+010348_000003:[0, 2, 10, 17, 19]
+007302_000029:[]
+019548_000005:[]
+022488_000008:[]
+022363_000018:[]
+013512_000007:[2]
+002101_000016:[]
+018122_000026:[]
+004983_000037:[4, 17]
+019037_000013:[]
+024532_000033:[14]
+021284_000030:[9]
+008744_000012:[11, 13]
+006026_000036:[]
+000277_000016:[]
+009051_000020:[13]
+012800_000017:[]
+016222_000031:[]
+000025_000030:[18]
+012013_000025:[3]
+014412_000023:[]
+016768_000011:[0, 4]
+017376_000005:[14]
+006352_000020:[]
+005490_000035:[13]
+023216_000031:[]
+007596_000001:[0, 4]
+018056_000003:[]
+023474_000015:[]
+024012_000038:[]
+018341_000027:[]
+004396_000037:[0]
+001871_000025:[]
+010108_000014:[12]
+023655_000009:[]
+001511_000019:[]
+008342_000038:[]
+012083_000025:[]
+013185_000012:[15]
+016914_000024:[]
+011367_000005:[]
+007168_000021:[5, 10]
+020408_000028:[]
+007913_000003:[]
+023412_000014:[0, 6, 11]
+020201_000013:[]
+011974_000014:[10]
+021536_000028:[]
+008559_000019:[]
+024847_000005:[16]
+018440_000025:[9]
+009018_000021:[]
+024903_000030:[]
+002261_000018:[]
+023461_000034:[6]
+001902_000026:[]
+003704_000039:[3, 19]
+010802_000017:[6, 17]
+005450_000001:[]
+001665_000025:[8, 13]
+000192_000004:[]
+021227_000015:[]
+015530_000023:[19]
+000739_000021:[13]
+008775_000006:[4, 11]
+014255_000023:[2, 3, 5, 6, 7]
+013146_000008:[]
+024386_000015:[19]
+015575_000007:[]
+016444_000035:[]
+023684_000000:[12, 15]
+005871_000031:[0, 1, 2, 7, 14]
+007879_000004:[14, 18]
+005882_000000:[]
+014439_000005:[]
+005552_000019:[]
+021088_000016:[10, 15]
+021571_000022:[6]
+011870_000033:[]
+023242_000008:[4, 11]
+024798_000016:[]
+006581_000028:[7, 11, 13, 14, 18]
+001467_000027:[17]
+023297_000011:[2, 6, 10, 15]
+012645_000031:[0, 2]
+001820_000034:[]
+010177_000039:[0, 5, 6, 11, 12, 18, 19]
+009762_000023:[]
+005945_000029:[4, 8, 13, 15, 17]
+010210_000034:[]
+003629_000037:[2, 14, 16, 18]
+006464_000025:[]
+010400_000026:[]
+021665_000022:[]
+013676_000009:[]
+002123_000039:[]
+004969_000039:[3]
+018200_000009:[19]
+015282_000020:[]
+014338_000013:[]
+016178_000016:[]
+003865_000016:[0]
+011524_000013:[]
+022058_000001:[0]
+018176_000014:[]
+023043_000016:[0, 1, 3]
+003195_000000:[]
+022687_000016:[]
+016034_000032:[]
+007742_000007:[]
+003486_000033:[]
+024277_000014:[]
+017123_000034:[]
+010288_000012:[7]
+008053_000014:[]
+011154_000014:[]
+007757_000035:[10]
+014848_000005:[2, 11, 19]
+011401_000027:[13]
+014442_000006:[14]
+017034_000033:[]
+016770_000021:[]
+003192_000007:[5]
+014819_000007:[]
+013527_000007:[]
+001295_000034:[]
+008108_000032:[15]
+003929_000013:[]
+008957_000033:[]
+004563_000020:[]
+014990_000010:[]
+011951_000000:[6]
+018423_000009:[]
+005031_000036:[0, 6]
+022401_000003:[]
+005148_000011:[]
+011877_000006:[]
+006493_000035:[4]
+004488_000006:[]
+019343_000001:[]
+018704_000023:[5]
+020116_000011:[]
+010833_000036:[]
+015444_000007:[1, 6, 8, 11, 12, 14, 17, 18, 19]
+001501_000014:[]
+000212_000000:[8, 18]
+023587_000033:[2, 7, 9, 14]
+013843_000013:[10, 15]
+009245_000004:[]
+014426_000016:[3]
+021237_000000:[]
+005833_000012:[]
+015805_000016:[]
+018679_000026:[9, 19]
+008202_000029:[]
+019551_000001:[0, 4, 13, 19]
+012516_000007:[]
+017711_000003:[0, 6, 16]
+021926_000029:[]
+007938_000032:[]
+024114_000012:[15]
+015677_000024:[10]
+021731_000001:[0, 13, 17]
+006758_000003:[11]
+011023_000033:[0]
+019369_000003:[9]
+019731_000011:[4, 5]
+021720_000025:[17]
+003416_000005:[2, 7]
+020036_000017:[1, 3, 7]
+000011_000014:[14]
+005852_000005:[7, 13, 16]
+005036_000023:[17]
+002677_000031:[]
+023412_000034:[1, 4, 8]
+000530_000037:[]
+023646_000019:[]
+018263_000026:[5]
+023122_000035:[]
+000260_000027:[]
+019830_000002:[]
+007974_000008:[2]
+022335_000013:[13, 19]
+017571_000029:[]
+024620_000006:[]
+013340_000001:[2, 14, 18, 19]
+001125_000035:[]
+002326_000036:[4, 8]
+004371_000002:[18]
+003851_000017:[]
+023883_000037:[]
+007939_000015:[]
+016558_000008:[5, 6, 9, 14, 16, 18]
+007793_000002:[]
+009016_000017:[3, 4, 9, 12]
+022418_000031:[]
+011952_000001:[]
+004386_000030:[]
+010384_000029:[2, 10, 16]
+013949_000026:[7]
+010919_000010:[]
+020853_000020:[]
+006632_000039:[]
+014982_000011:[]
+009491_000018:[]
+006129_000008:[]
+009118_000034:[]
+023105_000014:[4]
+004843_000016:[]
+020378_000028:[]
+017988_000023:[7, 13]
+003118_000023:[11, 19]
+012257_000033:[]
+005897_000032:[]
+001411_000018:[]
+001379_000001:[13]
+005237_000036:[]
+005582_000019:[]
+012671_000006:[15]
+024324_000013:[15]
+004177_000019:[]
+005040_000027:[]
+014562_000009:[0]
+006125_000011:[]
+016418_000022:[]
+022204_000019:[6, 16]
+017353_000038:[]
+023904_000012:[3, 8, 12]
+005693_000006:[]
+013140_000020:[15]
+023723_000010:[]
+024931_000000:[]
+018911_000028:[]
+023418_000009:[]
+008367_000006:[]
+015598_000010:[7, 8, 12, 15, 19]
+017732_000027:[]
+024409_000021:[1, 2, 15, 17, 19]
+007124_000023:[]
+022218_000003:[14]
+001353_000025:[]
+005560_000013:[]
+009021_000014:[1, 10]
+024902_000034:[]
+019163_000003:[]
+006357_000030:[]
+014564_000002:[2, 3, 8]
+011588_000039:[]
+014590_000023:[]
+020598_000021:[]
+008470_000005:[2]
+008067_000032:[7]
+003388_000036:[13]
+011405_000015:[6, 13]
+007393_000027:[]
+018780_000038:[1, 2]
+019188_000012:[]
+010029_000004:[]
+021898_000016:[3, 6]
+022018_000012:[]
+013977_000018:[]
+005785_000033:[14]
+022602_000016:[11]
+005030_000001:[7, 18, 19]
+019091_000037:[]
+000863_000030:[]
+023400_000017:[2, 6, 7]
+006000_000034:[]
+014129_000010:[]
+010070_000001:[5]
+024593_000020:[]
+013866_000039:[]
+012063_000021:[1, 9]
+018707_000014:[0, 2, 5, 7, 8]
+007744_000002:[4, 13]
+001885_000010:[]
+011170_000027:[]
+014845_000010:[14]
+020695_000034:[]
+009498_000025:[]
+009229_000026:[]
+006322_000025:[5]
+015328_000030:[]
+009480_000014:[7, 12, 15, 16]
+000658_000008:[4, 5, 9, 16, 17]
+024093_000009:[]
+020667_000022:[9]
+002480_000005:[]
+007054_000002:[]
+004309_000002:[]
+019193_000013:[9, 16]
+000665_000033:[10]
+013778_000009:[13]
+002851_000018:[0, 7, 9, 10, 15]
+020339_000029:[0, 5]
+018400_000019:[]
+012481_000026:[8]
+021113_000034:[]
+006781_000014:[0]
+007690_000035:[]
+000314_000001:[2]
+005409_000016:[]
+021068_000005:[12]
+000344_000023:[4]
+005274_000010:[12]
+021107_000015:[]
+005349_000034:[16]
+020214_000020:[]
+006044_000037:[15]
+016501_000037:[]
+007909_000025:[1, 15]
+004053_000023:[]
+020689_000013:[]
+024439_000021:[8]
+019787_000010:[]
+006914_000004:[2]
+018734_000001:[]
+020679_000014:[]
+016417_000008:[]
+008924_000025:[10, 15]
+022778_000002:[1, 17]
+023770_000036:[10]
+024347_000000:[16, 18]
+020120_000037:[]
+017500_000014:[]
+008589_000019:[0, 1, 11, 14]
+009727_000020:[]
+016234_000038:[1]
+012826_000028:[]
+022522_000034:[]
+000081_000017:[14, 17]
+009017_000039:[3]
+018374_000003:[]
+011782_000006:[]
+011857_000018:[]
+019518_000001:[]
+024605_000028:[]
+004800_000024:[6]
+010091_000033:[13]
+021724_000038:[5, 11, 14, 17]
+001171_000010:[17]
+022512_000025:[]
+019587_000029:[3, 9]
+020545_000019:[]
+008943_000009:[7, 19]
+013540_000010:[9]
+013312_000010:[2]
+020307_000017:[17]
+004826_000030:[]
+001732_000029:[8]
+001934_000022:[11]
+019141_000034:[]
+016931_000011:[]
+019139_000020:[0, 3, 6, 7, 8, 9, 10, 11, 13, 17]
+011892_000002:[7]
+008150_000008:[]
+014455_000028:[]
+005359_000014:[10, 19]
+008505_000034:[]
+011417_000005:[2, 14]
+013461_000003:[]
+020455_000015:[]
+023226_000035:[12]
+018353_000014:[]
+024712_000035:[]
+004249_000038:[5, 16]
+007697_000001:[]
+010599_000010:[]
+010117_000024:[0]
+024931_000005:[16]
+024164_000001:[]
+007382_000016:[5]
+016301_000015:[]
+004940_000015:[18]
+022798_000000:[18]
+006247_000012:[8]
+014962_000032:[3, 5, 7, 14, 15, 19]
+002304_000026:[]
+000196_000014:[10, 18]
+007000_000020:[]
+009592_000036:[4, 6, 7]
+023657_000005:[]
+008077_000007:[]
+002812_000033:[]
+003608_000012:[]
+024359_000011:[]
+011316_000022:[]
+007003_000015:[5, 7, 8, 12, 13, 14]
+007774_000026:[]
+024652_000023:[]
+012305_000016:[]
+021027_000035:[12]
+002748_000039:[0]
+006057_000010:[]
+010482_000004:[14]
+000156_000039:[]
+009984_000024:[]
+001020_000028:[]
+011052_000012:[18]
+014078_000022:[]
+001698_000001:[]
+021807_000021:[19]
+016965_000022:[]
+021002_000037:[16]
+012245_000032:[1]
+016600_000031:[2, 3, 7]
+012565_000032:[]
+007429_000017:[]
+024232_000017:[]
+006183_000010:[3, 9]
+024151_000007:[]
+022282_000005:[8]
+021676_000020:[]
+003936_000036:[]
+006336_000024:[5]
+001169_000015:[18]
+003603_000014:[2, 5]
+020335_000007:[15, 19]
+000428_000031:[]
+023643_000036:[]
+005522_000005:[]
+002501_000027:[]
+011247_000029:[]
+016986_000020:[3]
+006693_000021:[]
+020270_000024:[]
+001371_000037:[1, 17, 18]
+015164_000020:[16]
+017990_000032:[]
+006684_000014:[0, 3, 4, 13]
+020045_000005:[]
+004554_000031:[]
+018721_000038:[]
+022497_000021:[10, 12]
+009521_000033:[]
+009063_000020:[]
+010488_000018:[]
+023246_000017:[6]
+016020_000017:[]
+013455_000037:[]
+024604_000022:[]
+012177_000036:[]
+015223_000004:[]
+019353_000011:[3, 5, 10]
+003614_000038:[13]
+018435_000006:[1]
+002747_000009:[6]
+021088_000023:[8]
+017835_000038:[]
+019491_000034:[]
+013715_000021:[17]
+009838_000020:[0, 13]
+013192_000011:[]
+005026_000008:[]
+023891_000015:[8]
+010979_000002:[]
+001335_000029:[16]
+005950_000018:[]
+024292_000000:[4]
+016602_000031:[3]
+021620_000027:[]
+017545_000003:[]
+009729_000017:[]
+013956_000011:[17]
+018850_000028:[]
+023556_000039:[0, 1, 13]
+014075_000032:[1]
+021018_000008:[]
+011335_000009:[]
+008306_000022:[]
+022051_000017:[]
+024466_000036:[1, 3, 5, 6, 17]
+001762_000026:[7, 16, 19]
+009117_000001:[]
+022027_000013:[]
+010481_000010:[15, 19]
+011217_000024:[2, 9, 10]
+012160_000020:[]
+006785_000017:[]
+017668_000033:[2, 4, 6]
+019016_000029:[]
+002797_000038:[]
+016598_000039:[]
+004113_000026:[5]
+017227_000016:[4, 11]
+012530_000015:[0, 8]
+012353_000011:[1]
+007603_000008:[]
+010434_000004:[]
+007480_000004:[]
+000794_000009:[7]
+015865_000015:[]
+019740_000019:[5]
+009343_000016:[0]
+001674_000022:[0, 6, 8, 11, 15, 16]
+001324_000030:[]
+002686_000003:[]
+011426_000021:[]
+015413_000033:[11]
+003297_000008:[]
+023004_000034:[]
+000105_000022:[]
+018540_000008:[]
+011512_000014:[]
+001898_000028:[]
+012478_000008:[0, 17]
+011199_000034:[]
+003139_000003:[]
+000597_000015:[]
+009812_000033:[0, 7, 13, 16, 18]
+008260_000010:[8]
+005605_000017:[]
+003485_000027:[]
+000623_000037:[]
+001640_000019:[]
+003083_000030:[]
+007274_000020:[5, 19]
+018748_000001:[8]
+018687_000038:[]
+007512_000012:[6]
+017099_000038:[]
+021148_000022:[19]
+003152_000003:[]
+000687_000025:[]
+002822_000004:[2]
+023288_000027:[]
+006788_000004:[6]
+016892_000008:[11, 14, 16]
+023562_000004:[]
+005689_000014:[8, 9, 12, 13, 16]
+024338_000029:[5]
+015735_000026:[]
+007729_000005:[11]
+008549_000006:[13, 19]
+011274_000017:[0]
+004870_000032:[2, 4, 5, 7, 9, 10, 13, 14, 15, 19]
+013173_000038:[]
+017655_000007:[]
+023133_000021:[4]
+011942_000014:[10]
+008505_000019:[]
+010209_000036:[]
+010636_000000:[]
+007516_000018:[0, 15]
+011713_000012:[16]
+024046_000023:[]
+011534_000002:[]
+022322_000019:[]
+004912_000027:[]
+006247_000022:[]
+024516_000026:[]
+006738_000033:[]
+024900_000011:[]
+011019_000034:[0]
+015129_000018:[5]
+024702_000011:[7, 12, 17]
+010915_000020:[]
+024862_000009:[8]
+017736_000022:[]
+004767_000000:[0, 13, 16]
+017520_000026:[4, 18]
+018324_000023:[]
+021528_000020:[]
+016108_000006:[9, 15]
+014580_000023:[8]
+017787_000011:[8]
+007204_000014:[]
+014473_000018:[13]
+014211_000025:[4, 5]
+014355_000021:[8, 15]
+005425_000014:[13]
+003653_000031:[]
+020652_000037:[]
+022628_000025:[0, 10]
+012292_000032:[]
+019620_000031:[0, 17]
+017591_000037:[]
+007224_000030:[]
+021798_000027:[]
+024345_000013:[9]
+005320_000003:[7]
+001061_000006:[]
+002208_000006:[]
+017645_000004:[2, 9]
+004492_000027:[0, 5, 8, 10, 14, 16]
+003060_000005:[]
+014749_000018:[8, 13, 14, 16]
+011611_000031:[1, 12, 13]
+024864_000024:[18]
+010597_000031:[]
+023811_000031:[]
+016771_000037:[]
+004199_000006:[1]
+004095_000030:[]
+021929_000034:[10]
+018166_000010:[]
+021488_000001:[]
+020030_000010:[19]
+017692_000011:[0, 4, 8]
+011361_000013:[4]
+023127_000028:[]
+005750_000007:[1, 12, 19]
+001693_000033:[7]
+001579_000035:[0, 1]
+019607_000018:[]
+020737_000017:[]
+009547_000029:[]
+018261_000039:[]
+009305_000019:[]
+013224_000004:[3, 7, 9]
+022421_000012:[]
+008534_000027:[1, 18]
+014799_000031:[2, 13, 15]
+011966_000018:[4]
+014924_000034:[3, 7]
+007610_000002:[]
+023126_000017:[]
+005710_000035:[]
+017109_000034:[15]
+019345_000038:[7]
+018881_000005:[2]
+003951_000011:[]
+017977_000015:[]
+010597_000025:[]
+005026_000021:[]
+023952_000010:[]
+001818_000010:[2, 6, 8]
+014890_000017:[]
+016878_000003:[19]
+010349_000018:[]
+013448_000029:[7]
+018260_000018:[]
+003778_000020:[]
+014433_000033:[2]
+009088_000021:[13]
+014786_000003:[]
+021398_000012:[]
+019324_000018:[]
+008797_000021:[]
+000951_000029:[0, 12, 17]
+011638_000013:[]
+006004_000008:[]
+015751_000001:[11]
+010748_000002:[]
+010599_000034:[]
+020765_000006:[6, 11, 18, 19]
+022237_000005:[3]
+001041_000014:[]
+016614_000015:[15, 19]
+024185_000029:[]
+022495_000031:[]
+005300_000025:[0, 5, 7, 9, 12, 14]
+010546_000012:[]
+009287_000033:[1, 7, 15]
+017011_000021:[2]
+015465_000023:[4]
+010166_000030:[]
+004252_000032:[]
+012335_000034:[]
+012971_000037:[]
+020171_000014:[]
+019504_000027:[13]
+015161_000003:[]
+002472_000000:[7]
+007693_000036:[19]
+019293_000015:[]
+001832_000024:[8, 9, 19]
+013314_000034:[]
+010156_000013:[]
+024218_000006:[8]
+001091_000037:[]
+015376_000000:[4, 15]
+016142_000039:[]
+007978_000003:[]
+000185_000034:[]
+012570_000016:[]
+021211_000007:[]
+024411_000024:[]
+011186_000014:[]
+000755_000007:[4]
+009774_000004:[7]
+010281_000006:[]
+008948_000015:[]
+013295_000038:[4, 12]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000541_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000541_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fe4e5edf9bf2009fd70a555efdaf04aca95b6da8
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000541_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+012292_000035:[]
+017269_000037:[]
+020536_000026:[9]
+012991_000018:[]
+011445_000017:[]
+014792_000033:[]
+002116_000036:[]
+003035_000016:[]
+015094_000037:[]
+010521_000011:[]
+022082_000011:[]
+020889_000018:[1, 6]
+015293_000019:[]
+006749_000020:[]
+006828_000021:[]
+001606_000023:[8]
+017505_000017:[]
+014354_000015:[]
+001080_000023:[]
+010612_000009:[]
+008156_000016:[]
+022852_000023:[]
+000218_000023:[]
+003637_000009:[8, 17]
+017663_000024:[]
+016138_000011:[]
+013974_000012:[]
+008063_000003:[]
+023203_000007:[]
+017249_000029:[9]
+012644_000005:[10]
+000551_000030:[]
+016577_000008:[6]
+016177_000016:[]
+008221_000034:[12, 14]
+017085_000022:[8, 18]
+000708_000004:[0, 1, 2, 3, 5, 8, 11, 12, 14, 15, 17, 18, 19]
+000300_000000:[]
+016454_000000:[13, 16]
+023398_000029:[]
+017789_000007:[]
+011453_000004:[13]
+012571_000028:[]
+020270_000006:[]
+006601_000024:[]
+020620_000019:[]
+024670_000026:[]
+000006_000003:[0, 9, 19]
+023248_000028:[]
+010691_000001:[13, 14, 19]
+010661_000003:[7, 10]
+018255_000016:[13, 15]
+022771_000010:[4, 10, 17]
+017585_000036:[]
+006314_000017:[]
+002355_000007:[18]
+003222_000007:[]
+009584_000015:[]
+023514_000025:[]
+006424_000021:[4]
+010472_000039:[7, 13]
+017896_000037:[]
+019577_000019:[]
+003653_000012:[]
+008751_000039:[]
+016220_000022:[]
+021500_000023:[8]
+001381_000031:[18]
+015583_000009:[0, 1, 11]
+008994_000000:[]
+012403_000011:[7]
+012766_000030:[1]
+016098_000021:[12, 13, 16, 17]
+010982_000035:[]
+013931_000024:[13]
+014213_000026:[]
+021114_000017:[4, 5, 7, 14]
+019694_000011:[1]
+021416_000022:[5]
+000549_000009:[12]
+005954_000027:[0, 1, 7, 9, 12, 13]
+022946_000027:[]
+014014_000033:[1, 10, 11, 12, 19]
+022031_000016:[]
+012883_000005:[3]
+009782_000020:[]
+015054_000035:[]
+006323_000006:[]
+016072_000002:[]
+014011_000019:[]
+022481_000024:[5, 7, 18]
+000572_000008:[]
+000442_000012:[]
+001906_000006:[]
+011559_000025:[]
+020103_000025:[13]
+003431_000020:[2, 12]
+022097_000037:[2, 3, 5, 12, 13]
+015533_000037:[12]
+002079_000008:[]
+022394_000033:[]
+008450_000017:[10]
+019744_000023:[7]
+021106_000005:[10]
+004662_000035:[]
+021315_000028:[]
+009041_000017:[]
+024335_000017:[]
+016925_000029:[]
+024038_000032:[]
+021329_000031:[]
+007700_000002:[2, 3, 4, 5, 8, 12]
+014965_000000:[]
+014471_000032:[]
+012657_000014:[4]
+003424_000019:[]
+022201_000033:[]
+011681_000009:[2, 14]
+004205_000038:[]
+023777_000018:[16]
+015407_000015:[]
+022701_000005:[0, 1, 12]
+017425_000010:[3, 10, 18]
+013583_000008:[]
+021441_000036:[]
+005868_000033:[]
+021081_000024:[]
+008156_000034:[12, 19]
+017293_000019:[5, 13]
+017383_000007:[5]
+018534_000003:[]
+021733_000022:[9, 18]
+004776_000035:[]
+008571_000014:[]
+010693_000023:[]
+016547_000014:[]
+022646_000011:[5]
+000809_000028:[]
+001768_000020:[9]
+019608_000035:[8]
+012026_000009:[]
+012093_000039:[]
+014606_000032:[]
+020637_000029:[13]
+004206_000006:[2, 3, 7]
+024881_000024:[]
+003721_000016:[]
+012465_000034:[]
+011415_000011:[]
+007519_000034:[19]
+021811_000006:[0, 9]
+010340_000000:[16]
+003816_000020:[0, 2, 6, 7, 11, 12]
+023460_000005:[19]
+004740_000022:[]
+013964_000000:[12]
+017067_000025:[]
+018440_000017:[]
+003812_000035:[]
+024645_000031:[8]
+013695_000006:[]
+019093_000036:[]
+024202_000012:[2, 4, 5, 8, 9, 10, 11, 16]
+020149_000015:[8]
+011581_000011:[2, 3, 6]
+006874_000018:[4, 8, 19]
+023220_000003:[15]
+008898_000013:[2]
+010881_000034:[]
+000038_000013:[1, 7, 11, 15, 18]
+000469_000012:[]
+013782_000007:[14]
+018243_000017:[]
+022727_000032:[3]
+010309_000037:[]
+002041_000030:[]
+004812_000038:[]
+003533_000038:[]
+019571_000000:[]
+004319_000038:[]
+015105_000025:[]
+016173_000006:[10]
+012467_000028:[]
+016848_000010:[]
+017799_000033:[1, 6, 12]
+016642_000029:[3, 6]
+003497_000018:[1, 4, 6]
+022533_000039:[]
+020409_000033:[12, 19]
+001356_000038:[]
+003000_000021:[]
+006765_000001:[11]
+011736_000007:[]
+022853_000019:[]
+011351_000032:[]
+011121_000001:[]
+007281_000018:[16]
+006068_000029:[]
+001090_000017:[0, 9, 10, 14]
+023294_000011:[]
+024910_000030:[]
+019028_000030:[]
+009642_000029:[14, 16, 19]
+020692_000032:[3]
+005383_000020:[]
+006483_000010:[10]
+011842_000009:[3, 10, 11, 12]
+021686_000024:[15]
+019604_000039:[2, 12]
+023080_000002:[]
+007955_000032:[11]
+016103_000007:[14]
+006125_000000:[]
+003540_000037:[]
+000861_000009:[]
+012225_000005:[]
+003301_000032:[]
+008455_000016:[11, 14, 15]
+017403_000035:[]
+001148_000010:[]
+005719_000008:[]
+017024_000014:[]
+021775_000008:[]
+013382_000020:[]
+003810_000007:[]
+004619_000003:[15, 17]
+007333_000016:[3, 10]
+018103_000023:[]
+012063_000027:[1]
+011314_000031:[]
+005143_000020:[]
+022174_000023:[]
+004045_000020:[]
+019657_000025:[]
+020590_000028:[]
+008863_000035:[]
+001798_000036:[]
+018868_000025:[]
+003151_000010:[8, 10]
+005852_000002:[]
+016051_000031:[]
+007216_000005:[]
+022409_000015:[]
+016905_000019:[7]
+010721_000008:[]
+020078_000009:[]
+003087_000023:[0, 10, 12, 19]
+012841_000011:[]
+010791_000013:[]
+006957_000027:[]
+015615_000035:[9]
+007838_000039:[]
+023744_000016:[]
+019996_000002:[]
+016837_000004:[]
+016382_000028:[]
+019798_000033:[8, 13]
+015791_000029:[]
+009449_000014:[5]
+019710_000033:[5, 6, 12]
+012705_000029:[]
+008711_000030:[16]
+004081_000014:[10, 13, 16]
+019114_000018:[11]
+017363_000026:[]
+018390_000036:[]
+010890_000037:[]
+022834_000007:[]
+014187_000039:[]
+020746_000038:[]
+008173_000022:[]
+019006_000029:[]
+003749_000020:[0, 10, 14, 16]
+009808_000027:[2]
+003046_000001:[10, 11]
+008865_000003:[]
+000954_000034:[]
+017803_000010:[3]
+018029_000029:[6, 12, 18]
+003066_000036:[9]
+016589_000038:[]
+019652_000006:[1, 3, 10, 13]
+002006_000016:[]
+011473_000029:[18]
+004862_000035:[]
+021313_000008:[8]
+002903_000026:[0, 16]
+022185_000008:[]
+015454_000002:[10, 14, 16]
+003557_000012:[1, 5]
+008000_000027:[19]
+023768_000038:[5, 19]
+015327_000034:[]
+022000_000027:[13]
+018949_000009:[17]
+005672_000012:[]
+014070_000014:[3]
+018632_000026:[]
+009210_000026:[6, 7]
+007038_000039:[]
+021894_000035:[0, 6]
+002381_000032:[]
+003790_000030:[]
+001564_000005:[8, 13, 14, 15, 19]
+023210_000031:[]
+012767_000005:[14]
+022619_000023:[]
+024769_000025:[]
+023618_000024:[]
+008009_000012:[]
+021133_000005:[]
+023900_000032:[]
+013547_000011:[8, 11, 14]
+013753_000014:[]
+007844_000036:[]
+016114_000028:[]
+022366_000036:[]
+006899_000031:[1, 16]
+013791_000013:[]
+021300_000025:[]
+020242_000038:[]
+015045_000009:[]
+018088_000004:[11]
+012188_000000:[]
+008717_000033:[]
+003259_000005:[]
+014786_000018:[]
+018371_000020:[]
+015843_000014:[]
+008061_000033:[]
+014538_000027:[]
+007295_000017:[]
+015435_000030:[5]
+015525_000016:[6]
+005333_000009:[4]
+010083_000023:[]
+009224_000026:[1, 5, 7, 12]
+014970_000027:[2, 18]
+005402_000009:[]
+013323_000005:[]
+016040_000023:[0]
+015141_000024:[]
+016713_000014:[]
+005299_000022:[]
+006827_000005:[]
+018786_000002:[]
+001961_000025:[]
+013367_000015:[]
+001446_000020:[]
+010276_000017:[2, 8, 10, 14, 15, 18]
+015168_000036:[3]
+001223_000003:[0, 6, 15]
+013480_000005:[]
+020956_000001:[10, 17]
+018158_000027:[]
+007337_000021:[8, 10]
+005515_000032:[16]
+015807_000008:[]
+023296_000034:[]
+006278_000017:[11]
+007497_000013:[]
+013293_000020:[]
+003174_000000:[]
+013456_000025:[5]
+017698_000020:[19]
+012599_000021:[1, 6]
+006727_000038:[6, 10, 16]
+008105_000026:[3, 5, 14]
+010299_000029:[3]
+013277_000029:[]
+008807_000031:[]
+013284_000003:[]
+014828_000011:[8, 11]
+016858_000033:[11]
+016052_000018:[13]
+005532_000034:[]
+015532_000014:[]
+019632_000002:[]
+020487_000000:[12]
+000693_000035:[11]
+013000_000012:[6]
+006210_000035:[]
+021134_000021:[11, 15]
+017012_000019:[]
+011261_000007:[]
+021004_000022:[]
+004793_000004:[9]
+023676_000025:[15]
+020467_000005:[17, 18]
+008706_000017:[]
+021958_000027:[1]
+004610_000003:[13, 19]
+007058_000006:[0, 7]
+010872_000022:[9]
+005789_000005:[2]
+019734_000020:[]
+021193_000038:[]
+005855_000023:[6, 11]
+014557_000026:[2, 7]
+014372_000029:[]
+002063_000006:[]
+017151_000013:[]
+013146_000034:[17]
+007615_000019:[]
+015796_000020:[0, 6, 10]
+011683_000010:[4, 5, 9, 11]
+013520_000039:[]
+019210_000008:[]
+000880_000014:[6, 9]
+011162_000000:[]
+019647_000036:[0, 9]
+007763_000007:[]
+008047_000034:[]
+006467_000020:[]
+004671_000030:[]
+015806_000017:[]
+015511_000035:[]
+024381_000020:[]
+013391_000021:[]
+022276_000022:[]
+010805_000017:[18]
+022514_000000:[6, 7, 16]
+013699_000023:[17]
+023320_000005:[]
+011726_000022:[4]
+004062_000018:[]
+005806_000027:[]
+011122_000021:[]
+001231_000038:[12]
+013969_000029:[]
+005689_000002:[8, 13, 16, 17]
+000789_000002:[]
+011220_000017:[]
+015370_000022:[]
+015064_000038:[]
+024254_000031:[]
+024000_000007:[3, 4, 8, 10, 12, 14, 18]
+017017_000000:[]
+015415_000003:[12]
+002271_000039:[]
+019404_000039:[2]
+021954_000039:[3]
+005001_000009:[4, 8, 14]
+017657_000010:[5]
+013013_000025:[]
+007919_000004:[]
+005550_000007:[]
+001354_000023:[]
+002170_000019:[18]
+001428_000026:[]
+016113_000033:[]
+007376_000017:[]
+011164_000035:[1, 15]
+015090_000010:[]
+021439_000038:[0, 10]
+012558_000030:[13]
+018145_000015:[]
+001630_000017:[7, 10, 19]
+003568_000001:[]
+016913_000026:[]
+016285_000013:[]
+018691_000031:[]
+019589_000021:[]
+005557_000000:[1, 5, 9, 19]
+011019_000015:[4]
+009544_000005:[3, 8, 13, 14, 16]
+005236_000011:[]
+021722_000030:[]
+014427_000024:[0]
+012843_000012:[]
+006913_000037:[]
+004564_000011:[]
+022000_000019:[]
+022351_000030:[1, 3, 5, 8, 14, 18]
+011691_000014:[6, 9, 11]
+010979_000029:[19]
+022087_000002:[3, 10, 13]
+004785_000005:[0, 17]
+018791_000027:[]
+018251_000026:[19]
+010721_000022:[]
+021303_000032:[]
+001596_000036:[11]
+000050_000001:[]
+016715_000019:[2, 7, 13]
+004051_000021:[1, 2, 5, 10, 11, 14, 19]
+019824_000038:[8, 12, 19]
+013325_000008:[10]
+024895_000002:[]
+016146_000033:[13, 17, 19]
+004047_000039:[0]
+010179_000004:[]
+016792_000026:[16]
+001399_000037:[]
+021851_000025:[3, 12]
+009295_000018:[]
+002437_000037:[]
+005675_000010:[]
+021377_000038:[17]
+021106_000017:[1]
+019716_000007:[]
+003592_000000:[5, 9, 14, 16]
+017418_000004:[]
+023373_000025:[]
+010107_000032:[]
+018035_000016:[]
+013124_000028:[0, 1, 4, 8, 10, 11, 13, 17, 18, 19]
+003924_000030:[12, 14]
+020637_000023:[12]
+016872_000014:[8]
+024533_000008:[]
+019202_000019:[5, 14]
+004267_000012:[]
+020301_000022:[11]
+008387_000020:[6, 11, 12]
+001832_000035:[0]
+001630_000014:[]
+000434_000037:[]
+013395_000020:[]
+024540_000029:[]
+001640_000029:[]
+024498_000027:[3]
+009384_000033:[]
+000780_000004:[8]
+003940_000020:[12]
+005031_000009:[]
+001025_000038:[]
+011995_000038:[]
+002252_000039:[7]
+016272_000027:[12, 18]
+011886_000004:[]
+000171_000025:[2]
+010974_000035:[]
+019686_000032:[4]
+006214_000027:[]
+018230_000023:[2]
+004775_000001:[]
+010210_000011:[]
+021840_000005:[]
+011292_000022:[16]
+002848_000021:[1]
+021927_000017:[]
+019211_000035:[1, 11]
+018756_000037:[]
+010655_000012:[]
+024649_000011:[7]
+022585_000031:[]
+011950_000028:[]
+011149_000004:[18]
+021998_000036:[9]
+008897_000018:[15]
+024374_000032:[15]
+001722_000037:[]
+004326_000012:[18]
+016805_000039:[]
+024952_000005:[]
+014416_000025:[]
+016428_000036:[]
+014111_000010:[]
+008560_000038:[]
+010043_000005:[10]
+006671_000035:[0, 3, 6, 9, 12, 15, 16, 18]
+019716_000038:[]
+004056_000014:[0]
+007295_000001:[]
+019322_000015:[]
+016248_000019:[]
+007446_000030:[]
+015354_000015:[]
+005681_000021:[]
+008320_000034:[]
+013941_000028:[]
+022492_000035:[0]
+022062_000038:[0]
+015110_000005:[17]
+002076_000033:[]
+014142_000002:[]
+021170_000010:[]
+002226_000024:[]
+004987_000023:[18]
+005471_000008:[]
+012515_000029:[6]
+002362_000007:[12]
+003754_000013:[13]
+003525_000028:[]
+021348_000026:[]
+006694_000014:[]
+003086_000003:[]
+014847_000030:[]
+020689_000019:[]
+021600_000003:[]
+022700_000028:[6]
+013405_000007:[]
+022181_000004:[]
+016547_000009:[]
+005670_000004:[]
+011133_000022:[]
+011136_000027:[]
+019294_000000:[]
+017454_000013:[16]
+012479_000018:[1, 3, 6, 16, 18, 19]
+004968_000007:[]
+004126_000026:[19]
+023297_000007:[]
+015844_000021:[2]
+018014_000019:[18]
+023384_000020:[]
+005773_000026:[1]
+000626_000014:[]
+000552_000036:[]
+021222_000006:[]
+015520_000009:[]
+008902_000006:[17]
+022084_000036:[]
+021577_000003:[]
+013164_000013:[1, 6, 15, 17]
+006164_000026:[9]
+021867_000021:[]
+006293_000009:[]
+004244_000023:[]
+003895_000006:[6]
+018340_000038:[]
+005501_000000:[0, 10, 14, 17]
+016731_000038:[2]
+017300_000029:[]
+008196_000001:[5, 17]
+009573_000010:[0]
+014120_000015:[3, 4, 8, 12, 16]
+001990_000038:[2]
+001029_000004:[15]
+024854_000020:[]
+009790_000029:[]
+012029_000006:[]
+020117_000027:[2, 3, 6, 11, 19]
+008844_000039:[5, 14]
+012608_000037:[13]
+022398_000001:[3, 6, 7, 8, 9, 13]
+014768_000016:[2, 5, 15]
+022946_000007:[]
+019954_000024:[6, 14]
+008122_000033:[6]
+020740_000033:[1, 7, 8, 14]
+002975_000019:[]
+020287_000036:[]
+008155_000013:[]
+008918_000039:[]
+016473_000018:[]
+006069_000036:[2]
+023439_000008:[]
+022168_000014:[7, 14]
+013871_000034:[7]
+018093_000032:[0, 5, 9, 10, 19]
+006548_000002:[14]
+004939_000028:[15]
+022116_000030:[7, 9, 14, 15]
+010472_000008:[]
+020962_000034:[17]
+003488_000002:[4]
+014849_000000:[12]
+007154_000026:[18]
+008836_000018:[]
+019806_000034:[0, 7, 14, 16, 19]
+006820_000016:[]
+015901_000017:[10, 18]
+016325_000032:[6]
+014768_000001:[]
+018681_000026:[0, 4, 13, 15]
+018536_000027:[]
+017279_000027:[3]
+013398_000009:[4]
+006807_000021:[7]
+011612_000021:[]
+012645_000037:[2]
+011602_000028:[1, 2]
+007396_000011:[7]
+020425_000036:[7]
+016002_000004:[]
+020540_000025:[]
+021882_000036:[4, 17]
+000118_000011:[]
+002049_000037:[5, 6, 12, 13, 15]
+005865_000019:[1, 13]
+008656_000023:[]
+024330_000021:[17]
+012657_000024:[]
+023384_000034:[16]
+015282_000011:[]
+014979_000014:[5, 16, 17]
+013032_000016:[]
+013471_000009:[]
+005777_000027:[]
+006288_000015:[10, 13]
+005436_000024:[7, 16]
+004010_000020:[]
+017075_000007:[19]
+012461_000017:[]
+001707_000001:[]
+007071_000017:[]
+011483_000009:[]
+000228_000030:[10, 17]
+011722_000024:[]
+019087_000003:[1, 4, 5, 6, 15, 16]
+010738_000016:[]
+024505_000024:[]
+001733_000011:[8]
+014597_000018:[]
+008274_000034:[]
+007125_000019:[13]
+016887_000004:[9]
+022536_000039:[]
+015528_000007:[]
+013574_000036:[]
+008174_000003:[3, 16]
+015873_000018:[0]
+012259_000014:[]
+009664_000005:[0]
+003183_000039:[5]
+010439_000027:[9]
+017674_000000:[8]
+006319_000028:[]
+005974_000005:[]
+015088_000013:[]
+015964_000000:[]
+005460_000002:[]
+021997_000001:[6, 17]
+016544_000000:[14]
+004927_000005:[]
+004343_000032:[8]
+019301_000004:[]
+020678_000029:[5]
+018086_000036:[]
+002105_000026:[12]
+011434_000004:[]
+010876_000010:[]
+011270_000025:[]
+007392_000010:[]
+018508_000034:[1, 2, 4, 7, 10, 17]
+003837_000033:[]
+000573_000038:[16]
+005291_000024:[]
+005767_000002:[]
+007839_000003:[]
+015840_000002:[]
+006779_000017:[]
+024400_000011:[7, 11]
+013356_000026:[5, 7, 11, 16]
+023817_000039:[]
+024348_000023:[1]
+023280_000003:[4]
+018948_000022:[2, 5, 7, 12, 17, 19]
+002997_000002:[]
+003642_000003:[4, 6]
+024165_000035:[]
+010966_000009:[0, 1, 9, 14]
+017168_000007:[7]
+017900_000006:[2, 7, 10, 11]
+004379_000010:[]
+000812_000005:[]
+012685_000027:[]
+005917_000018:[]
+014217_000000:[]
+007121_000009:[]
+013853_000031:[]
+008139_000009:[15]
+000481_000026:[]
+013436_000009:[]
+011802_000033:[]
+016768_000018:[0, 2, 3, 4, 7, 12, 13, 14, 17]
+008564_000034:[]
+001455_000027:[0]
+002489_000021:[]
+018938_000013:[2, 9]
+015054_000015:[]
+004042_000022:[1]
+004757_000026:[7, 12]
+005856_000012:[]
+016765_000011:[]
+010614_000031:[3, 9]
+018025_000031:[]
+002886_000009:[]
+018902_000020:[]
+003912_000015:[3, 19]
+004382_000029:[]
+008659_000035:[1, 3]
+004929_000003:[]
+004578_000023:[8, 11]
+024178_000010:[]
+012633_000004:[2, 10, 11, 16]
+024172_000009:[2, 7, 16]
+001250_000023:[]
+006506_000011:[4]
+015216_000009:[]
+011250_000009:[12]
+012970_000001:[]
+017030_000033:[]
+016266_000009:[]
+007145_000025:[6]
+021197_000019:[2, 12]
+000102_000033:[]
+001884_000021:[8]
+022233_000003:[]
+018217_000026:[]
+003101_000007:[]
+009485_000003:[]
+010580_000028:[]
+016699_000003:[6, 17]
+005800_000034:[]
+013521_000000:[]
+010467_000037:[7]
+006142_000003:[3, 11]
+014182_000017:[7]
+021944_000003:[16]
+013610_000024:[]
+004154_000036:[2, 6]
+022805_000003:[]
+003268_000010:[17]
+009809_000010:[]
+000162_000021:[]
+000138_000008:[]
+024387_000013:[]
+016943_000027:[]
+014241_000025:[5, 6, 12, 13, 14]
+019253_000037:[]
+023114_000038:[]
+004716_000009:[]
+018300_000003:[]
+008425_000000:[2]
+017300_000038:[5, 11, 13, 14]
+008005_000024:[]
+007454_000000:[]
+018663_000037:[]
+013327_000008:[17]
+013527_000016:[]
+021545_000025:[19]
+020988_000038:[]
+014185_000023:[]
+015416_000033:[]
+015520_000039:[4]
+012950_000010:[]
+022877_000016:[]
+022077_000039:[2]
+008939_000025:[]
+006295_000032:[]
+010418_000021:[10, 18, 19]
+022031_000001:[]
+006265_000014:[5, 6, 9, 10, 19]
+009179_000038:[7, 18]
+018892_000011:[0, 2, 5, 6, 10, 14, 15, 18, 19]
+022790_000017:[1, 3, 4, 6, 8, 14, 19]
+022065_000020:[]
+005987_000005:[]
+008704_000014:[]
+011123_000006:[7]
+012260_000006:[]
+022175_000029:[9]
+005203_000012:[]
+007787_000017:[17]
+005036_000012:[]
+018527_000034:[4]
+007813_000019:[]
+001409_000006:[13, 17]
+008402_000029:[]
+005322_000030:[9, 11, 14]
+009176_000019:[8, 14, 15]
+016452_000017:[16, 18]
+021617_000016:[]
+024297_000022:[8, 16]
+003864_000014:[]
+021859_000026:[5, 12, 14, 18]
+008819_000005:[11]
+016022_000037:[]
+017883_000026:[]
+020713_000000:[]
+001238_000024:[]
+015284_000035:[]
+008523_000020:[0]
+007377_000013:[]
+000144_000011:[15]
+014828_000020:[]
+005138_000033:[]
+002840_000032:[]
+005925_000012:[19]
+017819_000019:[]
+005142_000004:[]
+000846_000032:[0, 3, 4, 5, 14]
+020573_000018:[7]
+007389_000031:[]
+002382_000020:[6, 10]
+002866_000038:[2, 7, 12]
+021091_000026:[]
+013501_000005:[]
+019152_000001:[]
+003056_000024:[]
+017700_000013:[]
+007074_000000:[]
+001487_000036:[6]
+012092_000030:[2, 4, 11, 12, 15, 17, 19]
+004322_000011:[]
+024534_000028:[]
+023458_000032:[]
+010871_000006:[]
+014466_000004:[]
+018926_000035:[19]
+015054_000019:[]
+004525_000010:[]
+011474_000028:[]
+007699_000038:[]
+005458_000039:[]
+016518_000028:[]
+000380_000023:[]
+018812_000010:[]
+007671_000004:[]
+009994_000022:[]
+009779_000029:[7]
+013402_000020:[10, 13, 16, 18]
+021559_000011:[]
+002566_000039:[]
+012478_000012:[]
+002140_000005:[]
+000587_000005:[]
+005271_000032:[]
+002078_000000:[0]
+009729_000030:[]
+010467_000012:[13]
+018890_000023:[]
+024137_000019:[]
+014245_000032:[1]
+009424_000013:[4, 11]
+021519_000020:[]
+006680_000028:[]
+008077_000038:[]
+017342_000032:[]
+020739_000037:[0]
+014910_000001:[]
+016934_000015:[]
+016002_000035:[0, 2, 10, 14]
+005158_000017:[1]
+022297_000005:[1]
+010898_000032:[]
+017144_000017:[]
+019182_000021:[]
+012644_000015:[16]
+018312_000028:[]
+014912_000014:[]
+000264_000017:[3, 17]
+009758_000012:[]
+003492_000031:[]
+018062_000025:[]
+014492_000038:[]
+023380_000022:[]
+001374_000021:[]
+016498_000003:[]
+001300_000023:[]
+023632_000037:[]
+020786_000020:[9]
+006291_000027:[4]
+021295_000034:[]
+004934_000029:[3]
+022063_000022:[1]
+023962_000029:[]
+022655_000020:[]
+019536_000007:[]
+000438_000020:[1, 11, 17]
+017654_000022:[]
+024632_000014:[7, 13, 17]
+019617_000009:[]
+023831_000004:[]
+011612_000031:[]
+011345_000017:[13]
+002013_000036:[2, 5, 6, 8, 14, 15]
+024350_000021:[0]
+024823_000019:[]
+010600_000003:[]
+003906_000023:[13]
+015516_000003:[]
+024001_000028:[]
+018221_000035:[]
+015620_000037:[]
+010836_000011:[12]
+014998_000024:[]
+007817_000030:[9, 17, 19]
+012290_000027:[9, 15]
+003813_000036:[]
+015018_000002:[]
+010192_000036:[4, 5, 13, 15, 17]
+020727_000028:[13]
+011902_000023:[]
+009169_000033:[]
+008136_000019:[18]
+007902_000026:[]
+021889_000022:[]
+000402_000036:[]
+023380_000004:[]
+003370_000020:[13, 18]
+009827_000020:[]
+021439_000016:[5]
+018070_000037:[]
+004408_000015:[]
+014946_000033:[9]
+011657_000007:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000563_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000563_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f33871dd65531a76d2ec1a1aadcb939bded2a8fe
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000563_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+012553_000018:[]
+010666_000026:[0, 14, 15, 18]
+002557_000035:[]
+023530_000038:[7]
+023816_000029:[]
+022569_000009:[]
+003021_000030:[17]
+013289_000002:[]
+002994_000035:[]
+003405_000029:[]
+005723_000007:[]
+022229_000024:[]
+007052_000005:[]
+020735_000031:[]
+023639_000004:[]
+001412_000039:[]
+013565_000010:[]
+022060_000011:[]
+009762_000003:[4, 9, 11, 12, 14]
+016866_000012:[]
+017504_000010:[]
+016793_000033:[]
+012539_000019:[]
+024214_000017:[16]
+021911_000001:[7, 8]
+007959_000016:[0, 9, 12, 13, 15, 19]
+017799_000015:[12]
+007475_000001:[]
+015976_000022:[]
+007043_000011:[14, 16]
+006874_000008:[6, 19]
+000657_000037:[2, 8, 15]
+002958_000014:[2]
+012721_000030:[]
+013986_000013:[]
+006477_000027:[]
+002007_000027:[2]
+020867_000015:[]
+003423_000019:[2]
+008476_000001:[]
+010111_000008:[16]
+001997_000025:[]
+002800_000000:[12]
+016003_000036:[]
+023705_000035:[11]
+006605_000032:[]
+005240_000025:[]
+011242_000039:[10]
+024517_000024:[]
+002086_000032:[]
+003736_000004:[12]
+019357_000015:[]
+012354_000029:[0, 15]
+016358_000007:[]
+015268_000012:[]
+021864_000039:[14]
+018433_000033:[2]
+015149_000005:[1, 4, 5, 8]
+021575_000022:[18]
+016825_000014:[]
+001107_000030:[0]
+012788_000034:[11]
+015525_000000:[]
+023285_000015:[]
+024111_000024:[]
+006443_000013:[]
+020876_000009:[6]
+001087_000023:[0, 8]
+018833_000022:[3, 7]
+021608_000026:[1, 4, 10, 16]
+018885_000013:[]
+024482_000001:[14]
+001913_000000:[]
+022474_000012:[5]
+013672_000002:[9, 12]
+008611_000011:[]
+018407_000032:[8, 10]
+013283_000015:[]
+024752_000026:[12]
+012759_000005:[]
+008839_000019:[]
+023718_000032:[8]
+001466_000005:[5, 11]
+014353_000003:[]
+016570_000009:[]
+002399_000029:[]
+011831_000006:[]
+001914_000026:[0]
+021468_000011:[]
+010276_000002:[8, 10, 13, 15, 18]
+022987_000036:[2, 4, 5, 12]
+016914_000029:[13, 17]
+012582_000021:[12]
+023510_000008:[]
+007694_000017:[]
+018902_000015:[]
+015934_000030:[]
+003120_000029:[]
+014538_000011:[]
+024871_000019:[0, 2, 4]
+023050_000003:[1]
+006305_000014:[]
+010308_000008:[5]
+010985_000003:[]
+022710_000035:[]
+000168_000000:[6, 17]
+016582_000008:[9]
+006312_000035:[]
+000933_000024:[5]
+003166_000016:[]
+016991_000013:[]
+008177_000006:[]
+018639_000022:[]
+015926_000026:[2, 4, 14]
+015536_000012:[]
+009759_000014:[]
+004142_000000:[]
+008566_000022:[11]
+004425_000017:[]
+007445_000026:[]
+004473_000027:[]
+011453_000016:[9, 15, 16, 18]
+000763_000018:[19]
+017649_000031:[]
+014022_000017:[12]
+022456_000033:[13]
+022257_000007:[]
+014866_000026:[]
+019252_000001:[]
+013396_000011:[]
+013166_000015:[4]
+024660_000024:[1]
+019407_000008:[0, 2, 3, 4, 6, 8]
+024223_000012:[4, 14]
+004138_000039:[2, 4, 5, 13]
+006359_000024:[12, 16]
+001420_000039:[10]
+014885_000011:[4]
+017985_000024:[4]
+006050_000033:[3, 7]
+023930_000000:[5]
+016591_000027:[]
+010078_000024:[]
+003853_000033:[]
+008763_000000:[]
+020333_000019:[]
+011510_000019:[16]
+013636_000010:[8, 13, 14, 18]
+000424_000021:[7]
+007178_000017:[]
+009799_000035:[]
+000539_000009:[]
+024684_000028:[]
+024203_000026:[0, 12]
+020885_000011:[17]
+015279_000000:[10]
+012086_000028:[]
+024611_000036:[]
+010991_000004:[13]
+008525_000031:[]
+009854_000029:[]
+014793_000029:[]
+019128_000022:[3, 6, 14]
+015052_000022:[13]
+006928_000030:[4, 5, 14]
+012098_000017:[]
+020582_000023:[3, 4, 10, 18, 19]
+015289_000010:[1]
+005469_000012:[19]
+014053_000004:[8, 12]
+021305_000025:[]
+005778_000039:[5]
+011523_000017:[15, 19]
+010463_000014:[0, 1, 3, 5, 7, 8, 13, 15, 19]
+007804_000035:[5, 8, 9]
+024138_000020:[]
+009098_000034:[12, 14]
+021459_000032:[0, 2, 7, 13]
+015997_000027:[7, 11, 16, 17, 18]
+012283_000032:[]
+022317_000036:[12]
+015496_000020:[3]
+024010_000039:[]
+004676_000016:[]
+012968_000018:[]
+008797_000005:[3, 4, 6, 7, 8, 11, 18, 19]
+009730_000011:[]
+005601_000030:[8, 16]
+022900_000010:[7, 13, 15]
+022814_000002:[]
+011056_000032:[]
+023603_000030:[]
+013127_000008:[3]
+023866_000001:[]
+014154_000003:[9, 19]
+008400_000031:[1, 3, 15, 18, 19]
+009508_000020:[7, 15, 17]
+013503_000019:[]
+007001_000006:[]
+008791_000023:[]
+019678_000019:[]
+010872_000023:[]
+024946_000027:[7, 9, 13]
+009460_000039:[0, 6, 9, 14, 18, 19]
+023566_000013:[17]
+009252_000025:[2, 11, 14, 17]
+002803_000012:[]
+005330_000034:[]
+006327_000031:[1, 2, 8, 9, 11, 12, 18, 19]
+017925_000025:[2]
+016967_000009:[]
+016778_000004:[]
+017137_000009:[]
+000042_000006:[]
+007921_000038:[]
+024150_000006:[]
+009708_000003:[]
+016287_000004:[5]
+012388_000017:[3]
+023939_000009:[4, 7, 16]
+001268_000025:[9]
+011529_000039:[]
+004767_000005:[2]
+009396_000023:[]
+005614_000024:[15]
+017630_000002:[]
+003098_000025:[]
+020284_000034:[]
+023812_000035:[19]
+005722_000034:[4]
+001289_000008:[5, 13, 16]
+009000_000024:[]
+008445_000016:[4, 15]
+019961_000004:[]
+019600_000032:[]
+004596_000007:[7]
+013253_000026:[7]
+016030_000019:[]
+014020_000020:[3, 14]
+002875_000019:[3, 9, 11, 14]
+018047_000016:[18]
+008057_000024:[]
+005234_000011:[9]
+001970_000030:[]
+001745_000015:[]
+008972_000023:[4]
+008183_000039:[]
+021876_000023:[17]
+012439_000005:[]
+020389_000005:[4, 9]
+015539_000034:[17]
+006304_000025:[]
+018866_000002:[6]
+022782_000009:[]
+001219_000004:[]
+018962_000027:[6, 12, 14]
+015134_000017:[1, 8, 9]
+022497_000028:[5, 11, 12]
+015821_000016:[5, 10, 11, 13, 16]
+000858_000011:[]
+024846_000007:[10]
+006861_000036:[]
+022129_000011:[2, 18]
+013883_000033:[]
+016755_000026:[9]
+008057_000001:[1, 2, 6, 13, 14]
+008334_000039:[17]
+014858_000008:[7, 15]
+023352_000001:[10]
+018529_000039:[]
+024911_000031:[]
+014587_000021:[]
+010246_000032:[]
+003429_000030:[3]
+016044_000030:[5, 13, 19]
+002829_000020:[13]
+001868_000012:[4]
+017189_000029:[]
+003914_000035:[]
+015216_000001:[8]
+018227_000002:[]
+001122_000009:[9]
+016481_000015:[15]
+004504_000004:[11, 17, 19]
+020490_000034:[4]
+009956_000039:[]
+001882_000024:[16, 17]
+008874_000014:[]
+006126_000000:[]
+013018_000003:[]
+020125_000035:[3]
+011147_000024:[]
+006985_000026:[7]
+009914_000037:[]
+003067_000030:[11]
+001490_000009:[4, 9, 11, 14, 16]
+009538_000026:[]
+013161_000017:[]
+009722_000036:[]
+023775_000002:[]
+021553_000025:[1]
+011469_000031:[13, 17]
+016294_000036:[17]
+012624_000031:[]
+020435_000025:[2, 16]
+005380_000010:[]
+022713_000000:[]
+011955_000002:[]
+023890_000003:[9, 11, 13, 16]
+016417_000010:[18]
+007307_000025:[]
+005195_000010:[3]
+017224_000000:[9]
+011258_000012:[1, 3, 4, 5, 17]
+020402_000037:[]
+019364_000020:[]
+009597_000029:[]
+016922_000005:[2]
+006969_000000:[]
+005868_000032:[]
+003101_000038:[]
+023205_000039:[3]
+008687_000034:[]
+020350_000036:[13]
+010857_000003:[2, 14, 18]
+011580_000036:[8]
+004518_000000:[]
+000463_000003:[16]
+018832_000010:[7]
+010343_000027:[]
+023877_000028:[]
+004571_000035:[]
+007769_000002:[0, 1, 19]
+002021_000003:[2]
+022569_000010:[]
+004383_000013:[]
+021464_000032:[0, 7, 17]
+005469_000020:[11, 14]
+008920_000019:[16]
+024283_000003:[]
+014410_000000:[5, 11]
+016140_000035:[2, 12, 14]
+015131_000021:[6, 7]
+021628_000035:[]
+010107_000025:[]
+023568_000037:[]
+013221_000020:[]
+010027_000026:[]
+004707_000017:[11, 18, 19]
+004181_000016:[]
+006861_000033:[]
+020034_000018:[0]
+013827_000006:[11, 19]
+007610_000017:[]
+021317_000012:[]
+019804_000016:[15]
+006341_000026:[0, 10, 14]
+008877_000003:[]
+008579_000026:[10]
+022678_000001:[]
+020759_000004:[]
+021363_000028:[1, 19]
+010182_000033:[15]
+024966_000038:[8, 15]
+019141_000035:[]
+009644_000023:[12]
+010927_000004:[]
+004567_000032:[]
+000394_000027:[10]
+007528_000018:[]
+000874_000022:[]
+004087_000012:[]
+003521_000011:[7]
+007119_000026:[]
+017404_000014:[]
+014684_000004:[]
+011522_000001:[2, 6, 15]
+011514_000023:[]
+016842_000009:[]
+004138_000017:[]
+022252_000002:[]
+012100_000025:[]
+011693_000021:[]
+012748_000001:[]
+003911_000037:[1, 5, 10]
+020506_000015:[]
+000434_000008:[]
+004349_000018:[]
+014854_000036:[]
+022590_000021:[9, 17]
+017685_000005:[]
+001565_000002:[]
+010899_000036:[]
+018232_000026:[1, 11, 18]
+012376_000006:[]
+004957_000003:[4, 12, 19]
+024679_000016:[]
+005181_000031:[17]
+017992_000015:[]
+009444_000015:[]
+000664_000005:[18]
+024123_000001:[5]
+020287_000028:[]
+016366_000039:[17]
+014536_000008:[4]
+022515_000006:[]
+001625_000023:[]
+022820_000027:[]
+020842_000030:[1]
+018230_000000:[1]
+006675_000038:[4, 9]
+021662_000022:[]
+016727_000038:[1]
+023714_000003:[8, 17]
+005561_000031:[]
+014136_000030:[2, 4, 9, 13]
+010848_000025:[]
+012196_000012:[]
+014389_000000:[]
+013105_000035:[]
+020962_000029:[19]
+013905_000016:[]
+001251_000019:[4, 5, 14]
+011242_000031:[7, 10]
+022481_000015:[5]
+016985_000033:[9]
+022859_000016:[]
+000416_000021:[]
+022103_000036:[0]
+007678_000031:[3, 12, 16]
+012583_000033:[]
+017216_000037:[]
+005064_000036:[]
+003873_000001:[]
+020696_000028:[]
+015680_000030:[]
+011103_000036:[1, 18]
+010718_000008:[]
+021259_000024:[]
+004465_000028:[]
+023374_000009:[19]
+008189_000022:[]
+024482_000009:[]
+007971_000019:[]
+011116_000029:[]
+020626_000022:[]
+024463_000008:[]
+016376_000009:[]
+001999_000039:[18]
+021007_000034:[]
+010522_000030:[]
+015472_000001:[]
+006321_000034:[]
+019166_000006:[]
+003794_000024:[15]
+010228_000005:[16]
+006639_000033:[6]
+010890_000003:[]
+022893_000013:[9, 12, 18]
+021756_000026:[]
+005631_000005:[18]
+023106_000004:[]
+006405_000037:[]
+013951_000009:[]
+017215_000027:[18]
+004592_000011:[]
+000053_000020:[8]
+007638_000024:[]
+008329_000027:[3]
+024738_000002:[]
+018713_000006:[]
+006055_000020:[18]
+023007_000009:[11]
+010858_000003:[]
+021281_000034:[]
+019924_000009:[]
+017344_000029:[1, 6, 8, 14]
+007492_000032:[12, 13, 14]
+005037_000031:[]
+019760_000008:[]
+014778_000014:[6]
+019869_000028:[11]
+019763_000025:[14, 16]
+012502_000010:[]
+000015_000013:[]
+024310_000016:[1, 2]
+000285_000009:[]
+018148_000016:[11]
+021378_000018:[]
+019240_000007:[]
+002961_000004:[7]
+016250_000036:[]
+010120_000003:[18]
+019701_000034:[]
+003150_000022:[17]
+007904_000032:[]
+020638_000038:[]
+023370_000011:[7]
+020276_000021:[15]
+019247_000039:[]
+006097_000003:[]
+024199_000012:[]
+015116_000033:[7, 9]
+015192_000020:[13]
+010528_000034:[5]
+021212_000035:[4]
+002779_000039:[]
+014979_000019:[5]
+017400_000012:[]
+004006_000028:[11]
+007127_000006:[8]
+023506_000017:[0, 3, 4, 12, 18]
+006991_000014:[]
+005863_000014:[]
+015017_000022:[10]
+018709_000031:[4]
+009963_000006:[]
+001697_000000:[]
+007631_000009:[1]
+007029_000014:[3, 10]
+015500_000032:[]
+000686_000035:[2]
+019593_000034:[8, 19]
+012605_000009:[]
+017368_000026:[]
+005419_000036:[6]
+011970_000034:[4, 5]
+024050_000011:[1]
+021550_000038:[9]
+024807_000001:[]
+000012_000012:[6]
+005416_000028:[]
+005360_000039:[5]
+004099_000029:[7, 10, 16, 18]
+015915_000001:[]
+010845_000033:[]
+012541_000001:[]
+015041_000029:[7, 18]
+006730_000016:[]
+019459_000033:[]
+024728_000000:[]
+016293_000028:[]
+020789_000032:[7]
+008022_000000:[3, 11, 12]
+011687_000010:[]
+022385_000039:[4]
+021244_000008:[3, 15]
+022825_000022:[]
+001613_000008:[]
+006719_000028:[14]
+015796_000002:[]
+014183_000032:[]
+012492_000007:[]
+020842_000019:[]
+000623_000030:[8]
+007840_000006:[0]
+006640_000026:[]
+001165_000017:[16]
+021411_000037:[1, 4, 15]
+000973_000015:[2]
+020395_000037:[]
+010880_000027:[]
+004766_000014:[3]
+001664_000026:[]
+009107_000033:[6, 12, 16, 18, 19]
+011910_000023:[]
+009001_000029:[]
+011727_000031:[]
+014682_000023:[]
+018600_000009:[13, 19]
+007183_000037:[15]
+010526_000016:[4, 14]
+012042_000039:[4, 7]
+023064_000027:[11]
+010831_000034:[]
+003894_000038:[]
+016408_000032:[11]
+003245_000013:[11]
+007596_000015:[]
+005540_000032:[]
+022404_000033:[8]
+018366_000002:[]
+001436_000018:[]
+016924_000032:[2]
+011683_000006:[]
+013216_000033:[3, 7, 10]
+015578_000006:[]
+014125_000011:[18]
+021451_000039:[]
+023190_000013:[]
+003205_000036:[10]
+002026_000028:[1, 2, 12, 13]
+009243_000014:[]
+024578_000016:[]
+000251_000020:[]
+008062_000036:[2]
+006946_000024:[]
+010474_000027:[15, 19]
+014158_000031:[]
+023022_000005:[]
+022944_000036:[]
+021183_000031:[16]
+001766_000003:[]
+005869_000031:[13]
+012742_000029:[]
+021723_000012:[11, 13, 14, 15, 18]
+018430_000025:[8]
+019787_000029:[]
+002046_000037:[5]
+024486_000034:[4, 10, 14]
+006141_000007:[]
+000824_000030:[5, 6]
+002332_000029:[]
+022417_000039:[5, 9]
+012989_000002:[]
+007514_000011:[]
+020699_000007:[4]
+006086_000001:[16]
+002997_000008:[]
+003028_000025:[2, 4, 7, 9, 17]
+022341_000020:[]
+023932_000006:[2]
+005389_000030:[]
+007926_000001:[]
+015858_000037:[6]
+003312_000002:[4, 16]
+002121_000003:[12]
+010160_000015:[]
+013725_000027:[0, 5, 9, 10, 14, 15, 18]
+021778_000039:[1]
+021949_000012:[8]
+007523_000013:[5, 9, 11, 12]
+011211_000020:[3]
+002031_000025:[]
+001448_000038:[]
+000466_000015:[]
+015035_000017:[]
+020094_000014:[11]
+004067_000027:[]
+011703_000000:[15]
+005949_000026:[]
+000843_000004:[12]
+016652_000019:[]
+021418_000014:[]
+010530_000022:[3, 7]
+012288_000016:[]
+020113_000003:[0, 6, 15]
+008515_000031:[]
+000953_000000:[5, 10]
+022200_000014:[]
+010978_000029:[]
+024539_000003:[]
+024519_000039:[]
+022590_000007:[]
+002556_000005:[5, 6]
+022460_000007:[16]
+024359_000032:[]
+021068_000012:[0]
+018386_000032:[]
+003357_000017:[4, 11, 19]
+014417_000007:[]
+007006_000038:[0, 1, 3, 7, 8, 9, 12, 13, 16]
+002867_000026:[2, 16]
+019826_000029:[16]
+020650_000000:[0]
+003988_000027:[]
+020976_000033:[0, 1, 12, 14]
+010139_000013:[]
+003893_000009:[8]
+022175_000009:[]
+012813_000034:[11]
+001962_000034:[]
+000802_000015:[]
+003001_000027:[15]
+004522_000033:[]
+008199_000036:[5, 15, 17]
+013737_000020:[13]
+013464_000006:[1, 3, 15, 19]
+012515_000030:[]
+003142_000029:[]
+009311_000028:[]
+003069_000024:[]
+022760_000003:[]
+019369_000024:[]
+008856_000007:[]
+023303_000029:[]
+022409_000023:[1, 7, 8, 11, 14]
+010209_000004:[]
+005328_000025:[2, 16]
+008032_000022:[]
+007514_000029:[]
+019297_000038:[7]
+003374_000024:[]
+015585_000029:[15]
+012962_000003:[16]
+019396_000031:[]
+015452_000031:[6, 13]
+015527_000028:[3, 5]
+011185_000025:[17]
+002112_000022:[4, 5, 7, 8, 9, 10, 12]
+024683_000029:[]
+014345_000002:[7, 13]
+014789_000038:[]
+003131_000030:[11]
+017697_000002:[2]
+004714_000032:[2]
+008907_000006:[0, 10]
+007045_000032:[9, 16]
+016943_000024:[1, 5]
+015988_000015:[1, 4, 5, 12, 16, 17, 19]
+018626_000032:[]
+006308_000010:[]
+016218_000031:[]
+001913_000001:[2, 4, 5, 14, 19]
+017831_000024:[]
+010145_000010:[]
+021346_000014:[]
+024323_000030:[4, 8]
+002016_000039:[4]
+023642_000026:[]
+013638_000001:[]
+009945_000017:[]
+018033_000020:[2]
+002985_000031:[]
+002518_000032:[7, 12, 14, 19]
+009718_000027:[1, 2, 4, 10, 11]
+002347_000026:[8]
+022539_000010:[2, 4, 6, 10]
+002420_000035:[]
+001328_000003:[]
+018813_000027:[]
+000318_000030:[]
+007560_000006:[]
+008864_000032:[]
+011131_000013:[]
+011558_000020:[14]
+004460_000018:[]
+006480_000011:[0, 5, 16]
+003250_000005:[14]
+004764_000029:[]
+012324_000004:[]
+016338_000030:[]
+007024_000004:[]
+011248_000002:[8, 12, 16]
+021528_000034:[]
+019922_000010:[11]
+020004_000029:[]
+019137_000037:[]
+009447_000017:[]
+015690_000010:[9]
+022063_000009:[]
+000616_000029:[]
+016787_000007:[6, 16]
+000301_000002:[]
+018278_000021:[]
+011744_000030:[18]
+017015_000016:[]
+016286_000014:[15]
+013329_000022:[]
+009715_000009:[]
+014331_000022:[]
+018791_000037:[1]
+016195_000008:[]
+001515_000016:[]
+004471_000016:[2, 7, 12, 19]
+013942_000007:[13]
+019067_000033:[]
+007394_000016:[1, 13]
+023924_000004:[]
+013882_000004:[]
+006013_000019:[12]
+022912_000015:[3, 7]
+023638_000027:[]
+012215_000028:[]
+008711_000007:[]
+004791_000001:[2, 10, 12, 13]
+003096_000008:[]
+015044_000039:[]
+002286_000006:[]
+006217_000021:[]
+005492_000018:[18]
+019000_000011:[]
+021142_000012:[]
+004630_000012:[]
+016736_000026:[]
+006996_000002:[2, 3]
+007009_000022:[]
+019849_000032:[4]
+021084_000037:[15, 17, 19]
+013813_000018:[]
+021641_000012:[16, 18]
+022915_000035:[5]
+022651_000013:[15]
+006302_000022:[]
+023387_000039:[8]
+021894_000004:[0]
+000940_000031:[]
+018853_000031:[5, 11]
+022490_000010:[1, 4, 15]
+003253_000007:[9]
+003667_000005:[]
+004827_000028:[1, 3, 5, 6, 16]
+014656_000011:[0, 9, 17]
+004491_000014:[]
+016886_000027:[5, 6, 7, 9, 11, 14, 18]
+000155_000036:[7, 16]
+020497_000034:[7, 13]
+002927_000002:[18]
+013535_000036:[]
+005180_000028:[]
+014434_000023:[7, 9]
+019239_000037:[]
+011111_000031:[]
+023094_000036:[]
+003749_000029:[]
+009941_000007:[]
+005294_000004:[]
+017940_000023:[9, 18]
+023063_000034:[]
+002590_000035:[]
+010876_000026:[]
+023978_000027:[]
+016239_000034:[]
+024155_000025:[3]
+006933_000031:[]
+014474_000018:[]
+006279_000022:[3]
+013231_000008:[14]
+022665_000030:[5, 8, 11, 14, 15, 18]
+015201_000001:[]
+023620_000002:[10, 14]
+009646_000011:[]
+014127_000016:[15]
+013548_000034:[]
+021160_000024:[]
+010502_000007:[]
+016299_000002:[]
+016537_000021:[2]
+024461_000018:[]
+016457_000010:[]
+015846_000002:[]
+015921_000007:[8, 9]
+020635_000015:[]
+010658_000039:[1, 5, 7, 9, 10, 13, 14, 16]
+006572_000023:[]
+003644_000020:[]
+007793_000035:[]
+024089_000012:[]
+020554_000012:[2, 3, 5, 11, 14, 18]
+017684_000003:[2]
+001284_000017:[7]
+022543_000032:[9]
+023455_000007:[5]
+003767_000011:[10]
+012087_000019:[]
+021541_000036:[]
+014904_000004:[12, 15, 16]
+011159_000012:[]
+017673_000003:[4, 7, 8, 17, 19]
+017281_000011:[]
+012665_000001:[4]
+002407_000032:[16]
+017520_000000:[]
+011741_000011:[]
+017368_000023:[]
+017302_000008:[6]
+004064_000010:[]
+000731_000027:[10]
+018522_000026:[]
+011658_000005:[0, 4, 5, 7, 18]
+011355_000001:[1, 17]
+002752_000028:[]
+005967_000027:[]
+012135_000022:[]
+023167_000010:[15, 16]
+024699_000030:[]
+017279_000029:[6, 9]
+021052_000011:[10]
+015555_000021:[18, 19]
+003494_000008:[]
+022868_000037:[]
+023788_000016:[5, 10, 12]
+023860_000026:[]
+017184_000001:[3]
+016717_000017:[]
+016783_000020:[]
+004083_000023:[0, 11]
+007082_000027:[16]
+017367_000016:[]
+014536_000012:[]
+000591_000033:[6]
+006851_000018:[]
+004471_000030:[]
+021358_000033:[4]
+015888_000011:[]
+013694_000003:[]
+009481_000007:[]
+017004_000004:[]
+001764_000005:[9, 12, 14, 19]
+015416_000031:[]
+004815_000017:[]
+021934_000027:[2]
+007720_000031:[]
+006836_000038:[]
+006594_000001:[]
+009627_000029:[11, 16]
+012633_000003:[11, 13, 16, 19]
+006939_000031:[]
+006016_000009:[]
+008835_000022:[4, 8, 14]
+007577_000010:[]
+012796_000002:[]
+014024_000006:[]
+002118_000023:[]
+017757_000038:[9]
+016708_000028:[]
+000124_000016:[6, 13, 15]
+005298_000021:[6, 7, 19]
+016376_000013:[]
+012341_000036:[]
+022931_000038:[1]
+007000_000005:[7]
+003429_000027:[5]
+024322_000031:[]
+015668_000002:[]
+001157_000009:[4, 5, 10, 15, 16]
+005977_000014:[]
+006457_000013:[]
+016657_000013:[]
+003676_000022:[]
+024951_000028:[]
+018666_000000:[13]
+009975_000006:[]
+015880_000017:[]
+024067_000011:[3]
+008763_000031:[14, 18]
+018692_000003:[0]
+010100_000001:[7]
+001267_000021:[5]
+015479_000034:[3, 12]
+014598_000018:[]
+011860_000033:[]
+018487_000021:[15]
+005292_000004:[8]
+000241_000006:[]
+000528_000035:[]
+021477_000022:[13]
+004267_000018:[]
+017928_000001:[11]
+002691_000027:[]
+005158_000021:[]
+016776_000010:[1, 14]
+009086_000005:[9, 19]
+024493_000024:[2, 5]
+017132_000018:[]
+005760_000020:[]
+010980_000028:[]
+023825_000014:[4]
+004679_000031:[4, 18]
+022693_000020:[]
+020506_000038:[10, 17]
+001783_000004:[]
+018700_000030:[17]
+009347_000018:[10]
+014067_000029:[]
+004231_000016:[8]
+016658_000033:[11]
+004362_000012:[]
+023110_000028:[0, 16]
+019141_000024:[]
+021260_000020:[2, 10, 16]
+007049_000018:[12]
+011895_000000:[3]
+015099_000009:[]
+000358_000032:[]
+020042_000008:[]
+014169_000023:[4, 5, 13]
+008680_000017:[]
+015141_000012:[]
+011896_000037:[]
+022783_000007:[2]
+017845_000024:[]
+018765_000037:[]
+021143_000013:[]
+019509_000017:[]
+016942_000003:[]
+020135_000018:[9]
+021347_000027:[]
+013029_000008:[]
+009496_000034:[6, 9]
+016551_000005:[10]
+005213_000022:[16]
+013173_000037:[]
+017523_000008:[18]
+015974_000015:[]
+006587_000036:[9]
+007374_000014:[]
+021870_000023:[6, 7]
+005683_000028:[]
+017749_000024:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000568_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000568_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9495a04a1bd1950aa011891bb330d7c1077f04b2
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000568_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+002798_000011:[17]
+003676_000000:[6, 9, 19]
+005874_000029:[14]
+024469_000036:[]
+009346_000030:[0, 1, 12, 17]
+011042_000011:[]
+023104_000000:[13]
+011900_000005:[16]
+013672_000008:[9, 17]
+004008_000006:[18]
+012118_000005:[]
+010589_000006:[5, 11, 19]
+023926_000030:[]
+008743_000016:[]
+000680_000011:[1, 15]
+009513_000032:[4]
+018374_000010:[]
+001726_000008:[5]
+023988_000005:[0, 4, 9, 14]
+006227_000024:[]
+008705_000004:[]
+011968_000024:[]
+003914_000023:[]
+015083_000030:[]
+005442_000001:[10]
+016629_000036:[]
+016273_000004:[2, 8, 9]
+013905_000036:[]
+014724_000039:[]
+007741_000002:[]
+006277_000019:[6]
+006003_000032:[]
+016582_000018:[]
+002394_000029:[1, 10, 13]
+008063_000011:[13]
+018437_000022:[5]
+009107_000006:[]
+018263_000032:[]
+002899_000024:[]
+020951_000018:[3, 17]
+003723_000035:[]
+024101_000006:[5, 14]
+013140_000031:[]
+001289_000005:[]
+010030_000008:[]
+014037_000021:[]
+019334_000011:[]
+020797_000010:[]
+020980_000008:[]
+021441_000013:[]
+014730_000018:[]
+015054_000030:[9]
+004043_000014:[]
+005716_000023:[]
+010986_000023:[]
+001711_000024:[]
+010826_000013:[]
+011341_000029:[6, 9, 13, 16]
+009643_000021:[11, 13]
+007213_000031:[]
+014457_000008:[]
+024871_000018:[]
+006532_000001:[14]
+017860_000005:[]
+002863_000030:[]
+001110_000032:[3, 5, 6, 8, 10, 11, 14, 16, 19]
+001324_000002:[]
+020716_000009:[]
+001195_000001:[]
+014342_000023:[]
+006487_000023:[0, 18]
+013425_000014:[]
+008840_000033:[11, 13]
+005084_000001:[]
+021365_000030:[2, 7, 13]
+004948_000019:[]
+003488_000016:[]
+023659_000020:[]
+009094_000026:[7, 13]
+000167_000009:[]
+017002_000035:[]
+006618_000034:[]
+007627_000020:[]
+015375_000032:[]
+014486_000004:[]
+019990_000030:[]
+002645_000024:[]
+005135_000018:[3, 4, 12]
+024561_000015:[]
+022796_000015:[3]
+005572_000017:[1, 7]
+013637_000039:[]
+022867_000001:[]
+003472_000022:[]
+018591_000036:[]
+007599_000005:[2, 3]
+023166_000025:[11, 19]
+023028_000010:[]
+003599_000032:[]
+006910_000019:[]
+007058_000005:[7, 8]
+018870_000027:[1]
+023114_000000:[9]
+024673_000035:[17]
+018504_000023:[15, 19]
+014922_000026:[3, 18]
+002234_000032:[3, 6, 9, 13]
+009527_000028:[2, 3, 10, 11, 18]
+006750_000026:[]
+023211_000020:[]
+003135_000028:[16]
+000577_000039:[]
+016546_000018:[]
+012668_000010:[1, 6]
+020702_000032:[]
+009242_000039:[]
+020257_000013:[]
+009646_000030:[6]
+007543_000022:[]
+012065_000030:[3, 19]
+013250_000011:[]
+015542_000001:[]
+022933_000023:[0]
+009528_000021:[3, 8, 10, 12, 14, 16, 19]
+020539_000032:[]
+010003_000009:[]
+015123_000003:[]
+003539_000029:[]
+022010_000014:[0]
+015348_000002:[]
+023464_000008:[]
+011749_000028:[]
+002771_000029:[]
+001509_000014:[]
+015792_000019:[17]
+002708_000002:[9]
+000552_000006:[11]
+015395_000006:[6, 16]
+002606_000010:[3, 12, 13, 16]
+021242_000011:[8, 14]
+016450_000008:[]
+001744_000013:[7]
+021493_000027:[]
+008933_000007:[0, 2, 4, 8, 16, 19]
+014773_000034:[4, 18]
+009957_000022:[8, 9]
+008387_000038:[3]
+009331_000021:[]
+017139_000009:[]
+003128_000016:[]
+020734_000008:[]
+004894_000021:[3, 11, 17]
+010751_000020:[]
+001437_000026:[10, 12]
+011675_000023:[3]
+014698_000005:[]
+015488_000004:[2, 3]
+023277_000021:[]
+010980_000026:[]
+011321_000025:[]
+022212_000006:[4, 6, 8, 11, 13, 15, 16, 18, 19]
+006638_000008:[]
+021054_000009:[]
+014756_000016:[]
+007444_000014:[]
+001981_000018:[12, 13, 15, 19]
+020905_000007:[]
+007769_000023:[]
+015992_000015:[5, 8]
+018554_000038:[5, 15]
+009490_000019:[1, 14]
+014218_000038:[0, 11, 12]
+002706_000010:[12, 15]
+009714_000023:[1, 2, 3, 10, 12, 13, 15, 19]
+015797_000013:[2]
+001710_000029:[]
+010625_000017:[1, 15, 18]
+000528_000000:[]
+014585_000017:[1, 6]
+017212_000019:[]
+007969_000031:[]
+016217_000008:[]
+022813_000028:[]
+024158_000026:[3, 7, 11, 16, 18]
+015090_000018:[]
+020021_000015:[]
+023496_000003:[]
+006359_000028:[12, 17]
+006688_000011:[1]
+021816_000036:[3, 4, 7, 18]
+014699_000034:[]
+002147_000032:[]
+000753_000016:[]
+016218_000023:[5]
+007944_000020:[]
+024483_000029:[13]
+012789_000028:[9]
+007758_000018:[]
+006037_000033:[]
+003416_000026:[2]
+019246_000004:[]
+023019_000025:[]
+008744_000005:[7, 13]
+008608_000030:[16]
+014600_000006:[]
+008251_000011:[19]
+012581_000034:[]
+004913_000028:[13]
+002789_000035:[4]
+005569_000021:[]
+023043_000021:[0, 15, 18]
+019015_000023:[]
+008869_000029:[10, 13]
+024227_000036:[5, 11, 12, 13]
+009223_000020:[]
+005658_000018:[7, 15]
+009545_000000:[]
+016559_000004:[]
+021773_000021:[]
+003103_000019:[1, 3, 14]
+013385_000030:[]
+014759_000025:[]
+011660_000031:[]
+012303_000008:[0, 13]
+018827_000011:[]
+000451_000018:[1, 14]
+022455_000036:[14]
+003920_000004:[14]
+014228_000036:[]
+009017_000030:[3, 8, 18]
+012029_000019:[]
+024007_000018:[]
+011664_000013:[1]
+014671_000004:[]
+020873_000003:[10, 13, 19]
+002531_000033:[0]
+020860_000019:[1, 2, 7, 16]
+006294_000001:[]
+011366_000035:[0]
+007062_000000:[]
+023487_000014:[]
+011931_000033:[]
+007988_000017:[]
+000358_000015:[]
+011880_000006:[]
+000047_000020:[]
+007317_000017:[2, 7, 9, 13]
+015655_000022:[5]
+006761_000007:[]
+001332_000033:[]
+024567_000034:[10]
+017306_000002:[1]
+024405_000013:[]
+010628_000005:[]
+004269_000028:[]
+021783_000016:[]
+017093_000016:[]
+020569_000007:[]
+009125_000024:[]
+002107_000019:[]
+015480_000016:[]
+006845_000025:[]
+018169_000012:[]
+020425_000002:[]
+010506_000023:[16]
+016555_000013:[7]
+020143_000006:[9, 11]
+008435_000029:[]
+010377_000026:[1, 6]
+015221_000020:[]
+003576_000023:[4]
+009921_000022:[]
+014950_000014:[6, 14]
+000739_000022:[]
+010010_000006:[3, 12, 16, 18]
+008559_000032:[3, 8, 9, 10, 13, 15, 16, 17]
+008064_000029:[]
+013920_000038:[8]
+000681_000017:[]
+020307_000038:[]
+005477_000001:[]
+005474_000014:[]
+013646_000013:[5, 8, 11, 12]
+015952_000027:[]
+020342_000016:[]
+021376_000017:[4]
+019336_000033:[1]
+000520_000017:[1, 6, 8, 18]
+009587_000032:[4, 6, 7, 15, 16, 17, 18]
+005804_000022:[]
+014765_000039:[]
+010063_000004:[1, 19]
+005022_000001:[7, 19]
+011858_000037:[]
+020231_000017:[18]
+001845_000010:[4]
+008849_000028:[]
+005625_000018:[]
+014948_000019:[8]
+007778_000001:[0, 2, 9]
+007290_000007:[8]
+008753_000023:[]
+003121_000008:[]
+000992_000019:[]
+013136_000020:[7, 16]
+024369_000036:[12]
+021001_000005:[15]
+013422_000031:[]
+003114_000018:[]
+005329_000037:[0, 3, 5, 15]
+010014_000030:[14, 15, 18]
+011682_000010:[]
+009962_000013:[]
+012397_000033:[]
+012710_000022:[8, 18]
+001539_000029:[]
+022370_000005:[]
+012303_000013:[0, 2, 8, 11, 19]
+013970_000033:[]
+014355_000031:[3, 4, 5, 8, 14, 15]
+020921_000017:[8]
+012459_000030:[6, 13]
+004614_000018:[]
+006861_000007:[10]
+015176_000011:[4, 19]
+022587_000026:[]
+011060_000012:[4, 9, 12, 14]
+000219_000038:[]
+016579_000026:[]
+019017_000016:[]
+003881_000023:[]
+009708_000027:[]
+012081_000007:[]
+011044_000000:[]
+023886_000014:[11]
+010107_000001:[]
+017330_000023:[0, 7, 10, 14]
+016355_000002:[]
+010165_000034:[]
+023738_000031:[0]
+005254_000027:[]
+000705_000015:[]
+022622_000006:[]
+011140_000032:[]
+021847_000000:[8]
+001000_000032:[16]
+002363_000034:[]
+008641_000020:[7, 8]
+006825_000015:[1]
+018277_000036:[]
+016981_000005:[]
+013538_000001:[1, 3, 4, 6, 7, 8]
+004671_000023:[]
+023055_000008:[1, 2, 9]
+013266_000016:[]
+023901_000038:[]
+012739_000027:[5, 11, 13]
+011800_000002:[]
+002911_000031:[]
+006373_000004:[12]
+023661_000034:[]
+010137_000014:[]
+017601_000016:[5, 6, 9]
+008880_000008:[9]
+021148_000024:[]
+014632_000032:[0, 1, 8, 10, 18]
+007223_000014:[]
+001689_000005:[0, 8, 12, 13]
+017216_000023:[]
+001031_000025:[10]
+007144_000035:[]
+018298_000019:[]
+006447_000018:[16]
+020821_000034:[1, 6, 14]
+015652_000028:[0, 5, 9, 17, 18, 19]
+017519_000027:[10]
+001425_000028:[10]
+021988_000039:[]
+009478_000007:[]
+024705_000034:[]
+021958_000011:[]
+013740_000005:[]
+011811_000007:[]
+010815_000018:[]
+002588_000022:[]
+020428_000027:[]
+001113_000024:[]
+023926_000027:[0, 4]
+004554_000009:[]
+022232_000005:[1, 4, 9, 10, 11, 13, 14, 16, 17, 18]
+016112_000005:[]
+017109_000002:[11]
+004465_000022:[]
+004616_000004:[]
+009927_000038:[]
+011020_000031:[]
+016670_000016:[]
+009054_000003:[]
+024414_000004:[13]
+021660_000036:[]
+016912_000037:[]
+020441_000000:[]
+019383_000031:[]
+017460_000011:[]
+018634_000015:[]
+000260_000031:[1]
+008518_000002:[0, 5, 12]
+014826_000033:[12, 17]
+012876_000000:[6, 9]
+006541_000004:[]
+006710_000028:[]
+021975_000038:[]
+017602_000016:[]
+006035_000005:[0]
+010422_000008:[11]
+023000_000001:[]
+007170_000007:[6, 8, 12, 13]
+014992_000020:[]
+013947_000023:[]
+002807_000014:[1]
+004343_000031:[]
+004446_000018:[]
+021551_000031:[7]
+001668_000028:[]
+016623_000037:[]
+013985_000039:[]
+013338_000024:[]
+001789_000037:[]
+009764_000035:[]
+011193_000037:[]
+022215_000013:[10]
+009528_000030:[]
+000561_000004:[]
+007383_000021:[13]
+022116_000016:[]
+018961_000003:[0]
+021085_000010:[16, 19]
+017197_000004:[]
+004291_000000:[9, 12, 13, 16]
+006610_000018:[10]
+014405_000034:[15]
+019843_000026:[]
+000875_000003:[]
+005340_000029:[2]
+004634_000001:[]
+013585_000014:[1, 5, 15]
+005627_000002:[]
+007084_000033:[]
+020391_000030:[]
+007999_000000:[]
+001321_000018:[1, 18]
+007673_000005:[4]
+014940_000013:[13, 16, 18]
+021388_000014:[]
+000277_000034:[17, 18]
+002592_000039:[]
+018586_000012:[]
+019873_000024:[9]
+006230_000038:[]
+002898_000024:[3, 4, 6, 11, 12, 16, 18, 19]
+008535_000026:[]
+016988_000011:[]
+006871_000022:[]
+021586_000030:[]
+015872_000004:[]
+001316_000020:[]
+022986_000008:[]
+023549_000019:[]
+013651_000014:[]
+010309_000019:[]
+021592_000011:[0, 1, 7, 8, 9, 10]
+007775_000011:[18]
+013462_000030:[14]
+000284_000011:[]
+013516_000022:[8, 11]
+002295_000012:[12, 19]
+001798_000007:[10]
+005118_000007:[]
+003407_000020:[11]
+012241_000032:[]
+015397_000038:[1, 5, 6, 10, 11, 13, 14]
+000135_000005:[]
+013721_000011:[]
+017077_000004:[]
+006514_000009:[10]
+009346_000035:[2, 6, 10, 15, 19]
+018000_000013:[10]
+009285_000020:[2, 7, 9, 10]
+007823_000010:[]
+003852_000003:[]
+000832_000035:[]
+019788_000014:[10]
+012532_000020:[7, 11, 15]
+017409_000011:[14]
+023214_000029:[]
+015735_000007:[3, 6, 18]
+006981_000017:[2, 3]
+000790_000029:[]
+005255_000037:[]
+017698_000030:[10, 12, 19]
+008942_000027:[15]
+012291_000030:[15, 19]
+011725_000014:[17]
+012404_000020:[3, 10]
+008569_000000:[0, 2, 14]
+017548_000022:[]
+009010_000033:[2, 9]
+006606_000030:[]
+016254_000031:[]
+004755_000013:[]
+016183_000037:[13]
+007856_000022:[]
+015264_000032:[1, 2, 16]
+020166_000033:[]
+009618_000008:[5, 9, 11, 13]
+021097_000011:[]
+017302_000024:[15]
+005343_000029:[16]
+019085_000018:[11, 15]
+021550_000034:[]
+008830_000015:[12]
+009027_000012:[1]
+001484_000016:[]
+024373_000030:[]
+021232_000038:[3]
+010871_000030:[]
+016635_000016:[]
+017770_000013:[]
+019992_000005:[]
+023797_000011:[]
+014133_000038:[8, 11]
+000786_000023:[]
+024162_000033:[12]
+009733_000020:[3]
+008154_000016:[4, 10, 12, 13, 14, 16]
+017936_000030:[14]
+018770_000034:[]
+002331_000026:[17]
+012619_000013:[]
+006295_000024:[2, 4, 8, 9, 17, 18]
+015882_000020:[16]
+020465_000011:[]
+005444_000007:[]
+004239_000036:[7, 11]
+018759_000016:[10]
+001271_000032:[17]
+016760_000015:[]
+024160_000027:[18]
+003052_000027:[17]
+001141_000016:[1, 9]
+015266_000037:[]
+019875_000033:[]
+012758_000003:[16]
+014287_000027:[]
+000504_000007:[1]
+001950_000038:[18]
+006214_000013:[]
+018747_000035:[19]
+000735_000000:[]
+005293_000011:[]
+012846_000009:[12]
+016445_000011:[]
+009676_000028:[2]
+022760_000032:[]
+022732_000039:[]
+015086_000000:[12, 18]
+010369_000006:[]
+008621_000006:[]
+017636_000025:[7]
+014466_000002:[7, 15, 16, 18]
+010458_000004:[]
+013413_000027:[9]
+023422_000034:[]
+019020_000035:[10]
+021264_000025:[]
+009151_000027:[]
+015036_000027:[3]
+012646_000010:[1]
+009554_000015:[]
+004988_000037:[4]
+024375_000021:[5]
+019450_000021:[]
+010832_000007:[16]
+012229_000037:[]
+007751_000026:[8, 12]
+020996_000001:[]
+017513_000025:[]
+011604_000002:[11]
+003342_000039:[]
+001673_000035:[8]
+020991_000021:[]
+020571_000034:[]
+009199_000001:[]
+003103_000017:[]
+014512_000018:[8, 18]
+016879_000026:[]
+014386_000028:[]
+000187_000034:[19]
+000053_000015:[]
+022216_000039:[]
+008353_000002:[]
+021587_000000:[]
+023036_000029:[]
+006838_000022:[]
+001687_000033:[]
+024365_000031:[5]
+015694_000016:[]
+004906_000018:[9]
+008351_000039:[]
+007518_000030:[]
+003161_000019:[]
+004769_000004:[4]
+004106_000039:[0, 6, 7]
+005530_000022:[]
+019502_000014:[]
+008110_000033:[3, 7, 17]
+017932_000031:[]
+017055_000021:[]
+013674_000028:[0, 2, 5, 6, 8, 10, 14, 16, 18, 19]
+006988_000027:[]
+010876_000033:[]
+011737_000010:[]
+000135_000024:[]
+016830_000030:[]
+002093_000033:[18]
+008814_000036:[]
+024898_000003:[]
+001669_000005:[]
+007585_000024:[]
+024677_000018:[]
+016869_000030:[13]
+022572_000035:[]
+017705_000008:[]
+018729_000038:[]
+015774_000036:[7, 11, 13]
+022130_000033:[]
+014250_000031:[]
+003499_000019:[]
+004031_000012:[12]
+023163_000014:[10]
+002885_000004:[]
+017008_000038:[]
+015752_000011:[]
+016635_000009:[]
+002200_000033:[1]
+018754_000024:[]
+001376_000007:[0, 5, 8, 14, 15, 16]
+003955_000022:[]
+011680_000015:[13, 19]
+004124_000015:[0, 11, 14]
+016359_000032:[6, 16]
+011134_000028:[11]
+023452_000036:[]
+019790_000003:[1, 5]
+011621_000037:[2]
+010759_000032:[6, 11, 15, 19]
+009248_000034:[5, 9, 10, 11]
+002986_000016:[5]
+005315_000026:[2]
+023727_000014:[13]
+002143_000039:[]
+005122_000035:[5, 8]
+015535_000022:[1, 10, 16]
+008977_000019:[]
+015251_000035:[13, 16]
+000958_000034:[2, 8, 14]
+015341_000006:[]
+023872_000025:[11]
+023007_000033:[]
+007863_000017:[0, 1, 5, 6, 16, 17]
+019976_000025:[6, 11]
+018015_000014:[]
+019287_000036:[]
+013710_000027:[]
+024920_000009:[1, 8, 12]
+024076_000017:[]
+015522_000003:[3, 7, 9, 11, 14, 19]
+011851_000003:[]
+015549_000025:[]
+023861_000015:[]
+021372_000005:[9, 11]
+008514_000018:[14]
+006162_000000:[11, 16]
+012513_000026:[3, 7, 11]
+008473_000006:[17]
+011642_000020:[]
+024897_000001:[16]
+004193_000008:[]
+000286_000024:[0, 8]
+005003_000037:[]
+002515_000032:[8, 9, 10]
+024231_000003:[9]
+007806_000011:[]
+021943_000031:[]
+008784_000005:[]
+006906_000032:[]
+006896_000000:[11, 17]
+024134_000012:[]
+008675_000015:[5, 9, 11, 12]
+015472_000020:[19]
+017902_000038:[]
+020772_000024:[]
+014043_000027:[0]
+022763_000020:[]
+010737_000003:[5, 15, 18, 19]
+004605_000021:[0, 1, 8, 9, 15]
+011386_000032:[]
+012909_000012:[]
+002571_000027:[]
+024083_000002:[]
+014624_000034:[9, 11, 17]
+002068_000005:[]
+016171_000000:[]
+022258_000030:[4, 17]
+017232_000032:[]
+021069_000038:[]
+022699_000010:[]
+012420_000000:[]
+007247_000034:[14]
+009744_000019:[]
+009800_000034:[]
+018612_000029:[]
+010851_000037:[]
+008737_000025:[]
+006431_000011:[]
+003166_000035:[]
+023564_000008:[]
+006104_000017:[]
+014387_000035:[5, 9, 14]
+011209_000033:[6]
+018609_000023:[11]
+021800_000022:[]
+024740_000003:[]
+011088_000025:[4]
+015700_000007:[]
+016637_000032:[0]
+024445_000020:[]
+009838_000003:[]
+014489_000024:[]
+006282_000023:[]
+011284_000018:[]
+017635_000012:[13]
+012742_000034:[]
+001463_000025:[]
+000852_000025:[2, 8, 9, 15]
+001696_000020:[]
+011407_000024:[2, 8, 17]
+018861_000008:[15, 18]
+004229_000017:[8, 10]
+023783_000005:[]
+022954_000019:[]
+007031_000034:[]
+023154_000000:[]
+021551_000032:[7]
+014136_000006:[0, 2, 3, 4, 6, 9, 18]
+009429_000017:[]
+009909_000026:[]
+011513_000021:[9]
+007521_000030:[14, 15, 18]
+007013_000006:[]
+007321_000024:[]
+000359_000014:[]
+000682_000005:[8, 12, 14]
+017507_000016:[]
+005597_000039:[]
+020820_000035:[]
+012496_000007:[]
+004721_000025:[8]
+000147_000031:[3]
+024529_000027:[3, 10, 14]
+013218_000010:[7]
+020397_000030:[6, 9, 13, 17, 19]
+004696_000038:[]
+019731_000022:[]
+006777_000023:[11, 14]
+004442_000031:[]
+005916_000024:[0, 2]
+017095_000025:[5, 17]
+010717_000036:[1, 11]
+012480_000029:[3, 13, 15]
+020489_000034:[]
+017034_000005:[]
+015518_000024:[]
+002856_000011:[]
+011196_000018:[]
+009627_000005:[]
+006479_000035:[]
+021943_000012:[]
+022379_000036:[4]
+019923_000025:[1]
+024947_000033:[5, 13, 17, 18]
+021281_000005:[0, 5, 6, 16]
+007850_000021:[]
+021746_000011:[15]
+018291_000038:[]
+003199_000018:[]
+001854_000014:[4]
+007793_000024:[]
+024028_000013:[]
+020922_000024:[0, 3, 13, 14, 16]
+022573_000028:[]
+016764_000021:[15]
+007213_000008:[]
+004841_000035:[0, 9, 18]
+008494_000001:[2, 13]
+024988_000032:[]
+021038_000004:[]
+006470_000007:[]
+007310_000013:[2, 12, 14]
+022736_000011:[]
+007486_000038:[]
+020972_000024:[6, 8]
+012528_000003:[]
+012301_000002:[1, 7, 8, 13, 14, 18]
+003348_000023:[13, 18]
+008242_000024:[]
+019128_000030:[]
+013890_000016:[]
+023175_000022:[]
+023910_000036:[]
+017277_000014:[]
+008720_000005:[]
+006077_000009:[11, 15]
+023807_000001:[11]
+010966_000005:[0, 8, 18]
+018167_000013:[]
+017116_000038:[5, 6, 18]
+024604_000035:[12, 13, 15, 17, 19]
+005837_000025:[]
+012445_000020:[7, 13]
+000042_000018:[4, 8, 15]
+016227_000005:[]
+017522_000025:[1]
+010164_000015:[]
+010965_000020:[]
+011945_000012:[]
+001524_000032:[]
+009876_000028:[1, 8, 10, 11, 14, 19]
+023760_000013:[]
+013091_000037:[3]
+017770_000032:[8]
+019029_000015:[]
+008084_000018:[0, 3, 6, 9, 10, 11, 13]
+015033_000005:[5]
+011941_000024:[9]
+005076_000007:[]
+006103_000006:[6, 11]
+020755_000025:[]
+016921_000005:[]
+012807_000019:[]
+006473_000004:[]
+010820_000024:[11]
+020496_000007:[]
+024477_000027:[]
+022531_000005:[]
+012792_000029:[6]
+018343_000005:[]
+007246_000003:[3, 9]
+009939_000031:[10]
+021068_000018:[]
+021277_000033:[]
+009921_000030:[7]
+020488_000024:[]
+019064_000010:[]
+013278_000039:[18]
+000339_000011:[7]
+012659_000021:[]
+016472_000010:[18]
+003656_000011:[]
+000248_000008:[]
+013994_000027:[]
+004500_000010:[]
+019551_000015:[13, 19]
+008583_000012:[]
+017966_000024:[0, 3, 8, 17]
+010601_000021:[1, 3, 11, 19]
+020300_000013:[]
+002046_000017:[]
+000127_000017:[]
+004286_000026:[4]
+016420_000009:[]
+004825_000003:[]
+017292_000028:[]
+023027_000035:[]
+007454_000015:[]
+011086_000005:[]
+019976_000013:[6, 9, 10, 13]
+019377_000020:[]
+014473_000028:[19]
+016794_000004:[]
+013763_000036:[]
+006396_000027:[]
+008107_000013:[10]
+023268_000000:[14]
+007401_000035:[]
+013971_000025:[]
+004223_000027:[]
+007473_000003:[11]
+012992_000002:[]
+017965_000026:[]
+006094_000002:[1, 8]
+003382_000036:[]
+018928_000020:[]
+015104_000025:[]
+018830_000005:[]
+012616_000021:[1, 6, 8, 13, 19]
+008033_000001:[]
+010720_000000:[]
+005647_000028:[]
+003725_000015:[6, 14]
+001355_000001:[]
+000013_000025:[]
+002825_000004:[9]
+020600_000026:[]
+022164_000006:[2, 3]
+005458_000022:[1, 3]
+005751_000033:[1, 8, 9, 14, 15, 19]
+000008_000032:[]
+014175_000027:[]
+017440_000003:[]
+003109_000007:[16]
+002079_000021:[]
+008978_000012:[13]
+015326_000015:[0]
+000017_000031:[10, 12]
+001158_000033:[1, 10, 11, 18]
+003783_000019:[]
+016659_000001:[]
+001274_000021:[]
+021394_000002:[8]
+007327_000018:[15]
+014293_000012:[]
+012421_000030:[]
+014981_000001:[6]
+003913_000008:[5, 8, 15]
+001506_000038:[]
+014246_000031:[3]
+007084_000036:[]
+012840_000025:[]
+017397_000017:[]
+012914_000023:[8]
+002236_000028:[]
+008692_000013:[]
+009973_000008:[]
+011191_000028:[2, 12]
+021091_000034:[]
+005063_000025:[9, 13, 14, 18]
+023383_000013:[]
+007885_000008:[8]
+015082_000026:[]
+018088_000033:[14]
+003179_000024:[]
+000091_000001:[0, 11]
+019464_000010:[2, 13, 14]
+000086_000035:[]
+013873_000023:[]
+010703_000031:[1]
+024691_000016:[]
+024852_000028:[1]
+005437_000002:[]
+023736_000020:[]
+012604_000022:[]
+002608_000022:[]
+003053_000024:[]
+005537_000024:[]
+008074_000024:[]
+002380_000012:[]
+011913_000033:[1, 8]
+022572_000019:[]
+006668_000027:[]
+020671_000016:[]
+000191_000033:[]
+010324_000027:[2]
+006150_000033:[6]
+019388_000009:[]
+002315_000016:[]
+022577_000001:[]
+005508_000036:[]
+017351_000001:[]
+008682_000012:[2, 4, 6, 12]
+001264_000014:[3, 8]
+016606_000038:[13]
+001823_000030:[3, 16]
+004397_000003:[9, 13]
+024997_000021:[]
+017322_000009:[0]
+020946_000020:[]
+013144_000031:[]
+020684_000003:[0, 1, 10]
+004308_000027:[1, 2, 4, 5, 6, 9, 10, 14]
+015846_000023:[7]
+001247_000020:[]
+006922_000004:[18]
+020443_000027:[0]
+004997_000039:[8]
+007291_000036:[]
+008757_000024:[5, 6, 10, 13]
+004037_000014:[7, 9]
+006862_000000:[]
+005465_000006:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000572_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000572_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..169d7a50e5ecfcf09d5b4993f43e3117835f653e
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000572_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+021192_000000:[]
+012064_000009:[]
+001512_000027:[0, 1]
+014600_000025:[]
+000185_000024:[]
+018200_000038:[19]
+007250_000034:[6, 13]
+011394_000033:[9, 15]
+000478_000025:[15]
+011636_000001:[]
+001594_000036:[14]
+001875_000022:[0, 2, 6, 15]
+017312_000031:[18]
+000768_000026:[]
+020268_000017:[5]
+019693_000021:[]
+007170_000023:[]
+023826_000011:[12, 17]
+004659_000031:[]
+006110_000001:[]
+018752_000016:[]
+007772_000003:[2, 6, 8, 14]
+023116_000008:[]
+016263_000023:[]
+013530_000009:[1]
+016176_000006:[3, 7]
+016974_000008:[17]
+020125_000039:[]
+018282_000037:[0, 9, 11]
+006103_000019:[]
+009689_000036:[]
+023406_000019:[5, 6, 15]
+003753_000037:[]
+006287_000005:[]
+016372_000025:[5, 7, 8]
+006247_000038:[]
+013698_000027:[7]
+019957_000031:[]
+022176_000018:[]
+009602_000033:[]
+017111_000030:[18]
+007494_000009:[]
+010428_000014:[9, 19]
+013839_000010:[16]
+002941_000019:[]
+007255_000036:[1, 19]
+024271_000018:[0, 5, 7]
+021273_000035:[]
+014020_000027:[3, 9, 14]
+002872_000006:[8, 11, 17]
+005457_000016:[]
+016536_000017:[]
+003453_000009:[11]
+009368_000007:[0, 3, 6, 10, 13, 16, 18]
+012385_000008:[]
+022063_000015:[]
+013551_000034:[]
+014248_000014:[0, 7]
+015198_000018:[0, 2, 5, 6, 8, 11, 12, 15]
+021003_000010:[6, 7, 8, 9]
+013806_000010:[]
+020681_000004:[]
+006130_000006:[]
+002728_000002:[]
+023947_000037:[]
+004718_000018:[]
+008920_000015:[3, 8]
+006847_000016:[]
+002920_000007:[]
+000832_000038:[15]
+004257_000031:[11]
+008572_000025:[2, 6, 13, 19]
+008601_000025:[15]
+007105_000031:[]
+017973_000032:[8, 18]
+005613_000015:[7]
+014407_000029:[4]
+023281_000010:[4]
+024775_000010:[]
+021459_000025:[5]
+021793_000003:[5, 6, 8, 10]
+012625_000008:[1]
+000887_000033:[3]
+020838_000002:[]
+001550_000013:[]
+022752_000026:[]
+019622_000025:[]
+002179_000016:[]
+021829_000025:[]
+001641_000015:[0, 4, 8, 9, 12]
+009452_000014:[1, 13]
+007263_000010:[]
+008379_000022:[]
+005952_000030:[1]
+018330_000024:[]
+009350_000037:[]
+001478_000028:[]
+009994_000034:[1, 6]
+011172_000034:[]
+015184_000018:[16]
+003166_000010:[7]
+014173_000019:[]
+015251_000014:[1, 4]
+023965_000008:[6]
+014725_000007:[]
+015534_000035:[]
+001832_000017:[2, 5, 9, 15]
+018425_000032:[6]
+004403_000020:[3]
+023989_000003:[2]
+002525_000038:[]
+019167_000036:[8]
+007357_000020:[]
+010893_000022:[]
+003538_000014:[]
+013331_000022:[]
+009946_000013:[]
+018280_000022:[]
+009380_000030:[2, 10]
+012624_000014:[]
+017703_000037:[]
+002362_000008:[8, 11]
+003077_000020:[]
+014138_000027:[1, 5, 7, 12, 13]
+009986_000012:[]
+014531_000021:[2]
+003254_000026:[0, 3, 6, 7, 12]
+023700_000007:[6, 10, 13, 15]
+009714_000014:[12]
+016151_000000:[]
+011734_000013:[4, 9, 12, 18, 19]
+009183_000029:[]
+008542_000033:[]
+001033_000013:[]
+023998_000018:[]
+012646_000028:[]
+006545_000038:[0, 1, 2, 4, 15, 17]
+015503_000024:[]
+022490_000006:[]
+016769_000014:[]
+017056_000034:[7, 11, 13]
+020572_000037:[5, 7, 18]
+012844_000010:[]
+010788_000001:[]
+023980_000000:[10]
+007981_000026:[]
+016795_000022:[]
+008939_000022:[]
+011170_000013:[]
+006612_000032:[]
+014408_000033:[]
+022576_000021:[0, 3, 14, 19]
+008640_000039:[]
+016992_000023:[2, 5, 14, 19]
+016211_000021:[]
+000749_000037:[]
+004983_000003:[11]
+013977_000010:[]
+003397_000034:[]
+021062_000010:[]
+014669_000034:[]
+007434_000003:[]
+005105_000017:[]
+019674_000026:[]
+013520_000025:[]
+016481_000029:[0, 15, 19]
+005240_000028:[1, 3, 6]
+005358_000020:[]
+020698_000006:[]
+001144_000033:[]
+008114_000038:[]
+017787_000014:[5, 8]
+008043_000017:[]
+021217_000020:[18]
+016444_000027:[8, 9]
+021876_000018:[3, 18]
+017977_000017:[0]
+015468_000036:[]
+018223_000027:[7]
+006757_000014:[]
+018680_000023:[19]
+004503_000020:[]
+005370_000018:[]
+021153_000026:[]
+017639_000039:[]
+012054_000022:[]
+012889_000024:[]
+000580_000015:[]
+024798_000007:[]
+017838_000035:[]
+020032_000007:[18]
+015062_000029:[]
+010451_000036:[]
+013971_000027:[]
+006186_000001:[]
+018484_000023:[]
+016138_000005:[1]
+005052_000017:[5]
+002658_000006:[3]
+010289_000039:[]
+007707_000013:[5]
+016124_000025:[]
+018231_000024:[3, 7, 14, 16, 18]
+007156_000005:[]
+009051_000019:[12]
+001603_000030:[]
+009981_000000:[]
+020348_000014:[4, 9, 11, 13, 15, 16, 19]
+005693_000020:[4, 15, 19]
+020917_000025:[]
+020386_000034:[]
+017938_000033:[]
+020790_000000:[1, 9]
+024738_000037:[]
+000326_000020:[]
+017089_000013:[]
+021125_000016:[]
+004398_000005:[]
+010158_000021:[]
+023767_000038:[]
+022006_000017:[]
+020384_000036:[]
+009011_000006:[7]
+002622_000011:[]
+012358_000027:[0, 8]
+019336_000012:[]
+023440_000029:[]
+002454_000011:[]
+008579_000021:[16]
+007015_000025:[]
+000132_000005:[]
+000727_000001:[8]
+020708_000018:[]
+003556_000020:[14]
+013934_000019:[]
+010383_000006:[11]
+003880_000004:[0, 8, 18]
+003861_000009:[]
+016613_000030:[9, 14]
+016195_000029:[3, 11]
+006275_000032:[1, 12]
+014058_000028:[16]
+022499_000037:[]
+024080_000035:[5, 12]
+022155_000018:[]
+004839_000026:[]
+009515_000001:[]
+006356_000016:[]
+007886_000024:[2, 14]
+005577_000033:[]
+013383_000018:[5]
+001534_000033:[1]
+011966_000029:[]
+021804_000004:[6]
+004802_000037:[10]
+003674_000032:[]
+021345_000012:[]
+001735_000029:[10]
+021503_000039:[]
+020057_000030:[]
+015423_000030:[]
+013328_000033:[9]
+007270_000011:[2, 17]
+013797_000032:[]
+010805_000015:[]
+001154_000020:[]
+004434_000001:[]
+003584_000004:[0, 3, 4, 9, 11, 18]
+022368_000033:[4, 18]
+016228_000016:[]
+022495_000019:[]
+002328_000023:[4]
+009610_000001:[7, 11, 12, 15, 19]
+016051_000005:[0, 3, 12, 14, 17]
+005233_000018:[]
+022675_000002:[]
+010583_000013:[]
+015820_000035:[2, 7]
+021718_000021:[8, 9, 11, 15]
+016267_000020:[]
+023166_000011:[]
+007303_000009:[]
+019683_000011:[5, 6]
+013978_000001:[]
+013460_000006:[]
+022333_000032:[17]
+012777_000034:[3, 4, 6, 8, 12, 15, 17]
+001864_000003:[]
+019236_000005:[]
+013163_000013:[]
+023268_000003:[]
+010796_000035:[14, 15]
+002856_000006:[1, 8, 12, 16]
+013067_000022:[8, 18]
+021948_000010:[]
+013517_000006:[5, 14]
+012160_000005:[8]
+018640_000009:[0, 6, 10]
+001637_000010:[]
+011226_000008:[]
+021975_000028:[]
+007977_000035:[]
+001018_000015:[]
+022598_000037:[18]
+008938_000030:[2, 10, 12, 13]
+013510_000015:[]
+001960_000012:[6, 18]
+017520_000028:[]
+000490_000021:[]
+003584_000035:[5, 18]
+000969_000027:[]
+001187_000028:[]
+004169_000017:[]
+015628_000000:[6]
+013405_000029:[]
+002445_000018:[]
+004167_000023:[]
+013929_000003:[2]
+016858_000026:[15]
+024925_000007:[10, 14, 17]
+006912_000007:[1, 3, 15, 16]
+017442_000010:[]
+017491_000024:[7, 18]
+002527_000002:[11]
+013956_000008:[]
+014437_000031:[2, 13]
+024899_000004:[]
+010553_000013:[]
+015414_000004:[]
+009915_000036:[]
+016663_000039:[1, 15]
+009426_000035:[]
+013176_000017:[]
+005833_000011:[0, 1, 2, 12, 13]
+000052_000023:[18]
+024305_000018:[8]
+020384_000004:[12, 18]
+014250_000020:[1]
+017053_000032:[5]
+013337_000028:[5, 7, 8, 13, 16]
+006127_000034:[]
+013794_000008:[0, 3, 10, 12, 19]
+014751_000000:[]
+004640_000027:[0, 2]
+019080_000038:[]
+011888_000003:[7]
+010191_000013:[]
+004147_000023:[2, 6, 18]
+011353_000037:[]
+009477_000008:[]
+020884_000024:[]
+010815_000024:[]
+008961_000019:[]
+010880_000011:[]
+008551_000021:[]
+011306_000006:[15]
+007229_000026:[]
+011816_000025:[]
+008892_000009:[]
+006381_000012:[7, 9, 11, 19]
+021521_000009:[]
+004211_000022:[]
+008876_000026:[1, 2, 11, 15]
+016929_000039:[2, 3]
+020608_000036:[3, 14]
+016332_000035:[]
+000323_000013:[6]
+022485_000037:[]
+008968_000004:[]
+003551_000006:[]
+021626_000006:[0]
+001681_000027:[10, 12, 17]
+022749_000021:[]
+019758_000031:[]
+007491_000038:[]
+012636_000000:[10]
+024839_000034:[]
+009087_000029:[0, 2, 4, 8, 11, 14]
+010674_000028:[]
+007025_000025:[16]
+003832_000030:[13, 16]
+008486_000030:[]
+003061_000021:[]
+024271_000000:[5, 7, 18]
+006936_000019:[]
+023846_000005:[0, 10]
+008380_000015:[3, 18]
+021311_000037:[]
+023645_000032:[]
+016288_000039:[]
+012819_000004:[4, 13]
+003483_000035:[]
+020368_000001:[15]
+004896_000026:[]
+017775_000021:[]
+005445_000030:[]
+018639_000024:[]
+006546_000036:[19]
+018155_000012:[10]
+007715_000014:[]
+008121_000000:[14]
+008738_000001:[2]
+009312_000038:[]
+014118_000014:[0]
+022085_000003:[]
+008088_000013:[2]
+010643_000000:[]
+017987_000034:[16]
+009779_000016:[]
+006579_000038:[10]
+003365_000007:[]
+012941_000016:[]
+021099_000021:[16]
+010015_000010:[]
+002143_000030:[]
+006503_000003:[]
+015713_000005:[]
+001195_000004:[]
+012682_000027:[4]
+008362_000017:[]
+012398_000009:[]
+009726_000007:[]
+013219_000026:[3, 18, 19]
+001065_000028:[15]
+010872_000033:[]
+019973_000026:[]
+019150_000000:[]
+009441_000013:[]
+006881_000025:[]
+019109_000035:[]
+020681_000029:[]
+011839_000020:[4, 17]
+013863_000038:[]
+015773_000011:[]
+021124_000025:[0, 3, 6]
+023595_000014:[]
+023318_000039:[]
+011060_000009:[3, 14]
+013933_000023:[5, 16]
+020059_000029:[]
+023933_000024:[]
+000087_000015:[]
+022283_000000:[]
+020964_000025:[2, 10, 11]
+013506_000015:[4, 12]
+014802_000037:[]
+013686_000002:[1, 2, 18]
+012408_000035:[11]
+002158_000000:[]
+020658_000010:[1, 6, 8, 9, 15, 17]
+020164_000036:[]
+012392_000032:[]
+015751_000039:[4]
+006945_000019:[0, 13]
+002491_000014:[]
+012628_000006:[1, 9]
+022077_000018:[5, 16]
+011158_000037:[1, 4, 13]
+005217_000000:[]
+010612_000017:[]
+003749_000010:[10, 14]
+017862_000019:[]
+016430_000019:[2, 7, 11]
+003496_000010:[17]
+013309_000028:[0, 3, 4, 10, 11, 14, 16, 18, 19]
+002315_000032:[19]
+019375_000024:[16]
+019964_000021:[]
+016374_000014:[7]
+024921_000023:[4]
+008442_000007:[]
+010311_000036:[]
+014064_000019:[]
+011652_000032:[3, 5, 7, 8]
+015287_000036:[]
+021498_000004:[3, 5, 11, 13]
+000984_000005:[0]
+007132_000024:[18]
+009846_000023:[0]
+005618_000017:[14]
+009307_000010:[]
+012026_000002:[]
+020154_000031:[]
+022996_000013:[7, 15]
+013463_000026:[]
+012836_000033:[]
+014674_000039:[]
+024399_000006:[]
+021801_000039:[]
+021936_000006:[]
+020218_000022:[]
+019681_000036:[2]
+023646_000026:[16]
+004405_000034:[]
+007020_000029:[9]
+009473_000022:[18]
+006971_000024:[5, 8, 14, 18]
+014539_000022:[17]
+004528_000029:[]
+006998_000031:[3, 5, 9]
+020368_000022:[]
+005616_000015:[]
+011690_000038:[0, 2, 10, 18, 19]
+012778_000004:[]
+005655_000014:[17]
+017657_000024:[]
+008654_000039:[]
+021528_000018:[]
+004477_000011:[]
+013206_000005:[7]
+014346_000015:[4, 5, 12, 13, 14]
+004041_000022:[1]
+024529_000012:[]
+006873_000014:[]
+011902_000029:[]
+015929_000024:[]
+014874_000032:[2]
+002277_000005:[0, 5]
+010393_000023:[5, 6]
+013722_000007:[]
+002494_000006:[8]
+003538_000017:[]
+007848_000014:[14]
+002906_000030:[]
+024774_000026:[10]
+000055_000002:[11]
+022768_000014:[]
+018214_000000:[8, 13]
+011139_000003:[]
+011927_000022:[]
+020096_000000:[1, 14, 15]
+001145_000034:[]
+005385_000003:[]
+001309_000012:[]
+024698_000026:[4]
+003678_000030:[]
+018955_000038:[1]
+004372_000016:[]
+005970_000033:[]
+004124_000022:[14, 19]
+011779_000039:[]
+023909_000001:[13]
+012955_000000:[]
+014285_000026:[2]
+014924_000010:[13]
+018445_000035:[6, 9, 13, 14]
+004625_000025:[1, 2, 4, 6, 9, 10, 14, 15, 17]
+002413_000038:[]
+022464_000021:[9]
+024765_000001:[]
+004304_000026:[10]
+012845_000001:[1, 8, 19]
+007007_000008:[]
+004556_000001:[]
+015463_000018:[5]
+016806_000007:[11, 13]
+020830_000024:[]
+013893_000008:[]
+005997_000034:[]
+000165_000015:[]
+015132_000006:[17]
+010189_000038:[14, 17]
+009979_000005:[8, 13]
+011706_000031:[1]
+013447_000032:[18]
+003195_000029:[]
+007667_000005:[]
+009018_000011:[]
+023990_000004:[5]
+017284_000033:[4]
+019521_000008:[]
+005403_000028:[11]
+013925_000033:[14]
+007532_000017:[5]
+018768_000030:[]
+014503_000023:[]
+023668_000006:[]
+020481_000014:[]
+018792_000025:[1]
+019009_000010:[]
+016926_000034:[]
+012700_000033:[18]
+003238_000008:[]
+009177_000028:[]
+009809_000009:[]
+005371_000003:[]
+024746_000018:[4]
+000112_000020:[7, 16]
+017694_000010:[5, 12]
+009230_000024:[]
+011494_000027:[]
+020854_000001:[]
+002053_000031:[5]
+009607_000037:[]
+020398_000031:[]
+006916_000029:[]
+003883_000034:[0]
+021653_000032:[16]
+014812_000038:[]
+013319_000032:[0, 3, 10]
+015260_000009:[7]
+024811_000037:[]
+013255_000023:[]
+011125_000018:[]
+020112_000010:[]
+014580_000004:[9]
+024314_000031:[]
+006651_000013:[6, 17, 18]
+004294_000016:[]
+010858_000039:[]
+018037_000001:[]
+002706_000037:[]
+011214_000007:[]
+017369_000014:[16]
+003479_000026:[]
+022917_000013:[]
+002228_000011:[2]
+003880_000006:[]
+010178_000031:[]
+006908_000030:[]
+006847_000027:[11, 13, 15]
+007544_000004:[]
+017022_000020:[19]
+015971_000022:[]
+016511_000010:[9]
+016131_000026:[5, 11]
+002055_000019:[]
+024298_000024:[0, 18]
+016306_000003:[]
+017433_000036:[]
+021927_000030:[]
+015124_000025:[]
+006545_000012:[2, 19]
+020217_000002:[0, 10, 13]
+014895_000004:[10, 14]
+013542_000002:[]
+012089_000015:[]
+000900_000009:[6, 7, 12, 15, 16]
+014685_000005:[]
+007917_000006:[]
+005492_000030:[2]
+016834_000037:[]
+020965_000039:[6, 13]
+022131_000005:[]
+020326_000020:[]
+005043_000003:[]
+010702_000013:[]
+014826_000005:[1]
+010379_000028:[]
+000784_000010:[]
+013204_000027:[4]
+013818_000005:[]
+005278_000006:[5]
+015633_000022:[]
+003154_000020:[]
+008392_000039:[]
+010537_000013:[]
+002210_000037:[]
+004423_000038:[9, 10, 12]
+009623_000002:[]
+007352_000001:[6]
+017825_000002:[8, 12, 17]
+020412_000004:[]
+013624_000028:[]
+007351_000033:[]
+022044_000024:[]
+016606_000012:[]
+021775_000020:[]
+021755_000017:[10]
+008168_000013:[]
+002424_000034:[14]
+015605_000001:[]
+015632_000005:[2, 13]
+005604_000034:[]
+007610_000023:[7, 19]
+011198_000030:[7]
+014598_000005:[]
+019650_000008:[]
+007691_000036:[3, 4, 6, 8, 18]
+001824_000021:[1, 2, 13, 16]
+009726_000000:[]
+018058_000036:[1, 2, 3, 5, 7, 11, 12, 15, 17, 18]
+019243_000024:[]
+021470_000016:[0, 4, 5, 12]
+005292_000037:[]
+019990_000036:[]
+007019_000024:[16, 18]
+023499_000006:[1, 12, 16, 18]
+015221_000030:[5]
+020326_000030:[10]
+000333_000004:[]
+006895_000021:[]
+010132_000038:[]
+017746_000014:[]
+006567_000032:[]
+022899_000009:[]
+016745_000007:[]
+010076_000018:[]
+009232_000020:[]
+016268_000020:[]
+022011_000031:[]
+015615_000018:[]
+013026_000017:[3, 8, 13]
+006010_000008:[8]
+015917_000036:[0]
+006355_000019:[]
+012123_000028:[0, 11, 13]
+018242_000021:[8]
+023890_000022:[9, 14, 16]
+014020_000014:[14]
+014333_000025:[]
+022021_000025:[]
+016247_000015:[0, 2]
+009568_000027:[8]
+015039_000016:[5, 7, 17, 18]
+015540_000039:[]
+012004_000032:[3, 10]
+003862_000020:[3]
+023131_000000:[]
+002500_000011:[]
+020709_000021:[]
+019498_000011:[3, 4, 5, 11]
+021679_000011:[]
+010088_000008:[]
+016058_000019:[]
+010619_000027:[]
+023702_000011:[]
+007625_000039:[14]
+022540_000010:[]
+014781_000028:[]
+015460_000017:[]
+012626_000023:[1]
+024222_000033:[]
+005448_000035:[0, 6, 11, 19]
+007882_000037:[]
+022034_000019:[]
+019017_000021:[]
+012546_000017:[]
+008737_000027:[]
+020057_000013:[]
+011659_000020:[]
+023996_000007:[]
+020241_000028:[0]
+006561_000005:[6, 8]
+014429_000006:[]
+022232_000011:[]
+014696_000036:[]
+016203_000029:[]
+017296_000018:[9]
+014430_000013:[2]
+014384_000006:[4, 17, 18]
+023693_000001:[4, 6, 11, 17]
+016937_000008:[2, 7, 9, 12, 17]
+023431_000035:[]
+004303_000020:[]
+019144_000017:[]
+023325_000035:[]
+023594_000030:[18]
+000895_000009:[0]
+009873_000009:[]
+018155_000029:[1, 3, 4, 5, 7, 8, 10, 17]
+009468_000002:[5]
+011492_000021:[6]
+019000_000009:[]
+013885_000031:[]
+010258_000021:[19]
+009028_000015:[]
+011736_000010:[]
+013906_000015:[]
+002242_000028:[]
+024026_000034:[]
+003465_000027:[]
+009469_000005:[]
+023084_000017:[]
+019685_000032:[]
+007068_000002:[]
+011977_000004:[0]
+011036_000002:[11, 13, 15]
+012841_000000:[5]
+015245_000029:[2, 15]
+003626_000033:[]
+014674_000025:[15]
+012212_000033:[]
+001398_000016:[16, 19]
+000992_000024:[14]
+003387_000025:[]
+013806_000016:[]
+015412_000022:[]
+001182_000004:[]
+018300_000016:[0, 4, 17]
+015945_000031:[]
+020491_000016:[]
+006665_000018:[]
+009161_000023:[]
+013050_000034:[1, 10, 11]
+005405_000029:[]
+004137_000001:[]
+015422_000019:[1, 9]
+012712_000003:[5]
+001273_000013:[3, 6, 9]
+013352_000023:[]
+010042_000017:[13, 19]
+023160_000039:[]
+013766_000028:[3, 5, 9]
+024169_000021:[]
+021980_000034:[3, 11]
+008237_000026:[18]
+019901_000006:[5, 6, 11, 14, 17]
+010807_000014:[]
+007210_000034:[]
+012520_000009:[0, 7]
+014112_000029:[]
+021740_000027:[]
+022648_000034:[1, 5, 7, 11, 12, 13, 15, 16, 18, 19]
+024474_000006:[14]
+003081_000038:[]
+017667_000010:[]
+022511_000008:[0]
+000459_000025:[]
+007691_000007:[8]
+003281_000009:[]
+002239_000010:[]
+015729_000035:[6, 18]
+001723_000023:[]
+007197_000021:[16]
+001884_000006:[]
+013227_000003:[]
+009085_000010:[13]
+017439_000010:[9, 17]
+019731_000001:[5]
+004160_000012:[]
+010263_000013:[]
+013555_000016:[]
+001414_000035:[11]
+019637_000024:[0, 5, 6, 7, 10, 14, 15, 18]
+009355_000002:[]
+021561_000009:[]
+012584_000032:[]
+021977_000023:[]
+013875_000035:[5, 17]
+015606_000000:[]
+017998_000039:[]
+018695_000023:[16]
+013719_000035:[16]
+018591_000004:[6, 7]
+017225_000036:[2, 5]
+007303_000027:[6]
+018111_000013:[4, 11, 14]
+016091_000006:[0, 7, 17]
+003193_000023:[4]
+023387_000017:[]
+003260_000013:[13, 16, 17]
+002253_000031:[1, 8, 10]
+013101_000035:[0, 2, 3, 14]
+005469_000009:[]
+001760_000027:[]
+018786_000025:[]
+020430_000005:[14]
+020680_000000:[]
+016340_000000:[]
+009063_000006:[1, 5, 12, 18]
+013236_000000:[]
+008626_000034:[]
+014973_000030:[2, 5]
+020197_000002:[]
+001089_000017:[]
+008833_000006:[10, 12]
+000157_000013:[]
+000189_000031:[]
+017074_000028:[]
+011816_000004:[]
+001492_000034:[4]
+020235_000011:[1, 6, 9, 10, 11, 15, 17]
+011117_000032:[]
+022470_000028:[2, 6]
+006927_000003:[8, 13]
+007216_000011:[]
+015273_000017:[]
+002715_000027:[]
+003942_000009:[3, 12, 17, 19]
+008769_000016:[8]
+003714_000029:[]
+004285_000032:[]
+024407_000000:[]
+013596_000002:[]
+018509_000034:[0]
+022112_000014:[9, 14, 19]
+006431_000002:[7, 19]
+002432_000018:[14, 16]
+012972_000021:[4]
+010493_000014:[]
+021420_000028:[]
+004493_000032:[]
+002156_000003:[6, 8]
+015206_000021:[]
+000651_000002:[6]
+015970_000036:[4, 10, 11, 15]
+013655_000022:[10, 18]
+023609_000032:[]
+000844_000021:[]
+024989_000006:[]
+012391_000014:[]
+020446_000004:[12]
+022515_000009:[]
+005266_000021:[12, 19]
+001807_000010:[]
+011203_000020:[]
+005474_000026:[]
+011891_000039:[18]
+014822_000029:[]
+017189_000038:[]
+016103_000039:[9]
+020873_000016:[]
+018908_000005:[]
+001420_000011:[]
+022415_000010:[]
+000933_000011:[]
+010769_000024:[]
+009953_000006:[7]
+014984_000020:[]
+023835_000004:[]
+003173_000024:[]
+022994_000009:[]
+014605_000011:[19]
+013741_000035:[]
+005508_000009:[]
+014991_000011:[5]
+008873_000003:[0, 1, 9, 13, 15, 19]
+001339_000018:[3, 14]
+014834_000020:[1, 11]
+001395_000026:[]
+018609_000009:[]
+020727_000004:[1]
+022223_000009:[]
+002112_000012:[]
+003258_000007:[]
+021056_000016:[]
+016464_000024:[0]
+021408_000037:[]
+006876_000020:[2, 3, 14, 16]
+008376_000029:[]
+017801_000034:[]
+008282_000034:[]
+022620_000025:[2]
+012918_000010:[8]
+005468_000034:[]
+002551_000017:[]
+008959_000006:[]
+020204_000008:[0]
+003292_000019:[]
+006017_000021:[]
+016000_000028:[]
+008791_000022:[0, 4, 6, 19]
+001597_000023:[]
+013895_000001:[]
+007898_000024:[]
+002247_000030:[]
+003076_000017:[2, 19]
+013028_000010:[]
+024581_000025:[11]
+021337_000031:[0, 2, 3, 5, 9, 12, 15]
+001033_000036:[]
+014701_000003:[]
+017869_000006:[]
+008344_000033:[]
+001366_000028:[]
+022080_000031:[15]
+013046_000037:[11]
+008430_000036:[18]
+019917_000031:[4, 9]
+018827_000033:[]
+020882_000028:[]
+021937_000032:[]
+006484_000033:[16, 19]
+022029_000039:[1, 5]
+019788_000004:[]
+012402_000016:[5]
+014753_000023:[]
+002566_000002:[11]
+013304_000010:[]
+013799_000022:[]
+007505_000015:[4]
+008376_000023:[]
+007407_000018:[]
+012985_000013:[]
+001064_000023:[]
+006322_000008:[]
+016296_000026:[]
+020027_000021:[]
+021759_000031:[15, 18]
+013804_000031:[]
+000952_000014:[10, 12, 16]
+020090_000022:[]
+002412_000024:[]
+021870_000015:[]
+002875_000029:[]
+002455_000026:[16]
+021898_000006:[3]
+016260_000010:[]
+022405_000020:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000579_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000579_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fd1a18f3adb6fd225371e2fa02079e384dedc30f
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000579_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+023782_000002:[]
+009299_000016:[]
+008864_000015:[]
+006909_000001:[3, 10]
+018624_000020:[9]
+006237_000021:[]
+004997_000019:[11, 18]
+016496_000012:[]
+009836_000022:[6]
+009854_000039:[]
+006786_000018:[0, 14]
+016611_000018:[12, 15]
+020724_000035:[]
+013567_000006:[]
+022181_000036:[8, 19]
+008065_000032:[]
+011088_000029:[]
+017353_000007:[]
+021657_000021:[3]
+016619_000014:[]
+018091_000029:[8]
+007830_000007:[]
+012198_000024:[2]
+018854_000005:[14]
+001193_000020:[]
+018083_000001:[9]
+011297_000038:[]
+011425_000029:[12]
+001700_000007:[13, 17]
+015063_000001:[]
+000564_000037:[]
+001788_000035:[5, 13, 16, 18]
+006190_000026:[]
+013306_000030:[]
+019723_000017:[1, 17]
+003272_000039:[8, 13, 19]
+022983_000023:[]
+022556_000019:[]
+023262_000008:[17, 19]
+015166_000010:[]
+011826_000032:[]
+008217_000031:[10]
+011207_000018:[]
+010115_000023:[]
+013747_000007:[9]
+011151_000034:[]
+007828_000009:[]
+003641_000030:[]
+004738_000025:[]
+016975_000020:[0]
+016230_000013:[0, 6, 18]
+020118_000009:[]
+011217_000032:[10]
+015967_000033:[]
+023645_000034:[2, 3]
+010500_000018:[]
+023353_000009:[]
+005137_000016:[]
+011536_000001:[2]
+006798_000017:[17]
+007624_000025:[]
+024511_000008:[]
+024361_000020:[12]
+005956_000015:[13]
+018300_000038:[]
+004916_000030:[]
+024625_000003:[13]
+008374_000028:[]
+000294_000012:[4, 11]
+018389_000020:[]
+011218_000012:[]
+015617_000002:[0, 14]
+023027_000012:[]
+016366_000006:[]
+019441_000037:[]
+012803_000028:[]
+006987_000021:[2]
+024715_000009:[]
+000720_000021:[1]
+016449_000028:[0, 3, 6, 8]
+020479_000032:[15]
+003392_000033:[]
+002800_000006:[2]
+000650_000001:[]
+021789_000038:[4, 6]
+016769_000039:[]
+002449_000017:[]
+003595_000027:[]
+002643_000002:[]
+018491_000039:[]
+024169_000009:[]
+008074_000026:[]
+007655_000019:[]
+015818_000011:[]
+022393_000005:[]
+018667_000016:[]
+006335_000032:[]
+004478_000026:[19]
+021830_000003:[]
+009668_000038:[10]
+007755_000036:[]
+011455_000034:[0]
+010186_000002:[]
+009107_000019:[]
+017163_000033:[4]
+021366_000038:[5, 12]
+015118_000018:[]
+018274_000037:[]
+005386_000028:[8]
+009845_000000:[]
+008952_000010:[12]
+017392_000039:[16]
+010883_000032:[]
+004829_000027:[0]
+008174_000032:[]
+016014_000011:[19]
+003617_000027:[]
+000453_000010:[]
+013425_000030:[9, 18]
+006922_000021:[11]
+019885_000008:[2]
+008397_000005:[5]
+010442_000012:[]
+018008_000024:[1, 2]
+009431_000036:[7, 10]
+018397_000014:[9, 14]
+001271_000000:[4, 10, 12, 17]
+007255_000002:[2, 11, 16, 19]
+021186_000007:[]
+012150_000006:[]
+017638_000003:[2, 10, 15]
+019992_000030:[]
+020974_000028:[8]
+017494_000002:[]
+012875_000007:[]
+000392_000036:[1]
+006532_000037:[]
+008837_000025:[5, 16]
+010100_000028:[]
+017822_000016:[]
+019352_000035:[]
+007067_000014:[]
+002974_000003:[]
+024030_000028:[3, 4, 8, 13]
+005239_000017:[]
+005934_000003:[]
+001078_000028:[14]
+023318_000010:[2]
+015218_000025:[]
+019930_000031:[7]
+005177_000030:[]
+015984_000023:[3, 11, 18]
+020511_000004:[3, 17]
+014765_000012:[]
+008023_000007:[]
+019540_000012:[]
+024753_000036:[]
+004056_000027:[]
+020169_000033:[]
+015507_000009:[0, 14]
+018277_000028:[8]
+022338_000000:[3, 6, 11, 16, 19]
+013322_000025:[]
+013789_000007:[]
+011614_000012:[13]
+018214_000026:[]
+013589_000036:[16]
+002679_000008:[6, 12, 14, 18]
+023237_000026:[6]
+018610_000015:[]
+012846_000013:[12]
+004495_000023:[9]
+015055_000026:[]
+014767_000022:[8, 13]
+002408_000039:[]
+016417_000035:[]
+010074_000015:[6, 13]
+006271_000006:[0]
+010770_000016:[15]
+013930_000006:[]
+007288_000018:[3]
+015135_000018:[10]
+012822_000022:[12]
+007006_000030:[0, 3, 8, 13]
+013175_000020:[]
+015406_000030:[]
+013179_000030:[]
+018746_000006:[]
+007541_000013:[]
+015905_000012:[]
+004038_000006:[19]
+004480_000013:[]
+007045_000016:[7, 15]
+015303_000014:[6, 8, 9, 16, 17]
+014209_000029:[]
+018359_000011:[]
+012655_000034:[]
+011505_000012:[]
+019649_000007:[]
+012164_000015:[]
+008731_000007:[]
+004366_000012:[4, 16, 17]
+021420_000026:[]
+005786_000004:[]
+001413_000012:[8]
+011416_000025:[0, 3, 13, 16]
+000428_000033:[]
+018456_000026:[6, 8]
+020258_000007:[]
+001604_000037:[]
+000139_000001:[4, 12, 13]
+024220_000033:[]
+000334_000032:[3, 5]
+006218_000028:[5]
+011117_000015:[1]
+016225_000027:[1, 15, 16, 19]
+013339_000039:[]
+013710_000000:[]
+021715_000029:[]
+013449_000012:[]
+003763_000003:[4]
+014907_000016:[]
+013273_000021:[12]
+019060_000029:[]
+004741_000018:[3, 12]
+022802_000012:[]
+012361_000038:[4, 14]
+017874_000020:[]
+008929_000024:[6]
+014511_000016:[5, 15]
+008524_000029:[0, 1, 4, 6, 12, 13]
+020039_000033:[3]
+010672_000032:[]
+018650_000005:[]
+019873_000008:[]
+001400_000029:[0, 2, 4, 8, 16, 17]
+005764_000038:[10]
+004119_000039:[]
+014017_000014:[]
+003334_000035:[]
+011623_000028:[]
+016362_000009:[8]
+012245_000007:[]
+019406_000020:[]
+021237_000032:[14, 19]
+001175_000033:[4, 7]
+000591_000027:[1]
+015068_000026:[17, 18]
+002243_000017:[]
+023761_000012:[11]
+017794_000012:[]
+006480_000038:[]
+022234_000004:[]
+007245_000012:[]
+002748_000000:[]
+020204_000019:[]
+012867_000034:[]
+006329_000004:[]
+020971_000014:[19]
+015275_000000:[]
+000696_000028:[19]
+018966_000000:[]
+009622_000011:[5, 12]
+010682_000003:[]
+022406_000029:[]
+008048_000025:[4, 9, 13]
+002859_000004:[]
+015597_000003:[]
+015312_000026:[3, 6, 8, 10, 14, 16]
+012097_000038:[4, 8, 17]
+015152_000004:[]
+007825_000006:[0, 4, 6, 9, 10]
+002071_000038:[18]
+007142_000026:[1, 3, 5, 6, 11]
+004811_000020:[14]
+021186_000030:[0, 5, 13]
+021285_000000:[11]
+021969_000013:[]
+003566_000023:[10, 14, 19]
+017694_000015:[]
+022860_000019:[]
+012779_000003:[3]
+017604_000030:[]
+013683_000021:[]
+009412_000038:[0, 8, 10, 11, 17, 18, 19]
+004191_000007:[0]
+007210_000030:[17, 19]
+009173_000011:[]
+021525_000008:[1, 11, 15]
+020076_000029:[]
+004468_000030:[]
+017026_000025:[]
+019186_000013:[8, 10, 14]
+020205_000004:[2, 11, 12, 17]
+004165_000010:[9]
+017796_000008:[]
+015093_000037:[]
+009661_000023:[]
+012971_000020:[12]
+014290_000021:[17]
+020163_000012:[]
+009698_000021:[]
+009698_000020:[]
+000679_000011:[3, 11, 17, 19]
+021242_000036:[]
+001390_000026:[]
+012112_000015:[3, 14]
+012926_000034:[]
+024384_000037:[3, 13]
+023505_000032:[16]
+005651_000036:[]
+015118_000023:[]
+007846_000023:[]
+000075_000004:[]
+012930_000023:[]
+014992_000030:[]
+013838_000009:[3, 4, 10, 11, 15, 16]
+018728_000018:[]
+003276_000005:[4]
+007248_000031:[5, 16]
+004946_000006:[]
+021195_000039:[]
+014980_000017:[1, 6, 9, 14]
+019649_000016:[]
+024539_000020:[]
+023546_000015:[]
+010829_000013:[1, 16]
+015994_000032:[]
+002589_000021:[16]
+023895_000013:[]
+024352_000008:[]
+007497_000004:[]
+020012_000037:[8, 11]
+006140_000037:[1]
+003699_000018:[]
+019820_000014:[6, 9, 12]
+005716_000008:[15, 18]
+022462_000032:[1, 6, 8]
+010171_000021:[0]
+006565_000014:[]
+000373_000003:[4, 5, 16, 19]
+009224_000022:[]
+016326_000025:[]
+022789_000022:[9]
+009711_000027:[9]
+022575_000025:[]
+024044_000026:[]
+007099_000004:[]
+005794_000038:[]
+020355_000010:[4]
+009683_000039:[]
+024911_000012:[]
+012733_000019:[]
+008994_000023:[]
+009365_000028:[7, 8]
+008415_000026:[]
+004394_000033:[1, 11]
+002254_000017:[3, 4, 7]
+009346_000007:[]
+008767_000039:[7, 19]
+013796_000023:[]
+020692_000028:[6, 17]
+013798_000009:[8]
+001128_000010:[]
+022560_000018:[7, 12, 13]
+002699_000004:[6, 7, 10, 14, 18]
+016807_000002:[]
+016526_000018:[3, 5, 7, 8]
+011948_000029:[]
+013352_000005:[]
+020226_000029:[]
+017323_000005:[]
+012060_000034:[]
+016957_000036:[]
+004564_000000:[]
+013474_000038:[]
+021942_000030:[]
+011913_000018:[6, 8, 9, 12, 14]
+002706_000001:[7, 15]
+004858_000019:[]
+018904_000023:[]
+002838_000001:[]
+012780_000010:[5, 6, 14, 18]
+022389_000011:[11]
+007595_000031:[]
+024115_000000:[]
+014828_000002:[]
+005155_000016:[]
+018130_000017:[]
+007522_000028:[]
+013764_000014:[]
+022555_000030:[]
+020452_000027:[2, 3, 7, 9, 11, 13]
+003106_000017:[]
+019217_000007:[8, 15, 18]
+006572_000004:[]
+004680_000017:[]
+001882_000012:[]
+004658_000021:[19]
+011187_000039:[17]
+019277_000015:[]
+015664_000000:[1, 4]
+007435_000008:[]
+008427_000016:[16]
+020194_000027:[]
+004276_000013:[11, 13, 16]
+022230_000038:[]
+003560_000001:[]
+018144_000014:[]
+010754_000005:[2]
+009713_000019:[]
+011030_000002:[16]
+018247_000005:[2, 3, 7, 17]
+022588_000000:[9, 18]
+006640_000030:[3, 11]
+005482_000007:[]
+008777_000022:[]
+018789_000013:[]
+000053_000024:[]
+013657_000014:[]
+018776_000014:[]
+002795_000035:[]
+014057_000029:[]
+005868_000006:[]
+010965_000039:[2]
+023760_000010:[]
+007063_000037:[11, 17]
+005012_000014:[]
+004922_000003:[8]
+017894_000003:[0, 7]
+022930_000016:[]
+004899_000032:[3, 17]
+007035_000025:[9]
+017474_000034:[]
+019671_000037:[5, 16, 19]
+023172_000001:[3, 14, 15, 19]
+014745_000019:[0, 3, 19]
+020687_000007:[]
+001282_000036:[]
+004400_000020:[15]
+009001_000030:[8]
+013253_000000:[]
+002873_000026:[]
+021767_000014:[12]
+024437_000020:[0, 1]
+003381_000024:[1]
+021538_000006:[]
+017229_000005:[]
+001603_000005:[]
+005118_000004:[]
+011353_000006:[]
+020609_000027:[]
+011731_000010:[4]
+008865_000010:[1, 14]
+021096_000037:[6, 7, 14]
+001257_000031:[1]
+015067_000032:[]
+006896_000001:[17, 19]
+011036_000005:[5]
+007172_000038:[5, 9]
+018953_000000:[5, 18]
+017918_000000:[]
+009008_000025:[12]
+003941_000002:[10]
+010507_000008:[0, 10, 14]
+023764_000020:[13]
+003458_000008:[]
+015130_000028:[]
+006168_000023:[4, 12]
+000728_000005:[0, 1, 2, 6, 7, 10, 13, 14, 18, 19]
+012837_000037:[]
+018759_000026:[1]
+022752_000023:[]
+015528_000037:[2, 9, 12]
+012459_000022:[]
+015491_000005:[]
+006246_000017:[]
+005335_000013:[2, 6, 12, 15, 19]
+020765_000030:[7, 9, 10, 12]
+005903_000008:[]
+002667_000007:[]
+004359_000037:[0, 1, 4, 11, 16]
+017388_000018:[]
+002042_000038:[]
+017008_000004:[]
+009496_000024:[]
+008723_000038:[]
+012268_000039:[]
+024566_000007:[]
+018077_000004:[]
+001626_000020:[]
+013655_000019:[]
+004415_000029:[3]
+024245_000034:[]
+002880_000018:[]
+009537_000002:[12]
+024486_000028:[]
+006874_000034:[9, 10]
+016266_000020:[]
+005766_000006:[16]
+009437_000024:[10]
+010171_000018:[7, 14]
+008573_000018:[11]
+023019_000003:[10]
+001203_000031:[13, 15]
+000692_000011:[]
+015432_000008:[]
+012469_000031:[2, 13]
+008898_000031:[]
+017361_000031:[]
+017707_000035:[]
+015384_000008:[7, 10, 14]
+013628_000004:[0]
+024124_000028:[]
+005554_000026:[4, 11, 15, 17]
+015031_000008:[]
+016890_000027:[12]
+023304_000033:[]
+017243_000001:[]
+016829_000033:[0]
+011378_000034:[2, 6, 10, 11, 13, 17]
+021960_000018:[]
+016621_000022:[1, 4, 6, 12, 17]
+005136_000009:[]
+001286_000028:[6, 8, 13]
+006917_000024:[5]
+010000_000002:[]
+023247_000024:[]
+014520_000031:[]
+002569_000022:[2, 6]
+006971_000008:[5, 7, 14, 18]
+000730_000031:[]
+015825_000016:[7, 12, 18]
+019864_000024:[]
+009833_000020:[0]
+009027_000019:[1, 11]
+010516_000001:[]
+018976_000036:[7]
+024207_000014:[7]
+000745_000010:[14]
+003386_000006:[]
+013999_000030:[]
+003129_000028:[6]
+011558_000018:[14, 16]
+000225_000009:[3]
+020632_000021:[8]
+009646_000017:[13]
+007865_000014:[]
+018542_000003:[]
+023311_000015:[4, 9]
+018547_000029:[]
+018217_000021:[]
+023079_000039:[]
+016758_000038:[]
+008065_000033:[9]
+023437_000032:[]
+023754_000026:[18]
+004028_000038:[5]
+001245_000024:[7]
+013926_000032:[]
+015951_000025:[]
+006776_000018:[]
+011643_000001:[0]
+015265_000010:[]
+003389_000036:[]
+001766_000036:[]
+013341_000011:[18]
+020860_000011:[7, 19]
+021860_000000:[6]
+009946_000039:[7, 11, 14]
+016082_000010:[2, 17]
+017554_000000:[5, 18]
+023370_000000:[]
+015461_000038:[16]
+005544_000034:[5]
+009937_000039:[]
+003649_000039:[14, 15]
+022964_000031:[]
+005733_000012:[]
+023172_000028:[2, 7, 14, 15, 19]
+011073_000002:[]
+001831_000021:[]
+018663_000017:[0]
+004818_000026:[]
+012542_000039:[]
+021768_000021:[1, 3, 4, 10, 15]
+023807_000027:[]
+020206_000020:[7, 11]
+012554_000037:[6]
+016362_000004:[]
+013456_000027:[5]
+008275_000017:[]
+012931_000026:[]
+016521_000030:[7, 10]
+001692_000003:[7]
+020742_000037:[]
+021198_000031:[]
+022722_000025:[]
+001314_000004:[1]
+011806_000019:[]
+001537_000022:[0]
+003794_000008:[11]
+018561_000032:[]
+012230_000038:[]
+024155_000030:[]
+023257_000029:[]
+018660_000032:[]
+000189_000018:[]
+002671_000033:[1, 15]
+022843_000028:[]
+012078_000018:[11]
+023823_000037:[]
+002912_000021:[]
+000224_000031:[1, 3, 10, 13, 19]
+020556_000025:[7, 11]
+007289_000005:[]
+005069_000036:[9, 15, 18]
+015524_000009:[]
+023395_000038:[12]
+022095_000023:[4, 15]
+015489_000002:[]
+008425_000010:[]
+003772_000030:[]
+004466_000001:[4]
+005574_000014:[]
+005788_000006:[19]
+013886_000017:[9, 13]
+002148_000016:[]
+011004_000034:[]
+019056_000032:[16]
+020273_000024:[]
+018691_000006:[8]
+009313_000024:[7]
+018271_000032:[]
+005781_000014:[]
+021726_000030:[]
+001164_000003:[2, 4, 5, 8, 12, 13, 15, 19]
+008531_000011:[]
+002215_000024:[]
+004258_000011:[17]
+007164_000029:[]
+006637_000033:[]
+015045_000018:[]
+011560_000001:[2]
+000386_000035:[3]
+002317_000002:[]
+009741_000016:[9]
+011439_000003:[]
+004837_000005:[]
+018384_000015:[]
+008422_000006:[18]
+019281_000031:[6, 9, 10]
+020199_000012:[]
+000467_000028:[12]
+012623_000013:[]
+005932_000020:[]
+006142_000028:[]
+024200_000023:[10]
+005795_000026:[]
+005728_000039:[14, 19]
+004627_000000:[]
+023717_000009:[12, 15]
+004010_000038:[]
+010776_000022:[11]
+003473_000036:[]
+009013_000016:[9, 10, 14]
+010561_000035:[]
+023175_000038:[1, 6, 7, 14]
+008337_000032:[]
+009431_000011:[19]
+017631_000009:[0]
+008152_000008:[]
+005939_000010:[]
+013825_000019:[17]
+017016_000019:[1]
+005949_000000:[]
+017592_000028:[]
+004295_000009:[]
+009475_000026:[]
+024050_000032:[19]
+016585_000005:[]
+017789_000009:[]
+011275_000009:[]
+006331_000029:[]
+005299_000015:[18]
+017164_000035:[0, 19]
+017000_000016:[]
+007671_000014:[]
+024902_000006:[]
+023141_000020:[3]
+021679_000025:[]
+010107_000005:[]
+006258_000035:[]
+000857_000005:[]
+012960_000030:[7]
+004848_000018:[]
+006712_000012:[5, 12, 15]
+017816_000013:[]
+021290_000023:[6, 7]
+018947_000030:[]
+022902_000027:[]
+012485_000002:[]
+014776_000004:[1, 14]
+017779_000007:[]
+011133_000016:[17]
+021958_000020:[]
+020090_000033:[]
+021428_000009:[7, 16, 17]
+000761_000011:[10, 15]
+023544_000035:[4, 5, 9, 16]
+012313_000036:[]
+009633_000002:[]
+001673_000037:[]
+016219_000032:[]
+018038_000000:[14, 19]
+019650_000006:[]
+013581_000012:[10]
+022866_000023:[7]
+019758_000033:[]
+020461_000012:[]
+017327_000028:[]
+016529_000020:[]
+010474_000012:[]
+007666_000037:[8]
+000396_000038:[7, 19]
+005468_000037:[]
+023174_000011:[]
+017960_000033:[]
+015790_000004:[1, 5, 11, 12]
+005015_000004:[]
+009413_000037:[14]
+018504_000037:[]
+019153_000007:[]
+014900_000021:[12, 19]
+023947_000013:[7]
+009227_000036:[]
+006943_000013:[15]
+003590_000033:[]
+002237_000009:[7]
+017181_000008:[]
+005262_000006:[]
+011110_000038:[8]
+010544_000023:[]
+002921_000006:[]
+021898_000036:[]
+023837_000028:[]
+002628_000038:[12, 13, 17]
+011689_000010:[6]
+005492_000028:[]
+022801_000035:[]
+005901_000032:[]
+006292_000018:[]
+001738_000013:[]
+023189_000008:[]
+016470_000016:[2]
+001609_000004:[]
+020922_000000:[16]
+006987_000034:[16]
+023970_000013:[17]
+018034_000003:[]
+017773_000019:[8]
+023352_000025:[]
+005264_000008:[0]
+011957_000003:[]
+022881_000030:[]
+009724_000022:[]
+008161_000014:[]
+008233_000010:[]
+007180_000017:[6]
+021893_000011:[]
+021262_000028:[]
+014163_000029:[1]
+010736_000005:[]
+019633_000015:[11, 12, 13]
+015714_000031:[13]
+002366_000025:[]
+019526_000021:[]
+004908_000017:[]
+017217_000028:[]
+019616_000039:[]
+017938_000036:[]
+024790_000016:[]
+021209_000038:[1, 2, 6, 8, 10, 12, 13, 16]
+022077_000000:[2]
+021433_000028:[]
+008801_000034:[]
+015369_000020:[]
+019423_000027:[2, 6, 15]
+005470_000000:[]
+020676_000018:[]
+014135_000025:[]
+002916_000037:[]
+017197_000010:[]
+000811_000033:[]
+002711_000026:[5, 19]
+004790_000028:[]
+022299_000008:[]
+021544_000014:[]
+013086_000014:[]
+002447_000025:[]
+016174_000005:[2]
+023267_000002:[8]
+017022_000039:[19]
+014296_000025:[]
+000136_000023:[3, 5, 6, 10, 17, 18]
+019953_000027:[]
+003897_000001:[]
+003434_000001:[]
+000675_000004:[]
+023148_000025:[2]
+020632_000012:[8]
+022885_000000:[16]
+023025_000007:[2, 7, 10]
+013869_000005:[1]
+024221_000010:[0, 7, 12]
+018585_000016:[]
+008816_000016:[18]
+018551_000012:[9, 14, 15, 16, 18]
+013481_000013:[]
+007703_000008:[]
+006748_000010:[1, 7]
+021594_000004:[8]
+001822_000032:[]
+002197_000038:[]
+013415_000022:[]
+010753_000028:[4, 13]
+009005_000027:[]
+012161_000002:[]
+000917_000025:[]
+024985_000027:[15]
+008647_000017:[0, 2, 10, 18]
+019470_000036:[7]
+010701_000032:[14]
+024640_000027:[13]
+010451_000024:[2]
+008114_000018:[3]
+016430_000018:[]
+008834_000014:[]
+014858_000034:[5, 10, 11, 12, 15, 19]
+012918_000030:[10]
+009737_000002:[19]
+019789_000005:[4, 6, 17]
+003818_000031:[]
+011973_000003:[]
+014509_000027:[]
+021410_000000:[]
+002090_000004:[]
+019512_000019:[11]
+013613_000020:[]
+006255_000010:[]
+022571_000033:[]
+017161_000016:[]
+023771_000018:[]
+023272_000009:[]
+018551_000006:[]
+004512_000001:[17]
+012911_000000:[13]
+023708_000002:[4, 6, 7, 8, 16, 19]
+016054_000019:[]
+016847_000006:[15]
+012771_000016:[6, 9]
+010315_000022:[5, 6, 8, 12]
+021948_000018:[]
+019715_000035:[11]
+022985_000010:[4]
+009369_000038:[]
+016149_000024:[12]
+012703_000026:[2, 11]
+001101_000004:[]
+017712_000006:[]
+016754_000039:[]
+004698_000021:[7]
+007771_000014:[5, 8]
+021203_000010:[]
+017181_000009:[5, 18]
+017280_000019:[2]
+005826_000003:[]
+006446_000031:[]
+005320_000034:[]
+012956_000007:[]
+018940_000010:[]
+021706_000026:[7]
+014883_000029:[]
+015823_000028:[18]
+014440_000013:[]
+001228_000017:[6]
+011866_000021:[8, 14, 16]
+003862_000034:[3]
+007568_000023:[]
+000354_000038:[12]
+024862_000021:[6, 7]
+008170_000031:[]
+015993_000009:[]
+002186_000014:[2, 11, 12, 13]
+024636_000029:[]
+020373_000026:[11]
+013200_000001:[4, 7, 14]
+003762_000036:[]
+022612_000001:[5]
+013079_000027:[1, 5, 9, 10, 15]
+004080_000005:[]
+003677_000039:[]
+009966_000025:[5, 11, 14, 15]
+009987_000030:[]
+009773_000014:[]
+016031_000039:[]
+011527_000031:[]
+014264_000024:[]
+001556_000021:[11]
+021791_000024:[]
+011858_000006:[]
+008473_000010:[19]
+011283_000038:[]
+000779_000031:[]
+007455_000025:[]
+001373_000024:[]
+007112_000011:[1, 10]
+021105_000003:[0]
+010995_000038:[]
+012605_000016:[4, 11]
+012045_000035:[0]
+018876_000012:[5]
+017267_000014:[6, 15]
+006694_000012:[2, 5, 8, 11, 12, 16, 17]
+014746_000012:[]
+003876_000028:[]
+007352_000015:[6, 14]
+011893_000006:[]
+010380_000030:[3, 8]
+021735_000038:[]
+000081_000008:[1, 9, 11]
+014996_000002:[19]
+020152_000023:[]
+024638_000030:[]
+014082_000034:[]
+003051_000006:[5, 19]
+020004_000039:[]
+008507_000032:[]
+002779_000008:[]
+014448_000020:[14]
+019121_000018:[]
+020500_000033:[]
+001525_000012:[2, 3]
+021467_000026:[16]
+001708_000033:[]
+007847_000038:[]
+012381_000014:[]
+023197_000000:[]
+010065_000003:[]
+003005_000013:[1, 8, 9, 10, 14]
+002691_000021:[]
+001655_000014:[]
+001066_000003:[4, 17]
+015953_000033:[]
+003625_000025:[6, 10]
+015483_000016:[11, 12, 14]
+004697_000000:[0]
+011801_000002:[]
+010536_000020:[15]
+020869_000010:[1, 2, 4, 14, 17]
+010591_000039:[]
+024835_000005:[]
+023125_000008:[13]
+005298_000030:[]
+000888_000028:[]
+024611_000030:[9]
+022603_000001:[]
+010348_000015:[]
+001287_000010:[5, 7, 10]
+007401_000034:[3, 8]
+024072_000000:[1, 3]
+003871_000014:[]
+001098_000020:[11, 12]
+003447_000022:[11]
+012210_000003:[2, 10]
+009842_000020:[]
+017612_000018:[]
+008109_000027:[]
+007050_000018:[]
+007153_000005:[2, 12]
+022420_000009:[]
+018173_000023:[3]
+000411_000035:[]
+019781_000030:[11]
+020752_000037:[]
+011748_000032:[]
+014237_000019:[]
+000773_000014:[]
+005633_000015:[]
+003268_000026:[6, 14]
+007953_000018:[3]
+024079_000005:[]
+006492_000005:[4, 9, 10]
+000567_000029:[12]
+005329_000022:[]
+002920_000022:[]
+016663_000000:[]
+015172_000039:[]
+001566_000008:[5, 12]
+009043_000006:[4]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000581_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000581_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7548b56ccc0b1f5e8b5d4672c4c72a5f21880548
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000581_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+008825_000029:[]
+016163_000018:[]
+023392_000021:[]
+024412_000013:[10]
+012705_000039:[1, 4, 7, 12, 15]
+014265_000028:[16]
+002321_000013:[19]
+024238_000016:[]
+002546_000020:[6]
+021223_000023:[2, 6]
+015391_000023:[]
+024808_000032:[]
+002920_000008:[1]
+014241_000007:[]
+006929_000015:[]
+024112_000010:[4]
+009016_000019:[12]
+017381_000016:[]
+010688_000011:[]
+024364_000021:[]
+000749_000029:[]
+003899_000016:[18]
+024006_000004:[]
+013445_000018:[3]
+005628_000037:[14, 19]
+014931_000019:[3, 11, 13]
+021422_000011:[5]
+010511_000004:[1]
+013124_000034:[]
+011383_000024:[2, 7, 8, 9, 11, 15, 17, 19]
+010953_000025:[]
+001844_000008:[15]
+015532_000027:[9]
+001519_000023:[]
+000113_000009:[2]
+010527_000015:[]
+012938_000006:[12]
+021175_000020:[7, 8, 10, 19]
+005763_000022:[17]
+019362_000016:[6, 12, 15]
+020750_000014:[]
+019457_000031:[1, 2, 3, 4, 5, 6, 13, 14, 16, 18]
+019760_000018:[]
+019853_000027:[14]
+017297_000029:[]
+010457_000003:[3]
+018089_000032:[14]
+023902_000016:[]
+016869_000003:[6]
+017384_000011:[]
+006093_000017:[]
+021104_000025:[]
+007064_000013:[]
+011918_000010:[0, 12]
+002682_000016:[]
+010764_000010:[14, 15]
+003879_000036:[]
+016253_000001:[]
+019336_000034:[15, 19]
+013791_000033:[]
+016890_000017:[]
+008541_000004:[12]
+019488_000037:[19]
+019003_000024:[]
+022967_000032:[]
+007870_000006:[4]
+008776_000034:[8, 9]
+004224_000018:[0]
+018325_000020:[]
+002099_000039:[3, 7, 17]
+016891_000012:[]
+006806_000037:[]
+011895_000016:[6, 10]
+015860_000009:[]
+022076_000036:[]
+001131_000032:[2, 4, 7, 14, 15, 17]
+009358_000001:[1, 5, 19]
+002139_000016:[18]
+012633_000020:[9, 13, 16]
+001161_000014:[13]
+011260_000032:[9]
+016336_000006:[]
+003945_000001:[1, 4, 17]
+012072_000036:[6, 15]
+011730_000035:[11]
+020453_000015:[0, 5]
+005089_000036:[]
+008508_000010:[0, 11]
+024553_000034:[]
+020808_000014:[]
+020602_000016:[]
+017583_000036:[]
+006316_000000:[3, 13, 18]
+007717_000014:[0]
+009023_000024:[1, 4, 10, 11, 18]
+024805_000013:[]
+012908_000018:[7, 10]
+007695_000010:[3]
+007438_000023:[10]
+001372_000039:[]
+023054_000008:[14]
+003633_000016:[]
+005801_000008:[13]
+020799_000023:[]
+024246_000016:[1, 2, 14, 17]
+010218_000034:[]
+005734_000036:[]
+013707_000022:[6]
+022510_000030:[]
+000390_000027:[]
+012242_000037:[]
+011279_000028:[13]
+022970_000006:[]
+023776_000038:[8]
+017633_000034:[0, 1, 2, 9, 14, 18]
+020934_000024:[10]
+019576_000009:[]
+018230_000005:[]
+020028_000017:[]
+003637_000031:[]
+020858_000005:[6, 15, 19]
+010823_000034:[2]
+017287_000031:[]
+011917_000014:[]
+002236_000020:[]
+016641_000002:[]
+010160_000027:[]
+003635_000024:[]
+000470_000033:[0, 3, 6, 8, 12, 14, 17, 18]
+006053_000018:[3]
+009137_000025:[]
+010386_000019:[14]
+002870_000019:[3]
+000129_000002:[]
+012459_000008:[]
+003262_000025:[]
+005804_000019:[14]
+000335_000030:[10]
+023905_000024:[7, 9]
+008646_000027:[2]
+021771_000024:[]
+015764_000014:[]
+005432_000006:[]
+016554_000034:[]
+003361_000025:[5]
+019137_000038:[]
+009343_000000:[15]
+015913_000008:[]
+009466_000003:[]
+014581_000006:[0, 15]
+016922_000019:[2, 3, 4, 5, 7, 12, 13, 14, 17]
+009812_000006:[0, 16]
+005151_000015:[]
+014906_000002:[2, 3, 7, 15, 16]
+012280_000032:[10, 12, 18]
+005514_000027:[]
+014297_000034:[]
+022019_000039:[13, 18]
+003204_000035:[]
+021497_000031:[8, 12, 14, 18]
+019044_000006:[13]
+021101_000026:[]
+007568_000010:[]
+002158_000002:[]
+021457_000001:[19]
+022730_000023:[7, 9, 19]
+019786_000014:[]
+014865_000039:[11]
+001946_000019:[7]
+018291_000005:[0, 15]
+018853_000029:[]
+020350_000008:[]
+022365_000032:[6, 12, 18, 19]
+012806_000027:[]
+016401_000001:[]
+018275_000033:[0, 1, 4, 5, 11, 16]
+016351_000033:[]
+018419_000007:[8]
+022664_000032:[]
+019763_000037:[14]
+012806_000008:[16]
+018891_000039:[]
+000572_000037:[4]
+019801_000023:[]
+013855_000017:[]
+009756_000011:[0, 17]
+019294_000002:[5, 6, 15]
+022316_000017:[]
+006454_000005:[]
+007212_000019:[17]
+019160_000019:[0, 1, 2, 4, 8, 9, 10, 11, 12, 16, 18]
+021787_000038:[]
+003099_000011:[7]
+020580_000022:[]
+011818_000025:[]
+016805_000004:[]
+004712_000019:[2]
+015830_000033:[]
+007318_000012:[]
+019639_000004:[]
+021356_000016:[]
+009819_000016:[]
+000996_000029:[4, 5, 7, 14, 15]
+005540_000023:[18]
+002718_000033:[18, 19]
+012947_000037:[18]
+021115_000039:[5, 8]
+009865_000001:[]
+003210_000000:[]
+019336_000017:[]
+001918_000030:[]
+000938_000038:[]
+001451_000037:[9, 12]
+007288_000015:[3, 6, 17]
+018081_000013:[]
+013117_000010:[5, 9]
+009162_000021:[]
+020711_000027:[]
+019659_000036:[1, 13, 18]
+017727_000011:[1, 2, 4, 6, 16, 17]
+014130_000031:[]
+013366_000027:[]
+016485_000027:[11]
+000667_000019:[]
+011962_000032:[0, 2, 6, 7, 8, 17]
+023276_000000:[4, 10]
+022448_000021:[10]
+020372_000004:[5, 9, 12, 17]
+005480_000033:[]
+014409_000005:[]
+002195_000020:[]
+013077_000022:[16]
+016998_000026:[0, 2, 4, 11, 12, 14, 18]
+006513_000013:[5, 8, 11]
+002752_000009:[]
+023186_000016:[]
+017926_000031:[7]
+014979_000018:[5, 7, 9, 10, 16, 17]
+006328_000004:[9]
+013889_000001:[]
+023042_000008:[1, 7, 18]
+020226_000017:[]
+023880_000002:[8, 10]
+002427_000016:[5, 14, 15]
+016616_000023:[]
+024324_000031:[14]
+019936_000034:[1, 9]
+008358_000013:[]
+008757_000015:[6]
+022892_000028:[]
+014292_000017:[]
+023215_000027:[8]
+023739_000036:[]
+015818_000002:[0]
+000822_000032:[8]
+018706_000018:[]
+019606_000037:[0]
+011395_000009:[]
+017826_000019:[]
+019149_000016:[10, 18]
+008143_000001:[]
+009553_000012:[]
+003925_000039:[9, 17]
+020922_000021:[]
+017425_000027:[6, 10]
+024263_000023:[]
+021644_000001:[]
+005958_000026:[]
+024534_000029:[]
+014491_000032:[]
+000859_000005:[6, 18]
+001880_000008:[]
+013488_000032:[13]
+013263_000023:[15]
+003680_000035:[]
+014941_000006:[]
+007833_000014:[]
+010698_000030:[]
+017888_000001:[10]
+018927_000031:[8]
+024311_000023:[]
+013425_000025:[11]
+008585_000000:[1, 6]
+017127_000000:[]
+022272_000008:[]
+014972_000027:[6]
+019183_000025:[12, 14, 19]
+022543_000039:[9]
+020919_000018:[14]
+010632_000001:[]
+012440_000012:[17]
+010370_000030:[4, 14]
+001856_000035:[]
+006821_000021:[10]
+003836_000022:[17]
+001215_000008:[]
+010117_000028:[]
+018221_000032:[]
+010597_000008:[]
+003987_000016:[5, 7, 11, 12]
+015789_000028:[]
+007276_000005:[5]
+003688_000035:[]
+023462_000039:[9, 11]
+009351_000010:[0, 3, 11, 13, 19]
+012425_000010:[1, 8, 11, 15]
+009105_000014:[]
+021245_000000:[0, 4]
+015294_000007:[]
+000928_000016:[]
+004414_000005:[10]
+013203_000023:[9]
+009272_000013:[4, 7, 8, 9, 10, 11, 13, 17]
+014757_000033:[]
+024470_000014:[]
+018940_000031:[]
+012875_000022:[]
+006016_000029:[]
+024881_000036:[9, 11, 19]
+012281_000039:[8, 11]
+000909_000007:[]
+005428_000018:[]
+016282_000033:[0]
+003764_000027:[6, 8]
+003985_000005:[]
+003630_000035:[1]
+017348_000014:[]
+014714_000017:[7]
+007324_000025:[]
+014242_000018:[]
+007137_000010:[]
+023771_000011:[]
+016420_000024:[]
+016828_000014:[]
+006259_000000:[]
+007487_000034:[]
+020621_000011:[2, 19]
+002506_000023:[]
+003444_000027:[]
+013931_000016:[1, 16]
+006630_000015:[0]
+016369_000033:[]
+006842_000007:[]
+020181_000029:[]
+021696_000018:[]
+008515_000025:[]
+023514_000010:[3, 4, 5, 10, 14]
+005937_000015:[]
+006457_000026:[]
+003722_000006:[]
+003556_000006:[]
+004965_000035:[8]
+010728_000017:[]
+021288_000014:[0, 1, 4, 9]
+024314_000011:[]
+000399_000015:[]
+005950_000030:[]
+017864_000008:[18]
+023987_000019:[]
+023343_000032:[]
+005497_000025:[]
+008555_000026:[]
+020142_000020:[2]
+005169_000038:[15]
+000214_000019:[14, 15]
+022070_000016:[]
+016141_000027:[]
+014691_000020:[]
+012806_000026:[]
+012140_000034:[]
+004687_000034:[0, 14]
+018842_000008:[]
+016745_000026:[]
+009967_000007:[1, 5, 6, 8, 11, 12]
+020978_000006:[]
+005735_000024:[]
+017091_000017:[2, 6, 11, 13, 14, 15, 17, 18]
+014752_000036:[17]
+022163_000000:[]
+010677_000012:[]
+007918_000016:[]
+012836_000008:[15, 17]
+015345_000034:[4]
+019740_000013:[]
+005903_000014:[17, 18]
+009081_000007:[]
+009321_000013:[11]
+000114_000020:[1]
+019069_000037:[]
+016099_000019:[12, 17]
+020911_000009:[8, 19]
+000560_000008:[]
+019089_000020:[7, 14, 19]
+009929_000002:[]
+007151_000039:[]
+000975_000002:[]
+016974_000039:[2, 11]
+017580_000030:[4]
+023213_000035:[]
+012058_000030:[]
+010905_000002:[1]
+018425_000033:[]
+020292_000023:[]
+015881_000024:[]
+005566_000027:[13, 14]
+009918_000012:[]
+007428_000018:[]
+012562_000021:[]
+022578_000031:[1, 14]
+010343_000000:[]
+011312_000037:[]
+013597_000006:[]
+014570_000014:[]
+013341_000032:[5]
+009459_000033:[7]
+018138_000008:[]
+016674_000034:[1, 5, 19]
+011690_000002:[18]
+000582_000028:[6]
+005646_000030:[]
+021071_000028:[]
+017908_000002:[]
+020127_000009:[8]
+016035_000019:[13]
+019162_000035:[]
+016033_000039:[]
+012766_000029:[]
+018648_000009:[4]
+003068_000009:[]
+006127_000020:[8]
+016873_000031:[7]
+009900_000004:[]
+023598_000015:[]
+022940_000018:[17]
+020941_000007:[]
+012506_000035:[]
+015000_000005:[]
+015760_000003:[]
+020596_000019:[]
+010774_000026:[9]
+010075_000035:[]
+006332_000021:[15]
+019577_000033:[]
+020105_000002:[]
+004676_000008:[]
+022693_000027:[]
+002244_000010:[0]
+011120_000038:[11]
+017631_000039:[]
+010523_000005:[9]
+020857_000029:[]
+017132_000025:[12]
+008205_000020:[]
+015181_000007:[]
+006510_000015:[]
+017022_000004:[]
+005874_000003:[]
+017780_000028:[]
+005682_000038:[]
+018287_000019:[]
+016498_000019:[]
+002598_000013:[]
+016968_000015:[3, 8, 9, 14]
+002537_000033:[6]
+001536_000013:[]
+004467_000017:[18]
+024446_000017:[2]
+022537_000032:[1, 8, 10, 17]
+007750_000038:[16]
+004947_000020:[]
+000633_000030:[5, 11, 12, 14, 15, 16, 17]
+003929_000025:[]
+013540_000035:[]
+007051_000003:[12]
+002989_000000:[]
+016727_000009:[]
+007657_000006:[8]
+021947_000010:[3]
+019527_000014:[]
+016995_000001:[11, 12, 15, 18]
+011512_000019:[4, 6, 9, 16]
+007505_000029:[]
+005192_000018:[]
+011454_000013:[19]
+024267_000000:[8, 11]
+004873_000024:[]
+024687_000027:[]
+001282_000015:[]
+018517_000018:[2, 7, 11, 14]
+021484_000001:[]
+015089_000038:[9]
+011333_000000:[]
+006028_000000:[12]
+016475_000024:[1, 4, 11, 12, 18]
+001299_000028:[5]
+004980_000010:[]
+016268_000038:[6]
+015809_000029:[]
+011130_000017:[0, 1, 6, 18]
+013323_000034:[]
+016365_000027:[]
+007919_000002:[]
+005956_000032:[]
+018285_000033:[]
+020634_000025:[]
+020686_000005:[]
+016578_000010:[2]
+012380_000010:[]
+007253_000024:[]
+009888_000025:[]
+017017_000035:[12]
+006424_000009:[2, 17]
+006048_000032:[]
+002357_000004:[6, 15]
+016053_000025:[]
+008985_000018:[]
+008955_000025:[7, 8, 13]
+017767_000020:[]
+018640_000025:[1, 13]
+001788_000038:[4, 7]
+024601_000018:[]
+000128_000026:[]
+007649_000032:[]
+019262_000002:[]
+011705_000021:[9]
+017557_000012:[1, 4]
+013048_000008:[]
+012757_000015:[]
+014105_000034:[5, 6, 10, 12, 15, 17]
+010426_000000:[]
+004623_000033:[5]
+003564_000020:[]
+012493_000008:[13, 16]
+008772_000021:[]
+002287_000012:[1, 9]
+000905_000012:[18]
+000237_000004:[]
+013333_000015:[2]
+023474_000031:[]
+008701_000005:[]
+000441_000034:[4]
+019370_000024:[]
+001595_000034:[]
+022338_000019:[]
+003394_000016:[]
+022301_000004:[15, 17]
+010347_000025:[]
+000966_000038:[]
+023013_000033:[5]
+019539_000035:[]
+008189_000011:[12]
+003176_000032:[]
+001948_000009:[]
+022342_000037:[]
+013515_000023:[14, 15, 19]
+001172_000016:[1]
+019560_000021:[]
+020506_000020:[11]
+024210_000028:[3, 4, 5, 8, 9, 10]
+015432_000026:[]
+008850_000039:[]
+003094_000039:[17]
+002298_000029:[5, 7, 11]
+002313_000020:[]
+024686_000021:[]
+009932_000031:[5, 7]
+008318_000026:[4, 12]
+007079_000027:[]
+024067_000032:[14]
+008662_000036:[]
+017971_000026:[]
+013352_000036:[]
+001384_000008:[0, 2, 5, 10, 12, 14, 17]
+005269_000036:[0, 4, 6]
+007057_000029:[]
+008419_000022:[0, 5]
+001961_000004:[6]
+004577_000014:[]
+023411_000029:[]
+010741_000021:[6]
+023906_000004:[8, 17]
+012234_000029:[]
+006393_000008:[0]
+000603_000011:[]
+003944_000024:[]
+002845_000012:[]
+018570_000007:[]
+020394_000016:[]
+010989_000005:[11, 14, 18]
+004698_000002:[]
+003774_000018:[17]
+022998_000011:[3, 10, 18]
+017774_000020:[]
+015733_000002:[7]
+014822_000036:[]
+020868_000009:[]
+002062_000013:[]
+004688_000015:[3]
+001019_000018:[0, 13, 18]
+015508_000022:[]
+018162_000019:[15]
+011887_000008:[]
+023752_000030:[]
+017993_000022:[]
+024341_000007:[15]
+015711_000033:[]
+010323_000014:[15]
+002037_000004:[18]
+010397_000025:[]
+014118_000001:[0, 1, 2, 3, 7, 15, 18]
+012083_000006:[]
+022638_000036:[]
+004397_000029:[13]
+023408_000032:[]
+011871_000010:[19]
+019183_000036:[]
+022035_000027:[]
+012366_000028:[]
+007237_000018:[14]
+013469_000015:[13]
+011575_000007:[4]
+009067_000002:[14]
+019652_000038:[]
+012314_000038:[3]
+011654_000013:[]
+007108_000021:[0, 3, 5, 6, 14]
+004867_000028:[]
+020134_000013:[2, 9, 17, 18]
+004186_000009:[]
+024835_000009:[]
+022955_000001:[0, 1, 15]
+024873_000039:[14]
+016739_000020:[]
+016171_000024:[]
+002185_000039:[3, 18]
+008174_000004:[17]
+016941_000014:[]
+002621_000012:[]
+021270_000031:[]
+010332_000022:[]
+014058_000013:[0, 8]
+020777_000016:[4]
+020907_000012:[]
+007287_000033:[]
+009479_000035:[]
+004278_000010:[9, 12]
+005365_000031:[2, 18]
+017899_000010:[]
+009188_000032:[]
+004142_000015:[6]
+007226_000021:[18]
+023250_000009:[]
+020002_000012:[]
+011332_000010:[7]
+010319_000018:[]
+009195_000005:[5]
+009517_000005:[]
+003752_000031:[]
+000121_000020:[1, 5, 6, 8, 11, 13, 14, 15, 17, 19]
+009160_000039:[12]
+017309_000024:[]
+003346_000028:[]
+001692_000022:[0]
+005626_000005:[3]
+009237_000027:[]
+009673_000024:[9]
+022237_000031:[3, 16, 17]
+006478_000020:[11]
+004386_000024:[6]
+015919_000005:[]
+008146_000004:[18]
+015503_000039:[]
+003351_000020:[2]
+019227_000025:[0, 1, 2, 3, 4, 6, 7, 8, 10, 12, 14, 16, 17]
+024106_000036:[]
+018490_000015:[]
+015110_000026:[0]
+001324_000000:[]
+017983_000034:[0, 12]
+006880_000021:[]
+001234_000025:[0, 13]
+023289_000038:[]
+016243_000029:[]
+007146_000017:[]
+005110_000027:[0]
+018804_000020:[]
+015645_000019:[]
+023238_000027:[5]
+005005_000021:[6]
+002843_000010:[0]
+009356_000024:[]
+017980_000029:[]
+013836_000009:[]
+013249_000015:[]
+024934_000015:[]
+012431_000022:[13]
+002734_000037:[]
+019823_000030:[8, 10, 11, 19]
+000723_000009:[]
+015173_000025:[]
+015461_000001:[10]
+022353_000013:[9]
+024413_000011:[2, 16]
+000990_000023:[15]
+008548_000023:[2, 4, 19]
+011348_000007:[]
+023491_000018:[5, 13]
+023715_000026:[]
+010425_000037:[]
+008022_000035:[]
+007095_000010:[]
+007473_000023:[6, 14]
+022304_000008:[]
+022939_000025:[]
+022776_000026:[3, 8, 10]
+000561_000016:[]
+011335_000033:[]
+014518_000021:[3, 18]
+004008_000033:[9]
+012761_000021:[]
+012697_000009:[1]
+000931_000027:[]
+015771_000004:[12]
+014889_000028:[0]
+010706_000035:[11, 12, 19]
+009232_000008:[]
+020176_000034:[2]
+014217_000038:[]
+007884_000017:[2, 5, 9, 17, 18, 19]
+022648_000020:[]
+020867_000030:[]
+004363_000007:[19]
+021188_000013:[10]
+003106_000007:[]
+021719_000020:[5]
+011721_000025:[5, 19]
+006873_000012:[4, 13]
+009033_000022:[15]
+018695_000022:[]
+023319_000003:[4, 5, 8]
+004796_000002:[]
+010804_000025:[2, 12]
+013355_000013:[17]
+023729_000009:[]
+022075_000012:[]
+015204_000015:[]
+009535_000029:[0]
+012417_000024:[2, 10, 12, 14]
+007673_000029:[8]
+007030_000017:[]
+019752_000025:[12]
+006528_000033:[1, 6]
+015125_000030:[]
+021666_000038:[]
+016204_000037:[]
+005906_000025:[]
+020359_000008:[]
+018050_000033:[]
+002113_000020:[]
+012963_000027:[]
+017433_000018:[9]
+018353_000030:[13]
+007787_000031:[16, 17]
+021880_000011:[]
+017415_000027:[2, 5]
+017059_000026:[5]
+014307_000009:[]
+003002_000021:[9]
+001807_000037:[]
+006678_000032:[]
+018059_000034:[]
+015616_000025:[0]
+005062_000037:[18]
+015188_000017:[]
+017323_000035:[0, 1, 4, 10, 16]
+022378_000029:[3, 10, 18]
+011003_000013:[7]
+004144_000017:[19]
+015278_000032:[17, 18]
+006632_000005:[]
+008383_000003:[9]
+019616_000037:[]
+000204_000036:[]
+009344_000009:[]
+018171_000029:[2, 10]
+008785_000029:[2]
+022735_000037:[9]
+013383_000027:[]
+022566_000018:[]
+018307_000027:[7]
+003354_000014:[]
+000189_000035:[]
+017570_000030:[]
+003684_000021:[]
+004845_000025:[]
+005866_000000:[0, 4, 6, 8, 16]
+022714_000024:[1, 3, 12, 15]
+014134_000005:[]
+008869_000020:[9]
+012023_000014:[]
+019490_000037:[]
+005040_000009:[]
+004696_000023:[]
+015018_000027:[]
+003098_000007:[8]
+013222_000019:[]
+010540_000035:[1]
+013117_000026:[3, 12]
+010095_000027:[]
+023101_000006:[]
+003971_000029:[3, 7, 19]
+014388_000006:[0, 5]
+009869_000015:[]
+010689_000016:[5, 6, 8, 10, 17, 19]
+014154_000023:[7, 9, 15]
+003270_000013:[]
+014621_000002:[3]
+017659_000035:[]
+006321_000006:[6, 15, 18]
+011606_000012:[]
+022890_000039:[]
+012863_000007:[]
+014563_000019:[]
+010842_000004:[]
+002806_000036:[]
+023041_000011:[]
+002285_000025:[]
+003303_000025:[17]
+023115_000006:[12]
+024445_000008:[14]
+014467_000002:[]
+018299_000016:[]
+006132_000026:[]
+001834_000039:[]
+019028_000001:[2, 17]
+015981_000008:[]
+001684_000000:[7]
+004078_000024:[]
+007058_000034:[7]
+021561_000011:[0]
+018128_000013:[]
+000992_000005:[2, 14, 15, 19]
+021548_000034:[]
+002034_000009:[]
+015131_000008:[6, 16]
+015759_000003:[]
+013349_000036:[4, 5, 6, 11, 13, 17]
+003373_000005:[3, 7, 11, 14, 19]
+023940_000021:[]
+013879_000009:[11, 19]
+011934_000011:[7]
+004877_000003:[16]
+022962_000017:[]
+004409_000037:[]
+017850_000032:[]
+016114_000018:[]
+014192_000008:[]
+007728_000034:[0, 1, 10, 19]
+015200_000039:[12]
+006152_000036:[17]
+023140_000005:[]
+010966_000029:[4]
+019967_000018:[7, 19]
+008058_000024:[1, 11]
+019192_000036:[18]
+015202_000031:[]
+022043_000039:[]
+022094_000039:[0, 2, 18, 19]
+013154_000034:[12]
+012513_000003:[]
+021099_000034:[3, 10]
+014301_000001:[]
+018790_000022:[6, 13, 18]
+024785_000030:[14]
+007617_000025:[]
+016627_000010:[5]
+008550_000001:[]
+011297_000025:[]
+003598_000039:[6, 14]
+022080_000008:[]
+003704_000028:[]
+009304_000031:[]
+021619_000034:[]
+020234_000023:[19]
+001664_000012:[]
+006603_000005:[]
+005021_000014:[0, 2, 3, 4, 5]
+008759_000019:[2, 3, 6]
+009619_000024:[7]
+021046_000023:[11]
+002519_000003:[19]
+022970_000002:[17]
+009547_000037:[]
+002340_000009:[19]
+013931_000004:[]
+023379_000013:[]
+004013_000034:[1, 4, 7, 13, 14, 15, 16]
+008876_000006:[2, 10, 11, 15]
+014063_000011:[]
+002463_000032:[]
+016655_000039:[]
+014872_000034:[]
+002557_000002:[]
+023855_000029:[4]
+009748_000036:[]
+024827_000032:[]
+004587_000005:[3]
+005836_000002:[3, 4, 11, 14]
+005706_000029:[]
+024011_000019:[]
+018313_000029:[0]
+001465_000011:[0]
+013137_000029:[]
+010037_000031:[2, 10, 11]
+014986_000018:[]
+006959_000007:[]
+002822_000022:[2, 6, 9, 12, 13, 16]
+013082_000005:[]
+008981_000028:[]
+006597_000015:[]
+009554_000007:[]
+018958_000022:[14]
+007513_000015:[]
+002584_000014:[3, 8]
+006329_000034:[]
+018351_000037:[]
+002914_000035:[2, 8]
+002763_000033:[]
+003610_000004:[17]
+016727_000031:[]
+020190_000014:[19]
+016700_000002:[7, 12, 13]
+020919_000028:[14]
+024857_000029:[]
+002811_000038:[]
+015131_000004:[3, 7, 12, 14]
+007152_000018:[6]
+013420_000037:[]
+015291_000025:[6, 13]
+006948_000029:[]
+017271_000039:[]
+006167_000008:[]
+018012_000000:[3, 11]
+002581_000006:[]
+014463_000023:[]
+009977_000023:[]
+008542_000022:[]
+022488_000011:[4]
+015880_000029:[11]
+010941_000024:[]
+020997_000028:[1]
+004373_000025:[]
+004865_000035:[1]
+013583_000007:[]
+000608_000014:[]
+011489_000025:[9, 16]
+012228_000002:[13]
+017937_000037:[3]
+023222_000011:[]
+012763_000029:[0, 16]
+017926_000019:[]
+001508_000018:[8, 19]
+013110_000025:[]
+009205_000030:[]
+012881_000006:[]
+011550_000039:[]
+024930_000019:[]
+014534_000017:[]
+014119_000033:[7, 8, 11, 14]
+021272_000007:[]
+014168_000037:[]
+021022_000032:[6, 7]
+020225_000023:[]
+012524_000027:[]
+006797_000026:[]
+009997_000025:[]
+023820_000003:[6]
+002724_000027:[]
+010201_000001:[10]
+014005_000010:[]
+007392_000023:[1, 5]
+005444_000021:[]
+004499_000036:[]
+011371_000005:[]
+007660_000018:[]
+007186_000012:[12]
+002361_000003:[4]
+002901_000012:[]
+021887_000012:[3, 10]
+009053_000016:[6]
+004278_000005:[]
+009896_000006:[6]
+021651_000027:[]
+009106_000006:[]
+014131_000037:[]
+012496_000004:[]
+010633_000028:[13]
+005662_000002:[]
+012259_000028:[]
+022150_000031:[10, 18, 19]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000602_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000602_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..45060b9dcbea78df26bc6d2457157d56ce394c2b
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000602_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+014916_000028:[]
+004161_000023:[1, 5, 6, 15, 16, 17]
+011983_000032:[]
+001220_000034:[6, 16]
+008321_000014:[2, 8, 12]
+012856_000016:[18]
+005525_000030:[]
+002011_000034:[]
+016263_000017:[5]
+015547_000004:[]
+001588_000011:[4, 11]
+022856_000012:[]
+008486_000027:[]
+014892_000004:[19]
+009135_000027:[7, 12]
+016214_000001:[]
+018248_000010:[]
+003364_000002:[]
+008351_000006:[]
+000794_000025:[]
+006139_000032:[]
+005400_000018:[]
+008139_000021:[]
+017232_000023:[]
+005686_000003:[]
+016255_000037:[9]
+023092_000030:[]
+001799_000032:[]
+021377_000003:[7]
+020909_000017:[17]
+014517_000033:[]
+010584_000033:[2, 14]
+021054_000031:[]
+020922_000018:[]
+004900_000029:[]
+019055_000030:[]
+024131_000031:[3]
+023144_000014:[5, 13, 19]
+006124_000026:[]
+014152_000027:[]
+023935_000016:[]
+021035_000025:[2]
+011687_000030:[0, 5, 6]
+017733_000028:[]
+010305_000024:[]
+007087_000004:[]
+009363_000032:[6, 19]
+017989_000010:[]
+001953_000008:[]
+014647_000021:[]
+008639_000016:[]
+005361_000003:[]
+001714_000032:[4]
+010119_000009:[]
+018073_000022:[9, 16]
+015540_000015:[9]
+006169_000003:[]
+005786_000029:[]
+006095_000035:[]
+012640_000039:[]
+022321_000033:[]
+024115_000035:[4]
+017960_000001:[]
+018683_000021:[]
+004662_000039:[]
+001560_000010:[7]
+016827_000037:[0, 9, 10, 15]
+016282_000005:[3, 10]
+016364_000014:[]
+016683_000028:[11]
+016194_000029:[]
+002309_000020:[6]
+012374_000007:[8]
+001978_000009:[19]
+000244_000031:[]
+016520_000034:[]
+003362_000006:[]
+007619_000036:[1, 4, 15, 17]
+001528_000030:[]
+010301_000018:[5]
+017880_000022:[]
+023125_000022:[]
+005350_000030:[]
+000563_000023:[]
+024231_000007:[]
+006740_000014:[17]
+008220_000021:[]
+006661_000001:[1, 5, 11]
+001389_000029:[]
+014658_000004:[]
+003642_000035:[]
+023347_000020:[11, 16]
+012730_000029:[]
+014566_000009:[13, 19]
+013215_000015:[]
+008521_000039:[0, 4, 6]
+016681_000030:[18]
+003686_000030:[]
+015588_000012:[17]
+021006_000008:[3, 4, 12, 15, 18]
+011482_000039:[6]
+002862_000003:[]
+013906_000029:[8]
+000193_000015:[8]
+018074_000027:[]
+022242_000022:[]
+006837_000025:[2, 3, 12]
+002244_000028:[]
+007795_000028:[]
+024288_000025:[]
+015842_000036:[10]
+004163_000026:[19]
+019578_000033:[13]
+010133_000021:[17, 18]
+011899_000013:[]
+003723_000031:[10]
+010459_000030:[]
+012745_000030:[16]
+005019_000000:[]
+023714_000000:[]
+012479_000006:[]
+013158_000018:[8]
+002750_000005:[1]
+011012_000029:[1, 9, 11, 13, 14, 18]
+002773_000024:[]
+022991_000011:[5]
+018275_000023:[6, 10]
+021742_000005:[8]
+011428_000015:[]
+010676_000020:[]
+006416_000017:[]
+020710_000028:[5, 13, 19]
+002983_000011:[]
+014410_000038:[5]
+003862_000037:[3, 9, 10, 14, 18]
+012700_000017:[0, 10]
+012242_000024:[]
+007487_000020:[]
+001914_000023:[0, 1, 13]
+015634_000033:[3]
+019745_000001:[]
+015823_000005:[]
+011534_000001:[]
+001966_000014:[0, 6, 8, 15, 16, 19]
+018706_000024:[10]
+019636_000012:[]
+002945_000020:[10]
+012017_000007:[3, 5, 18]
+000204_000027:[]
+015095_000016:[]
+003864_000005:[]
+024293_000022:[9, 18, 19]
+022900_000022:[]
+017256_000011:[]
+012149_000027:[0, 1, 2, 9]
+014509_000025:[1, 12, 15, 17]
+002450_000011:[4, 12]
+010930_000035:[]
+013600_000019:[9]
+013137_000026:[]
+011436_000017:[]
+008364_000016:[]
+021986_000014:[]
+022390_000010:[]
+004837_000025:[]
+014579_000015:[]
+006664_000031:[]
+019431_000025:[]
+024647_000030:[]
+004405_000002:[]
+009801_000019:[]
+020728_000031:[1]
+002635_000025:[5, 8, 16, 17]
+000597_000027:[8, 11, 14, 19]
+006209_000000:[]
+005529_000020:[]
+007073_000017:[]
+001099_000009:[]
+016625_000001:[]
+004565_000039:[12]
+024967_000017:[11, 12, 14, 17]
+000809_000029:[]
+008653_000020:[17]
+008860_000014:[]
+001226_000014:[14]
+015774_000035:[16]
+021897_000022:[4, 18]
+003897_000017:[19]
+003817_000019:[]
+011279_000022:[]
+017367_000011:[]
+016815_000017:[]
+018390_000022:[15]
+019815_000007:[]
+023961_000024:[]
+007328_000032:[6]
+020532_000010:[14, 16]
+020838_000003:[]
+013223_000029:[]
+013149_000005:[]
+012271_000001:[]
+009386_000017:[13]
+020906_000019:[6]
+009315_000026:[]
+015747_000027:[5]
+021548_000007:[19]
+000059_000035:[]
+002161_000039:[]
+011186_000017:[]
+014086_000003:[9, 18]
+017920_000033:[3, 5, 9, 10, 19]
+009178_000012:[16, 19]
+016748_000016:[2, 11]
+002833_000035:[]
+014557_000003:[2, 7]
+017909_000020:[]
+001988_000015:[14]
+007535_000011:[2]
+017254_000030:[]
+007588_000019:[]
+002030_000024:[]
+008685_000023:[]
+007823_000037:[]
+023429_000012:[9]
+020784_000031:[]
+005816_000030:[1, 5, 12, 13, 14]
+017607_000007:[]
+005209_000017:[]
+023065_000008:[]
+014744_000005:[]
+001293_000039:[0, 12, 14, 19]
+020027_000020:[7, 10]
+002724_000036:[]
+008907_000000:[0, 1, 15]
+018690_000032:[]
+014684_000033:[11]
+001980_000032:[]
+019494_000006:[12]
+021279_000032:[]
+014924_000024:[]
+002759_000020:[]
+006008_000016:[]
+006612_000037:[15]
+011680_000018:[10, 13]
+002160_000033:[16]
+023551_000007:[3]
+000441_000002:[]
+012212_000026:[9, 14]
+014385_000023:[]
+000799_000008:[]
+015451_000010:[0, 3, 11, 18]
+016622_000038:[]
+013152_000001:[]
+018324_000034:[13]
+001603_000009:[]
+021133_000034:[7, 12]
+012403_000033:[9, 14, 16, 17]
+017718_000002:[]
+022543_000025:[9]
+008416_000028:[]
+013046_000000:[]
+017368_000017:[]
+023706_000007:[]
+023636_000012:[]
+000385_000025:[1, 3, 10, 14, 16, 18]
+023154_000012:[]
+023064_000017:[]
+024950_000038:[]
+012324_000020:[0, 1, 11]
+014839_000005:[]
+013003_000000:[7, 19]
+017552_000039:[]
+019147_000026:[]
+010955_000017:[]
+009867_000021:[11]
+017419_000011:[5, 12, 13, 18]
+011723_000022:[8, 12]
+023338_000030:[1, 7, 11, 18]
+016595_000017:[0, 4, 13]
+002803_000035:[]
+017441_000007:[6, 8, 18]
+008487_000027:[]
+008314_000014:[11]
+020723_000035:[]
+002185_000017:[19]
+016249_000038:[]
+019899_000016:[3, 6, 7, 8, 14, 17]
+000828_000026:[]
+000977_000013:[]
+008927_000012:[]
+019025_000035:[7, 18]
+024956_000038:[7]
+020738_000031:[1, 11, 19]
+000381_000026:[]
+017276_000029:[]
+015077_000010:[]
+003421_000018:[]
+002017_000007:[]
+022663_000003:[]
+016223_000014:[10]
+009412_000027:[]
+023135_000005:[0]
+023956_000019:[6]
+007676_000012:[]
+021652_000008:[]
+011521_000006:[7, 10]
+004017_000017:[]
+001491_000038:[9]
+015608_000036:[9, 16]
+002658_000012:[]
+007847_000009:[]
+020602_000003:[8]
+011203_000031:[0, 7]
+013263_000007:[14]
+020275_000024:[]
+010603_000034:[]
+000307_000004:[]
+003385_000000:[14]
+013252_000026:[]
+011057_000031:[15]
+012866_000009:[]
+017198_000035:[]
+013513_000003:[]
+013014_000021:[0, 1, 3]
+006972_000036:[]
+023967_000020:[10, 19]
+019843_000029:[5]
+011492_000024:[]
+018816_000039:[]
+002434_000004:[7]
+011826_000038:[18]
+018833_000037:[12]
+022380_000028:[]
+006867_000020:[4, 6, 13]
+013286_000007:[0, 1, 7, 12, 14]
+000260_000032:[19]
+006692_000024:[]
+014398_000038:[]
+021449_000008:[16]
+009016_000024:[]
+002391_000027:[]
+005415_000014:[2, 6, 12, 15, 19]
+017888_000032:[]
+010256_000005:[1, 6, 10, 15]
+011420_000032:[]
+022809_000028:[1, 2, 14]
+005601_000024:[]
+003438_000011:[]
+000177_000017:[]
+004312_000007:[]
+023367_000011:[]
+013294_000032:[]
+020013_000026:[]
+006407_000003:[]
+020649_000033:[]
+004175_000028:[]
+018845_000037:[10]
+014423_000001:[3]
+012427_000027:[]
+016057_000027:[14, 15]
+000975_000026:[16]
+008235_000030:[7, 10]
+006586_000025:[]
+005599_000008:[]
+023558_000008:[1, 17]
+003270_000028:[4]
+008757_000008:[]
+003045_000007:[]
+018111_000012:[4, 7, 12, 14]
+007903_000029:[]
+020230_000030:[]
+007333_000033:[16]
+017485_000022:[4, 16]
+016012_000031:[]
+014966_000035:[]
+019669_000003:[]
+002230_000031:[]
+016380_000034:[0, 2]
+019381_000032:[]
+004030_000034:[]
+002098_000006:[5, 7]
+018600_000005:[]
+000165_000032:[]
+011899_000035:[1, 15]
+000458_000028:[]
+018878_000007:[15]
+005258_000028:[6]
+019370_000019:[]
+003218_000015:[]
+000631_000009:[]
+014065_000010:[]
+001121_000013:[9, 12, 16, 19]
+020760_000003:[]
+022538_000021:[]
+022669_000006:[]
+023895_000036:[]
+013522_000039:[]
+022484_000001:[]
+015058_000021:[7, 13, 19]
+016727_000007:[]
+021251_000010:[]
+014287_000012:[]
+015403_000008:[1, 6]
+017620_000026:[7, 16]
+022420_000036:[]
+023414_000029:[]
+001455_000018:[]
+016475_000030:[18]
+007102_000017:[]
+015962_000022:[]
+017867_000015:[3]
+004907_000031:[]
+012673_000036:[]
+002082_000033:[5, 8, 14, 17]
+009223_000009:[]
+013643_000002:[]
+006900_000006:[]
+000732_000015:[]
+011342_000031:[7, 19]
+000254_000028:[1]
+020003_000039:[]
+000660_000027:[]
+023595_000021:[3, 10, 19]
+020093_000002:[3, 4, 9, 10, 14, 18]
+000285_000018:[13]
+002897_000012:[0]
+007386_000030:[]
+019231_000034:[3, 8, 14]
+001401_000005:[4]
+001451_000009:[2, 9, 19]
+024116_000008:[]
+006427_000002:[13]
+018349_000008:[7, 13, 15, 16]
+002286_000014:[]
+002469_000025:[2, 12, 18]
+006955_000024:[13]
+011496_000009:[]
+012770_000014:[1]
+004345_000036:[]
+005963_000028:[2, 3]
+009931_000014:[]
+008269_000026:[0, 1, 5, 11, 12, 15, 16, 19]
+022296_000006:[]
+015480_000033:[]
+019730_000006:[]
+022702_000035:[]
+012676_000011:[1]
+022854_000026:[]
+004911_000005:[]
+016773_000008:[0, 14]
+004811_000013:[9, 14]
+018087_000038:[]
+000364_000017:[]
+007835_000036:[8]
+014195_000019:[]
+024828_000038:[3, 6, 14]
+019732_000019:[]
+020478_000025:[8, 11]
+010977_000024:[]
+022977_000031:[11, 13]
+007802_000009:[2, 3]
+015354_000028:[]
+000984_000026:[0]
+009933_000034:[11]
+020633_000030:[]
+000761_000002:[]
+001163_000024:[1, 8, 9, 15]
+014150_000012:[0, 14]
+011905_000020:[1]
+015322_000031:[6]
+009722_000011:[]
+008218_000009:[19]
+008107_000037:[9]
+012498_000009:[]
+004605_000029:[1, 9]
+021526_000020:[]
+006214_000030:[1]
+019078_000033:[2, 15]
+000964_000030:[]
+014003_000019:[]
+003629_000021:[]
+019306_000033:[16]
+009648_000022:[5]
+024543_000020:[]
+011635_000026:[17]
+012790_000002:[]
+004893_000021:[]
+006780_000031:[5]
+018102_000016:[7, 11]
+012628_000026:[1]
+019219_000011:[]
+016061_000017:[]
+000346_000004:[]
+020884_000015:[7, 15]
+002850_000013:[]
+021727_000014:[]
+016473_000031:[2, 8]
+009882_000009:[]
+015236_000011:[6]
+000165_000025:[14]
+018211_000031:[0]
+014455_000000:[6]
+008658_000021:[]
+004539_000028:[8]
+021607_000030:[9, 12, 14]
+018965_000035:[]
+010822_000037:[]
+010353_000026:[]
+020397_000037:[9, 14]
+000555_000004:[15]
+014474_000027:[0]
+024795_000002:[17]
+018682_000011:[8]
+004836_000025:[]
+017784_000014:[]
+008262_000012:[16]
+018989_000002:[]
+003269_000006:[0, 1]
+007621_000005:[]
+001572_000000:[]
+013181_000024:[]
+015424_000023:[9]
+017380_000037:[14]
+000640_000012:[]
+016408_000015:[11, 12]
+014041_000006:[2, 3]
+002656_000001:[]
+007710_000017:[9, 13]
+009472_000016:[]
+001425_000038:[17]
+017411_000038:[]
+015351_000007:[]
+013086_000031:[]
+021327_000012:[]
+015105_000031:[1, 12]
+021487_000035:[]
+024961_000036:[4, 11, 15]
+020681_000018:[]
+003656_000033:[]
+006253_000024:[15, 19]
+005113_000017:[]
+001942_000017:[]
+015527_000014:[]
+021784_000000:[18, 19]
+004131_000031:[10]
+007555_000015:[]
+008811_000023:[8]
+005512_000003:[]
+022783_000036:[3, 6, 16]
+005980_000025:[7]
+009941_000011:[4]
+005878_000000:[]
+007764_000005:[]
+009578_000024:[4, 12, 18]
+009660_000012:[]
+001220_000035:[]
+009166_000031:[17, 18]
+020358_000026:[]
+000688_000021:[]
+013617_000038:[]
+019499_000032:[]
+011271_000012:[]
+011955_000034:[]
+021368_000020:[18]
+010994_000027:[]
+016786_000034:[]
+018082_000013:[0]
+020577_000014:[]
+003302_000029:[]
+003141_000007:[19]
+006493_000012:[]
+011530_000020:[15]
+010411_000012:[]
+001208_000014:[]
+006673_000035:[]
+000088_000009:[]
+003875_000000:[]
+021477_000037:[11]
+009670_000034:[]
+015070_000002:[]
+023046_000005:[15]
+012658_000018:[]
+013127_000022:[]
+013988_000032:[]
+005405_000004:[]
+021666_000031:[9]
+007121_000014:[]
+010931_000013:[]
+019048_000000:[]
+017914_000023:[15]
+015373_000036:[]
+007783_000036:[]
+005002_000025:[]
+006917_000037:[]
+021558_000010:[0, 5, 7]
+011523_000007:[10]
+023091_000026:[4]
+015811_000026:[3, 5, 18]
+017259_000013:[]
+012766_000020:[]
+014113_000019:[15]
+008573_000017:[]
+006375_000032:[]
+023191_000001:[]
+020342_000032:[]
+003602_000026:[]
+017158_000009:[]
+004037_000036:[7]
+011375_000009:[]
+000582_000001:[]
+009020_000037:[]
+024341_000004:[]
+001977_000035:[]
+011736_000000:[]
+016496_000015:[]
+001110_000002:[]
+015955_000015:[]
+016421_000005:[]
+007460_000015:[3]
+023236_000025:[]
+022901_000022:[15]
+009182_000034:[]
+015547_000022:[]
+023277_000013:[3, 5, 9, 11]
+010507_000031:[1, 4, 19]
+016597_000036:[8, 11]
+007643_000035:[4]
+010159_000038:[]
+023578_000021:[10]
+001632_000039:[]
+020458_000039:[]
+019003_000019:[]
+019339_000018:[]
+010219_000032:[9]
+008390_000039:[]
+019520_000004:[]
+000514_000012:[]
+009042_000008:[]
+016693_000012:[]
+017167_000031:[]
+022185_000006:[3]
+012020_000024:[]
+009543_000022:[0]
+005274_000000:[]
+020965_000013:[]
+018178_000005:[]
+002081_000018:[]
+022169_000003:[]
+001851_000026:[2]
+021814_000008:[]
+004999_000033:[]
+015416_000021:[]
+019322_000014:[1, 3, 14, 19]
+023171_000026:[]
+023333_000006:[]
+008544_000022:[4]
+021165_000015:[]
+007431_000022:[4]
+004383_000027:[]
+024837_000026:[]
+020500_000009:[]
+013951_000038:[10, 12]
+019863_000023:[10]
+021842_000014:[13]
+007156_000039:[]
+021360_000020:[0, 11, 19]
+008552_000029:[16]
+001195_000026:[5]
+015476_000037:[5, 15, 16]
+024408_000029:[]
+024480_000011:[2, 5, 9, 10, 16, 19]
+018335_000025:[19]
+006848_000013:[]
+002746_000037:[2]
+004313_000020:[12]
+017544_000038:[9, 10, 15, 19]
+023006_000029:[]
+023846_000013:[2, 8, 10, 11, 12, 13, 14, 18]
+002671_000032:[]
+001006_000020:[3, 6]
+017966_000019:[10]
+022866_000035:[]
+010772_000013:[]
+022169_000028:[]
+011709_000003:[]
+010032_000026:[]
+001923_000002:[]
+024514_000017:[1, 19]
+014275_000018:[1, 11]
+017567_000004:[3, 11]
+021144_000024:[]
+018141_000016:[17]
+005532_000010:[]
+007349_000022:[]
+017928_000029:[]
+017559_000019:[2, 10]
+023682_000006:[]
+004803_000001:[]
+014714_000027:[]
+008760_000013:[]
+023994_000005:[11]
+011784_000017:[]
+005336_000005:[]
+010210_000023:[]
+001564_000033:[13, 15, 16, 19]
+010597_000036:[]
+021699_000002:[]
+003968_000035:[18]
+006904_000036:[]
+001207_000009:[]
+024131_000019:[7, 17]
+006509_000014:[0, 2, 5, 7, 8, 13, 15]
+001715_000013:[]
+024610_000024:[]
+008443_000018:[0, 4, 5, 9, 10]
+009004_000008:[]
+001182_000020:[]
+022480_000011:[11]
+006684_000021:[0, 2, 4, 8, 13, 18]
+013261_000019:[]
+024730_000037:[]
+010055_000021:[14]
+019008_000007:[15]
+018887_000018:[1]
+015126_000012:[4, 7]
+009956_000001:[]
+010120_000038:[]
+018997_000019:[]
+011269_000037:[]
+004498_000015:[5, 9, 11, 14, 15]
+013903_000007:[3]
+006722_000019:[]
+007331_000030:[]
+003283_000037:[9, 11]
+004903_000026:[]
+014844_000000:[]
+021097_000026:[]
+002390_000024:[]
+017820_000012:[18]
+007935_000002:[]
+012625_000010:[]
+015816_000018:[2, 12, 17, 19]
+005700_000002:[]
+002407_000036:[]
+006062_000027:[]
+012254_000001:[0, 5]
+017742_000027:[14]
+024957_000013:[]
+014478_000019:[3, 7]
+022193_000000:[]
+005608_000021:[]
+014240_000013:[]
+015770_000026:[0]
+005987_000024:[]
+000543_000034:[]
+004789_000011:[12]
+003734_000028:[8, 12]
+023674_000014:[8, 10, 18]
+022239_000001:[]
+021808_000021:[]
+002688_000021:[]
+012273_000012:[]
+015429_000017:[14]
+005378_000023:[]
+011284_000026:[0, 1, 3, 5, 8, 10, 11, 19]
+002622_000029:[]
+024905_000012:[]
+005848_000015:[]
+021686_000012:[3]
+008340_000006:[]
+017331_000037:[10]
+004154_000011:[13]
+022932_000021:[6, 8]
+002355_000009:[]
+011703_000013:[]
+004578_000020:[]
+007306_000011:[]
+005687_000029:[]
+001833_000013:[3]
+004497_000020:[]
+006794_000033:[14]
+011926_000032:[2, 3, 5, 7, 11, 16, 17]
+005744_000026:[0, 1, 4, 7, 14]
+008815_000002:[]
+005786_000024:[]
+007738_000039:[]
+009324_000004:[]
+008316_000025:[]
+001085_000036:[8, 15, 18, 19]
+003409_000027:[]
+009497_000027:[]
+022662_000022:[19]
+003005_000034:[1, 14]
+010365_000008:[3]
+021560_000018:[3]
+016115_000003:[]
+001508_000007:[6, 7, 12]
+003775_000017:[0, 10, 15, 16, 17]
+016157_000004:[]
+012773_000011:[]
+024566_000028:[0]
+004970_000039:[0, 4, 5, 8, 9, 13, 15, 16, 18]
+004894_000030:[]
+002740_000029:[]
+015052_000002:[2]
+015744_000024:[13]
+023078_000025:[]
+009474_000005:[1, 3, 13]
+002729_000001:[11]
+006908_000022:[]
+015325_000010:[]
+013617_000039:[]
+008944_000021:[6, 15]
+019800_000028:[]
+009685_000008:[3, 5, 9, 13, 16, 18, 19]
+007737_000008:[]
+008630_000020:[7, 13]
+000467_000022:[12]
+017463_000007:[]
+022860_000011:[1, 10]
+008765_000024:[1, 2, 6, 7, 8, 9, 14, 19]
+019557_000031:[0, 1, 5, 9, 10, 12, 13, 16, 19]
+017699_000033:[12]
+002718_000034:[2, 8, 12, 15, 18]
+008086_000001:[13]
+012829_000018:[]
+024188_000025:[2]
+022512_000026:[]
+014666_000026:[]
+008774_000002:[]
+014713_000005:[]
+010509_000001:[]
+009296_000021:[13]
+002794_000013:[]
+021071_000014:[]
+000880_000003:[10]
+011333_000015:[18]
+016610_000034:[]
+003234_000017:[3, 7, 13]
+014257_000014:[]
+001982_000006:[6]
+022940_000017:[4]
+012320_000010:[]
+023033_000027:[14]
+006071_000011:[0]
+016235_000026:[]
+007246_000030:[9]
+020443_000010:[]
+012239_000001:[0, 3]
+010631_000004:[]
+021694_000022:[]
+017017_000012:[]
+004981_000025:[19]
+006359_000027:[]
+014212_000036:[]
+007548_000037:[0, 13]
+007886_000019:[19]
+018056_000017:[3, 12]
+006331_000009:[6, 15]
+003586_000004:[14]
+002316_000039:[9]
+002877_000018:[]
+012345_000007:[]
+024145_000007:[]
+006295_000003:[8, 15, 18]
+007416_000039:[]
+016991_000037:[3]
+016580_000000:[1, 13, 14]
+008669_000028:[]
+019344_000028:[9]
+021753_000021:[]
+003361_000014:[]
+021969_000002:[]
+012482_000020:[]
+017153_000033:[]
+021095_000013:[15]
+001246_000009:[16]
+003984_000017:[]
+010876_000030:[3]
+019915_000032:[0, 12, 19]
+000299_000034:[14]
+006829_000014:[]
+002358_000023:[]
+024909_000008:[]
+024761_000009:[]
+011393_000001:[19]
+002522_000031:[]
+003249_000024:[]
+013361_000021:[]
+014411_000028:[]
+023353_000018:[]
+004249_000039:[]
+005169_000014:[0, 5, 15]
+000149_000037:[]
+023801_000029:[]
+004083_000015:[2]
+020882_000031:[]
+023570_000001:[]
+007922_000035:[]
+008724_000009:[6]
+010410_000030:[]
+020753_000034:[]
+019330_000021:[]
+002094_000038:[]
+010942_000034:[]
+002448_000002:[0, 2, 15]
+011221_000034:[11]
+006818_000002:[]
+012756_000007:[]
+011757_000019:[]
+008088_000016:[2, 7, 10, 13, 16]
+007584_000019:[]
+014968_000033:[]
+024596_000030:[]
+009950_000014:[18]
+014652_000007:[1, 4, 5, 6, 7, 16]
+008201_000030:[]
+024280_000019:[]
+005217_000016:[]
+013993_000011:[16]
+004809_000036:[5, 13]
+017002_000020:[]
+000765_000029:[]
+009388_000036:[]
+022505_000037:[]
+007296_000026:[]
+014623_000036:[]
+011676_000020:[12]
+014103_000019:[16]
+005054_000032:[3]
+014711_000024:[12]
+001014_000026:[5, 19]
+022135_000009:[7, 17]
+013191_000005:[2]
+016276_000016:[]
+005955_000026:[]
+024758_000014:[1, 9]
+021976_000015:[18]
+010171_000005:[]
+011784_000007:[11]
+003081_000002:[]
+016309_000027:[7]
+010557_000014:[]
+006335_000016:[]
+007237_000037:[]
+024250_000014:[]
+014565_000016:[0]
+010582_000002:[5]
+004030_000002:[]
+004041_000000:[8]
+022626_000012:[5, 16]
+012203_000025:[]
+013192_000030:[]
+002938_000016:[]
+006790_000022:[]
+003686_000035:[2, 8]
+022578_000010:[8]
+003974_000009:[3]
+011130_000007:[]
+024708_000036:[18]
+002794_000025:[5]
+015461_000003:[10]
+016023_000020:[9]
+022187_000020:[]
+008473_000026:[19]
+018300_000039:[4]
+019350_000033:[1]
+016547_000000:[1, 9]
+012769_000011:[]
+024340_000013:[1, 2]
+017229_000033:[]
+017238_000014:[]
+011274_000020:[]
+013484_000035:[2, 4, 6, 7, 9, 11, 12, 16]
+013660_000017:[]
+010704_000006:[]
+024950_000035:[]
+016822_000023:[]
+017146_000022:[]
+024793_000006:[7, 10]
+017101_000029:[4, 10]
+007948_000005:[7, 9, 13]
+001508_000026:[9]
+020330_000000:[12, 16, 19]
+018438_000036:[12, 19]
+006083_000012:[17, 18]
+016481_000007:[9]
+021978_000006:[0, 3, 5, 10, 11, 16, 18, 19]
+018434_000027:[6, 13, 16, 17, 19]
+000482_000031:[]
+008255_000021:[5]
+024332_000016:[]
+017277_000025:[]
+007983_000031:[]
+000814_000013:[]
+011991_000028:[]
+001904_000037:[]
+003721_000006:[]
+004167_000015:[]
+002443_000034:[1, 5, 16]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000618_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000618_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..15a4ce55c70d9a6eb09fbed9f0cf541e670cecd9
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000618_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+005912_000021:[]
+006845_000004:[15]
+008109_000029:[]
+006398_000019:[]
+015659_000026:[]
+019079_000025:[]
+014838_000002:[]
+015627_000009:[]
+006622_000025:[]
+004314_000008:[]
+016364_000017:[]
+008236_000018:[]
+004153_000008:[8, 13]
+006898_000027:[6, 13]
+007292_000005:[]
+011332_000001:[]
+020155_000002:[]
+001267_000032:[]
+017079_000031:[1]
+001933_000033:[7]
+010713_000011:[17]
+022216_000016:[]
+012773_000008:[]
+011746_000007:[2]
+009599_000015:[]
+024568_000002:[8]
+006089_000035:[17]
+000830_000026:[]
+024262_000006:[2, 15]
+012822_000030:[]
+020991_000002:[14, 15, 16]
+005130_000026:[]
+002408_000012:[]
+016734_000002:[]
+021306_000030:[]
+010987_000035:[]
+003532_000014:[]
+012577_000004:[10, 13]
+000826_000004:[]
+023669_000037:[7]
+005167_000019:[]
+002406_000038:[]
+014113_000006:[]
+000567_000039:[]
+010134_000026:[]
+000318_000033:[]
+017983_000005:[0, 4, 12]
+011705_000004:[0]
+011495_000021:[]
+019769_000005:[]
+005294_000014:[14]
+000510_000031:[3]
+015256_000035:[18]
+007308_000020:[]
+012696_000028:[]
+021218_000024:[]
+005048_000021:[]
+017817_000014:[8, 9, 12]
+021459_000016:[6]
+018040_000007:[2, 3, 4, 7, 10, 11, 12, 14, 19]
+007332_000015:[]
+014116_000008:[2]
+016361_000010:[16]
+023620_000005:[]
+021535_000024:[]
+021400_000035:[11]
+003096_000028:[4, 15]
+004332_000034:[6]
+022139_000008:[6]
+024185_000012:[13]
+020143_000023:[14]
+021827_000028:[]
+009392_000032:[2, 4, 12, 15]
+000993_000034:[]
+017364_000035:[]
+013701_000018:[8, 9, 11]
+019407_000013:[0, 3, 6, 8, 12, 15]
+016957_000022:[]
+012858_000012:[]
+009920_000026:[]
+024546_000015:[]
+006143_000032:[]
+014033_000011:[13]
+007390_000037:[2, 9, 16, 18]
+016845_000009:[]
+019168_000015:[3, 9]
+007437_000018:[]
+020652_000021:[3]
+010531_000022:[]
+010440_000005:[1, 8, 9]
+015446_000036:[0, 5, 13]
+015148_000024:[5, 15]
+008912_000007:[]
+009784_000025:[]
+006682_000011:[]
+010515_000019:[3]
+018872_000003:[]
+023134_000024:[]
+004618_000008:[]
+021832_000039:[]
+014778_000032:[]
+003875_000004:[]
+015477_000005:[]
+001727_000017:[]
+011317_000006:[14]
+011000_000007:[]
+009398_000014:[]
+011694_000016:[1, 16]
+015563_000024:[]
+007883_000001:[15]
+013436_000015:[9, 16]
+004440_000000:[]
+009352_000001:[0, 3, 8, 12, 18]
+020701_000008:[]
+015011_000023:[10]
+014794_000021:[]
+011179_000006:[16]
+007993_000003:[1, 2, 3, 5, 8, 9, 17, 19]
+006759_000037:[]
+015879_000022:[2, 9]
+000112_000003:[0, 16]
+001911_000023:[1, 14]
+024899_000037:[]
+009187_000025:[]
+004052_000023:[]
+000380_000036:[]
+002247_000036:[]
+009429_000003:[]
+003360_000035:[]
+006791_000007:[]
+016166_000013:[12, 14]
+007213_000033:[]
+017471_000027:[14]
+004249_000028:[]
+002531_000029:[]
+003636_000023:[]
+023448_000026:[]
+012777_000004:[]
+018068_000029:[]
+006896_000032:[11]
+004429_000018:[5, 9, 17]
+007077_000034:[]
+023409_000031:[1, 4]
+001662_000023:[]
+021551_000037:[1, 3, 7, 13]
+007344_000005:[11]
+024029_000020:[]
+008057_000013:[6, 14]
+012609_000013:[]
+024698_000029:[0, 12]
+008221_000016:[7]
+012924_000018:[2, 19]
+014504_000020:[1, 4, 8, 15, 16, 19]
+020340_000010:[8, 14]
+013052_000026:[6, 15]
+012402_000036:[5]
+014317_000032:[]
+019897_000004:[]
+017704_000031:[]
+015224_000022:[]
+016375_000024:[]
+009838_000015:[]
+011364_000002:[]
+007825_000029:[17]
+011086_000035:[]
+007217_000033:[7, 15]
+007057_000004:[4, 13]
+008227_000021:[11]
+002757_000014:[5]
+023991_000031:[]
+020840_000030:[13, 18]
+018302_000022:[]
+010568_000010:[]
+000313_000033:[1, 2, 3, 13, 14, 18]
+021224_000029:[16]
+004264_000028:[0, 4, 9, 18]
+021894_000024:[0]
+017801_000023:[9]
+004677_000019:[10]
+006504_000024:[18]
+018557_000009:[5, 13, 16, 17, 19]
+009677_000038:[]
+009329_000002:[3, 5, 6, 8]
+018139_000023:[]
+016359_000013:[]
+009859_000010:[15]
+023848_000024:[7]
+023036_000024:[]
+002713_000031:[]
+001323_000027:[]
+024474_000017:[]
+011342_000025:[7, 14]
+012337_000025:[]
+022333_000000:[]
+019140_000005:[4]
+010455_000002:[]
+019417_000028:[11, 19]
+014517_000019:[]
+019836_000008:[0]
+020590_000014:[]
+000924_000032:[]
+023878_000004:[]
+019919_000014:[1]
+006432_000024:[]
+002547_000029:[]
+022277_000030:[]
+016628_000039:[]
+017984_000005:[]
+019910_000037:[18]
+009013_000000:[1, 3, 7, 10, 11, 13, 14]
+006416_000030:[16]
+014346_000022:[5]
+022418_000025:[]
+003295_000010:[]
+020509_000025:[1, 2, 11]
+007953_000000:[]
+009981_000013:[]
+007482_000021:[3]
+004580_000002:[0, 10, 18]
+021774_000038:[5]
+012740_000000:[]
+005904_000019:[3]
+015277_000027:[5, 6, 9, 13, 16]
+021055_000013:[]
+005740_000004:[6]
+020357_000026:[]
+009776_000029:[4, 5, 6, 10]
+011278_000000:[]
+002951_000008:[]
+012639_000011:[]
+014728_000021:[4]
+003209_000019:[]
+012210_000026:[2, 5, 13]
+008639_000018:[]
+019669_000023:[]
+009134_000029:[]
+007955_000000:[14]
+018260_000022:[]
+005977_000017:[14]
+022268_000029:[6, 8, 15]
+020568_000002:[]
+018320_000019:[8]
+020740_000035:[8]
+007562_000029:[]
+011542_000011:[]
+000367_000008:[1, 2, 4, 5, 10]
+012163_000035:[11]
+021756_000020:[]
+001578_000032:[0, 6]
+018373_000029:[]
+010561_000020:[]
+018854_000038:[]
+020848_000020:[]
+000563_000030:[]
+009737_000015:[]
+024555_000006:[4, 5, 11, 14]
+005203_000002:[2, 5]
+019491_000026:[11]
+013711_000014:[]
+021964_000020:[]
+024648_000005:[]
+011252_000004:[]
+015542_000011:[]
+013847_000012:[]
+016202_000036:[0, 9]
+019192_000037:[16]
+022175_000000:[18]
+017657_000023:[]
+022911_000021:[6]
+014625_000025:[6]
+020057_000017:[8, 11]
+013039_000013:[]
+018168_000032:[]
+019971_000008:[]
+006124_000018:[]
+012170_000008:[1]
+017283_000006:[]
+019889_000031:[]
+022104_000033:[3]
+018087_000029:[]
+005861_000025:[9, 13]
+001077_000029:[]
+010281_000011:[]
+024650_000020:[]
+001049_000024:[0]
+023185_000038:[]
+010465_000017:[]
+019388_000017:[]
+009208_000000:[]
+023398_000018:[]
+008424_000026:[]
+015767_000018:[]
+014022_000037:[12, 19]
+018956_000020:[]
+003432_000026:[5]
+023977_000029:[]
+013941_000010:[]
+020545_000027:[]
+024886_000015:[]
+002062_000018:[8, 10, 13, 17]
+001373_000017:[12]
+018269_000025:[]
+003042_000012:[]
+009892_000028:[2, 3, 8, 12]
+023767_000008:[2, 14]
+014875_000014:[0, 13]
+000560_000017:[]
+021299_000017:[]
+000122_000036:[1, 3, 7, 8, 14, 16, 18]
+019258_000001:[8, 9, 19]
+010953_000033:[]
+010597_000034:[2]
+006950_000037:[]
+004937_000019:[]
+013189_000001:[]
+001921_000010:[9, 11, 12]
+019569_000017:[]
+019584_000009:[]
+015540_000019:[9, 12]
+001012_000020:[]
+015138_000010:[11]
+023853_000023:[0, 4, 6, 13, 14, 19]
+011118_000019:[]
+000383_000027:[]
+013984_000012:[]
+022663_000024:[]
+006638_000020:[]
+008617_000027:[0, 1, 9, 10, 11, 12, 14, 16]
+002980_000007:[]
+002390_000032:[]
+017737_000007:[]
+012600_000004:[]
+001330_000029:[0, 1, 6, 11]
+021618_000006:[5, 6, 19]
+014565_000018:[11]
+007462_000023:[8]
+010648_000017:[]
+020755_000005:[8]
+014710_000004:[]
+006390_000000:[18]
+014030_000034:[]
+011608_000036:[5]
+003471_000016:[]
+001406_000006:[]
+007328_000008:[18]
+013808_000037:[]
+019922_000016:[12, 18]
+009123_000007:[17]
+022837_000015:[7, 11]
+000062_000026:[18]
+003120_000002:[]
+009921_000036:[]
+008433_000011:[0]
+010985_000026:[]
+007610_000038:[2]
+004856_000012:[4, 5, 18]
+015350_000024:[9, 10]
+019361_000025:[0]
+022340_000022:[16]
+019526_000024:[]
+018726_000015:[]
+004108_000021:[]
+014181_000035:[]
+012573_000008:[10]
+016166_000005:[14]
+005186_000015:[]
+018305_000034:[]
+016774_000019:[2, 3, 6, 9, 17, 18]
+004932_000028:[]
+016933_000005:[4]
+003676_000024:[]
+000819_000031:[4, 5, 7, 8, 9, 17]
+020980_000001:[]
+010646_000022:[]
+008202_000021:[]
+010046_000008:[9]
+016163_000030:[]
+004509_000037:[0, 14]
+024064_000027:[]
+023224_000039:[10]
+001016_000015:[]
+019099_000026:[]
+007527_000035:[]
+010613_000001:[]
+013111_000026:[]
+007299_000038:[]
+005355_000026:[4, 5, 9, 13, 14, 15, 18]
+023680_000033:[15]
+022541_000021:[]
+021096_000030:[6, 17]
+001241_000037:[]
+004811_000002:[]
+018847_000016:[]
+010913_000027:[]
+010946_000029:[0, 11]
+009640_000016:[12]
+007146_000037:[13]
+003050_000011:[0]
+005976_000015:[]
+012471_000029:[0]
+014215_000016:[2, 6]
+017942_000024:[]
+024207_000008:[]
+023657_000004:[]
+007577_000036:[]
+007069_000018:[]
+002670_000012:[]
+020241_000006:[]
+010880_000030:[5]
+001224_000027:[]
+005556_000014:[2, 3, 4, 5, 9]
+003084_000010:[]
+006040_000036:[12]
+014604_000036:[14]
+003990_000007:[3, 6, 7, 10, 17, 18]
+002758_000006:[1, 14]
+001561_000028:[3, 5]
+006021_000019:[]
+018054_000018:[]
+014308_000026:[2, 17]
+012963_000012:[]
+001186_000014:[]
+008135_000001:[12]
+017988_000014:[18]
+019668_000025:[]
+013438_000013:[1, 3, 9]
+001984_000012:[]
+006487_000035:[12, 18]
+014629_000005:[3]
+000281_000019:[10, 11]
+022476_000029:[]
+010850_000022:[3]
+020989_000011:[0]
+000454_000039:[2]
+000479_000014:[]
+003427_000014:[]
+008258_000024:[0, 4, 9, 17, 19]
+016358_000005:[]
+003707_000035:[]
+017611_000019:[]
+007064_000017:[]
+006083_000024:[2, 3, 14, 17, 18]
+018120_000003:[]
+013585_000029:[]
+002171_000029:[]
+016439_000031:[]
+017619_000003:[]
+005435_000003:[]
+009539_000037:[14]
+022876_000023:[]
+003945_000003:[15, 16]
+008227_000038:[1, 4, 6, 7, 9, 10, 11, 16, 17, 19]
+001896_000039:[]
+016807_000019:[]
+004861_000030:[]
+005787_000004:[]
+001709_000009:[]
+017790_000013:[1, 11]
+020342_000034:[10]
+012290_000009:[]
+015302_000034:[1]
+004004_000018:[4, 12]
+006906_000000:[4]
+006064_000002:[]
+020264_000037:[]
+014403_000016:[3, 8, 15]
+019573_000031:[]
+014989_000030:[0, 17]
+022782_000019:[]
+022405_000009:[]
+005349_000039:[10]
+010940_000021:[]
+013704_000006:[7]
+011084_000032:[]
+012675_000009:[15, 18]
+004815_000020:[]
+021042_000009:[13]
+022041_000000:[]
+021229_000016:[3, 9, 12, 13]
+000105_000005:[]
+007926_000011:[]
+004413_000017:[]
+006724_000009:[4, 6, 11, 14]
+012368_000022:[1, 8, 12]
+020972_000021:[2, 8, 10, 16]
+003915_000009:[]
+017031_000005:[2, 4, 14]
+016968_000024:[]
+020941_000017:[12]
+013125_000025:[0]
+008502_000000:[]
+012964_000017:[]
+020217_000015:[]
+010225_000017:[]
+005579_000003:[]
+011350_000016:[]
+013739_000035:[4, 9]
+003064_000024:[]
+008229_000017:[2, 13]
+007403_000022:[]
+024441_000011:[4, 11]
+017746_000012:[]
+022105_000008:[]
+024877_000001:[3, 5, 13, 14, 16, 18]
+009402_000016:[7, 8, 9, 15, 16, 18]
+001788_000032:[3, 7, 18]
+020744_000005:[1]
+023551_000019:[5, 8, 15]
+007196_000016:[]
+004805_000002:[]
+024986_000027:[17]
+007082_000030:[]
+018149_000016:[6]
+006826_000018:[]
+017379_000025:[]
+001042_000030:[]
+024334_000005:[]
+013370_000038:[]
+016988_000008:[5, 6, 8, 9]
+017969_000033:[]
+021998_000022:[]
+015723_000032:[]
+011319_000026:[0, 12, 14, 19]
+024849_000029:[]
+024248_000033:[]
+002799_000007:[]
+012661_000024:[]
+004015_000033:[]
+016890_000003:[4]
+002317_000034:[]
+021903_000026:[11, 17]
+006041_000003:[0]
+022829_000008:[]
+003306_000003:[16]
+004508_000008:[7, 11]
+018247_000037:[2]
+018087_000009:[]
+013451_000012:[6]
+020231_000037:[11]
+023339_000016:[]
+017452_000036:[]
+006359_000014:[11, 12, 15, 19]
+009952_000032:[6, 7]
+001374_000026:[4]
+014562_000032:[1, 14, 17]
+022873_000013:[]
+023235_000024:[]
+019061_000007:[4, 9]
+005806_000011:[]
+003966_000005:[]
+013489_000020:[3, 5]
+011900_000021:[]
+019958_000011:[]
+016807_000037:[4, 10, 19]
+007150_000020:[]
+023165_000028:[]
+012209_000023:[4, 8, 10, 13, 18]
+009813_000010:[7]
+006616_000026:[]
+007630_000001:[]
+011130_000029:[]
+020511_000008:[0, 11, 17]
+010328_000012:[1, 10]
+015281_000013:[]
+022826_000002:[5, 10, 17]
+003243_000019:[]
+011801_000018:[4]
+006602_000001:[]
+011280_000011:[6, 9, 15]
+008341_000020:[]
+016477_000028:[2, 5, 10, 12, 14, 16]
+013831_000010:[]
+014813_000004:[19]
+003687_000029:[9]
+003003_000018:[9]
+005181_000008:[2, 16, 19]
+006476_000034:[7]
+002232_000033:[15, 19]
+003218_000028:[]
+002161_000033:[9, 11, 13]
+010086_000009:[0, 1, 3, 6, 10, 11, 19]
+015455_000000:[]
+019660_000036:[]
+016654_000025:[]
+019321_000027:[5, 10, 12, 16, 19]
+016822_000024:[]
+013067_000007:[13]
+020229_000004:[2]
+007500_000026:[]
+007954_000038:[]
+008853_000032:[0, 1, 5, 11, 13, 14, 19]
+018827_000036:[]
+003512_000032:[]
+003504_000022:[]
+010193_000008:[10]
+000259_000029:[6]
+007017_000011:[]
+014611_000018:[]
+013723_000034:[]
+018345_000012:[]
+024508_000016:[6, 16]
+002920_000030:[0, 5]
+021969_000006:[]
+012161_000011:[]
+006460_000033:[]
+022142_000020:[]
+004149_000022:[14]
+020719_000032:[0, 2, 5, 8, 11]
+015149_000003:[]
+004672_000036:[]
+022931_000012:[]
+009531_000012:[3, 4, 7, 14]
+019056_000000:[]
+006693_000015:[0, 17]
+006025_000011:[]
+017918_000002:[]
+003329_000029:[]
+004418_000026:[19]
+016301_000024:[5]
+018673_000024:[]
+007547_000026:[6]
+020547_000026:[1]
+020492_000033:[13]
+023424_000016:[1, 6, 7, 12, 13, 15, 16, 18]
+001967_000026:[17, 19]
+018048_000010:[]
+017120_000014:[2, 3, 8, 17]
+004095_000033:[]
+012893_000019:[0, 18]
+020057_000024:[]
+019523_000038:[]
+021080_000007:[]
+003385_000003:[]
+021825_000029:[]
+003865_000012:[]
+003814_000021:[9]
+020841_000035:[0, 8, 11, 17]
+007751_000014:[]
+016120_000037:[2]
+006090_000001:[1]
+021197_000034:[]
+010860_000028:[]
+003598_000007:[]
+001820_000012:[]
+011413_000037:[]
+001372_000014:[0, 9, 15]
+008590_000021:[]
+000850_000003:[]
+008322_000025:[]
+003427_000027:[]
+001277_000012:[11, 19]
+006861_000024:[]
+023903_000013:[1, 7]
+024398_000009:[]
+002888_000007:[3]
+011247_000036:[]
+016402_000026:[]
+007238_000013:[14]
+017304_000008:[3, 12]
+023992_000034:[0, 11, 17]
+011800_000033:[]
+015316_000008:[]
+012722_000015:[9, 17]
+005515_000037:[]
+006558_000008:[6, 16]
+017637_000036:[]
+020554_000020:[]
+017118_000002:[]
+022871_000010:[]
+016761_000033:[]
+022480_000008:[]
+015048_000003:[]
+024584_000037:[]
+003822_000038:[6]
+024135_000016:[]
+014582_000014:[3, 4]
+009687_000037:[2]
+010029_000008:[]
+024292_000004:[]
+009013_000022:[]
+020807_000038:[3, 4, 7]
+015691_000016:[12]
+015007_000021:[]
+018817_000024:[]
+003682_000022:[]
+005692_000007:[]
+014377_000005:[]
+000058_000025:[]
+008909_000031:[]
+008727_000001:[]
+000176_000016:[]
+024191_000010:[]
+016049_000013:[]
+006896_000012:[]
+012429_000033:[16]
+017178_000002:[]
+008301_000030:[]
+009799_000028:[16]
+002842_000027:[]
+003125_000039:[8]
+012792_000016:[]
+022928_000030:[]
+006149_000020:[]
+013437_000018:[11]
+018488_000012:[]
+008395_000012:[]
+003239_000033:[]
+019859_000019:[0]
+018130_000038:[]
+010176_000026:[]
+018076_000007:[6, 7, 9]
+008439_000015:[]
+021088_000004:[5, 7, 15, 19]
+016693_000026:[1]
+010557_000024:[6]
+004569_000013:[14]
+000424_000036:[]
+023879_000031:[]
+016144_000005:[10, 19]
+010532_000013:[]
+018823_000021:[5]
+000393_000022:[5, 7, 15]
+019800_000007:[]
+005226_000014:[7, 19]
+002026_000006:[2, 7, 16]
+009889_000011:[]
+011435_000016:[]
+016679_000032:[2, 5, 10]
+011610_000027:[0, 6, 7, 14]
+018093_000020:[0, 9, 10]
+001411_000021:[]
+019417_000025:[9, 19]
+013090_000001:[]
+012925_000003:[0, 13]
+013805_000020:[]
+012060_000024:[]
+008268_000021:[]
+001272_000028:[16]
+020646_000015:[13]
+010426_000008:[]
+020495_000014:[19]
+001049_000030:[]
+008463_000030:[]
+012647_000000:[5]
+017756_000004:[]
+012665_000013:[]
+005500_000007:[]
+005367_000024:[]
+010684_000000:[8, 15]
+021973_000019:[4, 5, 7, 12]
+007890_000015:[]
+001429_000017:[12, 14]
+023690_000015:[]
+019070_000015:[]
+000227_000035:[]
+017364_000022:[]
+005834_000023:[]
+002312_000019:[2, 6]
+018968_000033:[]
+022768_000021:[12]
+013470_000002:[]
+011468_000028:[]
+003390_000036:[16]
+002764_000006:[3, 18]
+004072_000023:[]
+003267_000015:[5]
+003637_000007:[]
+000333_000027:[]
+003714_000014:[]
+006331_000013:[]
+005977_000034:[]
+010885_000008:[]
+010083_000026:[0, 4]
+019161_000017:[]
+016147_000008:[]
+008818_000013:[16]
+009507_000018:[]
+002306_000013:[6]
+022410_000017:[]
+002622_000017:[]
+016392_000030:[]
+016343_000033:[]
+003079_000039:[]
+012385_000006:[]
+022075_000034:[]
+022763_000023:[]
+021722_000002:[9, 11]
+014045_000012:[17]
+001125_000038:[]
+012435_000029:[]
+013069_000008:[6]
+004905_000024:[]
+009415_000005:[]
+003272_000012:[13]
+004125_000035:[]
+020291_000015:[]
+013630_000000:[18]
+004746_000032:[]
+024609_000020:[6]
+008192_000000:[]
+007777_000017:[]
+019817_000011:[]
+017811_000008:[]
+017194_000038:[2, 7, 8, 11, 13]
+003603_000008:[2, 3]
+014114_000010:[0, 2]
+016911_000024:[]
+001465_000037:[0, 5]
+024759_000001:[18]
+004812_000013:[4]
+021968_000000:[10, 15]
+001093_000004:[]
+012763_000005:[0, 16]
+009030_000015:[]
+023627_000016:[18]
+012041_000023:[]
+002604_000009:[18, 19]
+018166_000023:[]
+008627_000006:[14]
+016126_000021:[]
+007787_000026:[1, 4, 9, 12, 17]
+000327_000034:[]
+021636_000036:[6, 11]
+006238_000012:[9, 11]
+006081_000029:[0]
+020400_000030:[]
+000911_000023:[]
+019570_000038:[16]
+002509_000039:[10]
+009576_000039:[]
+008811_000028:[1]
+018171_000007:[]
+003107_000005:[12]
+002185_000036:[9]
+017127_000033:[7]
+005094_000023:[]
+008412_000002:[5, 6, 8, 9, 10]
+006168_000027:[6]
+007514_000013:[]
+016819_000002:[2, 7]
+023180_000018:[1]
+014661_000000:[]
+002435_000029:[]
+020939_000016:[]
+014967_000025:[]
+009239_000004:[]
+007414_000030:[]
+001291_000038:[]
+023800_000024:[4, 5]
+004275_000007:[]
+019174_000010:[19]
+000466_000000:[]
+020491_000033:[16]
+014952_000024:[]
+004753_000011:[13]
+022469_000005:[]
+014526_000037:[]
+020971_000039:[]
+003956_000031:[]
+016239_000039:[]
+022492_000019:[]
+023658_000019:[]
+012176_000017:[4]
+009838_000028:[15]
+001773_000039:[14]
+013335_000001:[]
+011480_000025:[5]
+014025_000004:[]
+006925_000009:[]
+002493_000032:[]
+011764_000038:[17, 19]
+014113_000027:[]
+024934_000012:[]
+006655_000014:[]
+003757_000034:[0]
+011629_000025:[16]
+004813_000026:[]
+014220_000000:[13]
+022188_000037:[]
+015677_000007:[10]
+020383_000019:[]
+005413_000012:[]
+011465_000033:[]
+004927_000004:[]
+003724_000013:[]
+018011_000024:[]
+022534_000000:[9, 10, 11]
+003849_000004:[0, 1, 11, 15, 18, 19]
+021356_000007:[]
+005288_000019:[]
+017968_000005:[]
+022736_000019:[]
+008347_000008:[4]
+019185_000012:[8, 11]
+019091_000001:[]
+007937_000034:[]
+006550_000032:[]
+015144_000023:[]
+004754_000020:[]
+006723_000035:[]
+007466_000008:[]
+009439_000023:[]
+000450_000011:[]
+018114_000000:[]
+018824_000003:[]
+000969_000032:[5, 15]
+011576_000038:[3]
+006204_000035:[6, 10]
+017325_000025:[2, 10]
+000002_000015:[]
+007794_000012:[4, 13]
+004779_000025:[3]
+018553_000005:[0, 2, 3, 5, 19]
+022703_000013:[18]
+024029_000030:[]
+014909_000009:[]
+005570_000007:[]
+019746_000022:[]
+007331_000031:[]
+001577_000001:[9]
+003313_000007:[]
+018772_000004:[0]
+023814_000033:[]
+005571_000011:[]
+023575_000000:[9]
+007130_000015:[]
+011529_000005:[]
+011207_000017:[]
+000408_000033:[]
+003182_000027:[]
+015380_000007:[]
+018458_000028:[8]
+000070_000010:[5]
+007564_000020:[1]
+019142_000030:[3]
+010509_000027:[13]
+024177_000011:[7, 9, 13, 15, 17]
+002170_000017:[1, 7, 17]
+012133_000023:[5, 14]
+005515_000023:[]
+015723_000001:[]
+004627_000006:[14]
+009894_000039:[0]
+012189_000020:[]
+019105_000018:[]
+013635_000018:[]
+019062_000036:[]
+022937_000017:[1, 9, 14]
+012190_000004:[13, 17]
+018353_000033:[11]
+018041_000015:[]
+001907_000007:[2]
+015213_000018:[]
+006798_000031:[10]
+006783_000025:[]
+009797_000006:[]
+024020_000011:[1, 3, 8, 11, 15]
+001956_000008:[1, 3, 14, 17]
+015452_000022:[]
+004936_000014:[7, 9]
+015866_000034:[]
+008149_000017:[18]
+011163_000016:[]
+019749_000011:[1, 2, 8, 11]
+023491_000016:[]
+001084_000021:[]
+002491_000039:[]
+012884_000031:[]
+014431_000006:[]
+016166_000015:[4, 7, 8, 15, 18]
+006967_000037:[0, 2, 3, 4, 6, 11, 13, 16, 17]
+022782_000007:[16]
+008383_000011:[]
+001848_000017:[1, 3, 14]
+011718_000025:[2]
+022020_000003:[]
+021105_000036:[]
+023443_000023:[]
+020559_000016:[]
+008721_000032:[6, 8, 12]
+003858_000012:[]
+011014_000020:[4]
+002890_000019:[]
+023164_000008:[2, 9, 19]
+003771_000037:[]
+017686_000007:[]
+021225_000037:[]
+010268_000015:[]
+023931_000000:[]
+002082_000001:[]
+001437_000033:[]
+006587_000037:[]
+015599_000005:[]
+004669_000015:[1, 4, 13, 14, 15]
+002579_000003:[2, 3, 6, 7, 9, 11]
+006351_000035:[]
+010634_000033:[]
+021932_000033:[14, 19]
+017552_000001:[]
+005965_000021:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000620_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000620_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..570a198eaf78fdaf7145a05b0381faa3524e67de
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000620_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+008294_000034:[]
+012485_000010:[18]
+012484_000011:[]
+004523_000013:[]
+008946_000011:[19]
+010610_000008:[14]
+022025_000015:[]
+013391_000014:[1, 9]
+010680_000023:[]
+019241_000013:[]
+015464_000033:[]
+000762_000035:[1, 6]
+014897_000001:[0, 4, 13, 15]
+005503_000034:[3, 4, 6, 7, 13, 17]
+009760_000036:[]
+006649_000005:[]
+014041_000033:[]
+008986_000002:[]
+009428_000015:[]
+007817_000020:[17]
+009398_000013:[]
+010869_000023:[5, 11, 15]
+023187_000002:[18]
+024563_000021:[]
+000431_000029:[12]
+014966_000024:[]
+009212_000038:[16]
+000779_000003:[]
+012676_000014:[11, 13]
+003756_000008:[9]
+023317_000036:[]
+005519_000036:[]
+016922_000023:[5]
+023432_000016:[1, 15]
+006933_000009:[]
+015033_000006:[3, 15]
+012090_000016:[]
+023632_000023:[]
+010181_000009:[]
+018295_000023:[3, 6]
+002836_000025:[8, 13, 16]
+019119_000018:[]
+009806_000039:[]
+020900_000027:[]
+024232_000007:[]
+008420_000009:[]
+014032_000027:[0, 10, 14]
+013413_000037:[]
+018824_000007:[]
+024025_000013:[]
+018358_000016:[17]
+017528_000036:[]
+002891_000027:[]
+004934_000004:[]
+018653_000032:[0, 10, 18]
+019849_000015:[]
+003179_000007:[]
+024832_000032:[]
+019650_000012:[]
+002705_000036:[]
+006126_000010:[]
+002840_000014:[]
+019923_000039:[0]
+006403_000005:[]
+011789_000022:[]
+023986_000021:[0, 8, 12, 17]
+016844_000000:[]
+007804_000024:[]
+012203_000022:[]
+014970_000006:[7, 11]
+020052_000011:[]
+004294_000038:[14, 16]
+001526_000035:[]
+011189_000011:[]
+010926_000023:[]
+004908_000015:[19]
+020269_000004:[]
+012928_000017:[]
+016627_000016:[]
+015310_000034:[7]
+014587_000039:[]
+005728_000022:[]
+001939_000006:[]
+014338_000009:[2]
+004570_000035:[]
+016265_000032:[]
+024186_000017:[]
+006120_000021:[]
+017860_000036:[]
+008229_000025:[]
+015534_000019:[]
+020911_000012:[]
+002919_000031:[]
+012302_000039:[]
+005660_000011:[3]
+019400_000034:[]
+011376_000006:[]
+013325_000039:[19]
+017680_000031:[]
+006234_000024:[1, 2]
+008373_000027:[]
+003831_000018:[]
+001675_000012:[4]
+002792_000020:[2]
+012354_000033:[3, 17]
+003966_000027:[]
+015649_000018:[]
+023612_000003:[]
+019861_000015:[]
+023106_000036:[]
+014334_000014:[1, 2]
+018616_000032:[9]
+008548_000015:[]
+009274_000039:[]
+008810_000023:[]
+002409_000026:[10]
+001155_000003:[8]
+002039_000002:[]
+020657_000021:[]
+011410_000026:[7]
+004657_000019:[]
+005380_000007:[]
+002303_000015:[]
+002054_000009:[8]
+019119_000013:[2]
+009439_000028:[0]
+024131_000035:[0, 1, 17]
+010288_000028:[1, 19]
+023229_000035:[11]
+005838_000032:[]
+010810_000021:[]
+023759_000008:[]
+007009_000031:[]
+024219_000011:[6, 11, 13]
+005942_000016:[2]
+016521_000011:[]
+002877_000032:[]
+006944_000008:[]
+004260_000023:[]
+001170_000031:[]
+010504_000019:[]
+016968_000025:[]
+010163_000021:[]
+002896_000015:[]
+001327_000004:[6]
+005172_000001:[]
+006806_000027:[]
+006877_000018:[2, 4]
+012028_000034:[]
+001384_000004:[]
+002036_000001:[]
+019453_000013:[]
+002783_000014:[14]
+008126_000012:[0, 19]
+002736_000010:[]
+018988_000028:[]
+013931_000038:[19]
+010001_000038:[13]
+007249_000038:[]
+013114_000015:[]
+003614_000002:[0, 13]
+013382_000011:[]
+007456_000005:[13]
+015082_000039:[]
+023967_000010:[]
+000255_000010:[]
+023163_000021:[5, 14]
+013522_000010:[]
+000142_000011:[]
+010710_000004:[]
+018880_000020:[]
+013050_000014:[]
+022036_000011:[10, 12]
+008155_000038:[11]
+017022_000037:[19]
+013260_000029:[]
+011480_000020:[]
+024371_000013:[8]
+018556_000027:[]
+017013_000029:[]
+007497_000023:[1, 2, 4, 5, 6, 11, 13, 15]
+018260_000038:[]
+002599_000021:[5]
+024330_000020:[3]
+003472_000021:[]
+005567_000024:[]
+022971_000023:[]
+016445_000032:[13]
+010635_000003:[2, 8, 9, 10, 11, 17]
+022761_000001:[]
+012643_000038:[]
+019615_000013:[16]
+002258_000016:[]
+000484_000024:[7, 11]
+009372_000030:[3, 7, 15]
+023276_000008:[15]
+019436_000026:[]
+024612_000022:[15]
+020237_000023:[]
+000626_000013:[]
+005352_000002:[4]
+011016_000034:[]
+009887_000027:[]
+005396_000033:[4]
+002361_000000:[4, 17]
+008408_000018:[]
+005195_000028:[]
+023073_000031:[3]
+008400_000026:[]
+000100_000032:[]
+005887_000002:[]
+008380_000029:[]
+009646_000009:[5, 16]
+022019_000031:[]
+004831_000006:[0]
+000160_000026:[14]
+008136_000036:[0, 5, 6, 10, 16]
+007901_000031:[]
+017455_000014:[3, 12, 17]
+005688_000013:[]
+021397_000004:[]
+009437_000021:[6, 10]
+021675_000008:[6]
+018639_000015:[]
+008519_000017:[]
+002315_000004:[]
+024842_000019:[]
+008474_000034:[9]
+000619_000014:[]
+020010_000037:[9, 18, 19]
+013378_000006:[]
+021191_000028:[9]
+006009_000038:[17]
+007126_000021:[13]
+024368_000034:[10]
+020874_000011:[]
+011775_000013:[]
+020832_000007:[]
+003225_000037:[16]
+001996_000029:[]
+004139_000024:[]
+013051_000013:[1, 12]
+014736_000000:[]
+009523_000020:[17]
+004846_000014:[3, 9]
+009265_000026:[13]
+014387_000016:[14]
+012116_000015:[]
+007127_000037:[]
+003434_000036:[]
+005361_000014:[11]
+021446_000028:[]
+008642_000004:[]
+023291_000020:[]
+002789_000011:[]
+018061_000033:[]
+019701_000026:[2]
+004752_000023:[]
+008550_000036:[]
+014978_000002:[]
+009032_000034:[]
+013932_000017:[9, 13, 16, 17, 19]
+019699_000033:[]
+022615_000030:[]
+021075_000002:[16]
+018475_000031:[]
+018604_000017:[]
+018879_000012:[]
+013647_000035:[]
+022189_000032:[19]
+011856_000004:[7]
+021367_000006:[]
+010142_000033:[16]
+011528_000001:[2, 14, 18]
+003420_000025:[1]
+021068_000014:[17]
+022910_000001:[2, 14, 18]
+000447_000010:[]
+020035_000019:[]
+014431_000037:[1, 9]
+019616_000007:[]
+023081_000020:[]
+010904_000020:[]
+000777_000028:[1, 4, 7, 9, 10, 12, 13, 16, 17]
+012713_000035:[0, 5, 19]
+012572_000026:[]
+000732_000001:[2, 14]
+001222_000018:[0, 3, 4, 11, 13, 16]
+018924_000038:[]
+000783_000037:[2, 9]
+001662_000001:[]
+008846_000019:[]
+006918_000035:[]
+008487_000006:[]
+018383_000014:[]
+006118_000009:[5, 12, 13, 14]
+008692_000024:[]
+007230_000021:[]
+012639_000020:[4]
+020503_000036:[0, 6, 10, 11, 17]
+024809_000024:[]
+002897_000014:[]
+012746_000013:[12]
+023979_000017:[19]
+017422_000029:[]
+023254_000016:[]
+019337_000013:[]
+013179_000038:[]
+020192_000020:[]
+015569_000038:[]
+019173_000027:[10]
+002178_000033:[3, 13]
+005814_000015:[15, 19]
+006315_000010:[18]
+017688_000029:[]
+019577_000004:[]
+020104_000027:[18]
+001003_000016:[]
+019694_000014:[1, 3, 11, 12, 17, 18, 19]
+018045_000014:[]
+006570_000038:[]
+019358_000026:[2, 3, 7, 8, 19]
+012383_000000:[7]
+016742_000003:[]
+016797_000005:[12]
+013961_000000:[]
+022486_000012:[5, 16]
+000607_000036:[14]
+019683_000019:[2, 11]
+008541_000014:[]
+016780_000009:[6, 9, 11, 13, 17]
+014140_000016:[]
+020442_000023:[]
+015514_000024:[]
+000867_000014:[1, 2, 13, 16, 17]
+021766_000005:[]
+013744_000034:[]
+014006_000008:[12]
+015985_000021:[]
+009966_000000:[11, 12, 15]
+008776_000023:[8, 9]
+004497_000032:[]
+018961_000030:[0, 16, 17]
+019853_000006:[]
+018784_000019:[]
+012244_000015:[]
+000844_000039:[]
+007674_000023:[]
+020402_000016:[]
+018195_000008:[]
+004151_000039:[6, 9, 18]
+008364_000008:[]
+020734_000001:[1]
+012603_000017:[]
+021743_000031:[3]
+018575_000034:[14]
+015096_000018:[9, 12]
+021155_000014:[]
+013741_000031:[]
+004728_000005:[1, 7, 10, 14, 15, 19]
+023132_000037:[3, 5, 9]
+013776_000014:[]
+024361_000007:[]
+021897_000007:[]
+022822_000018:[]
+002684_000010:[]
+014766_000013:[4]
+010771_000002:[]
+006246_000029:[3]
+001933_000034:[]
+015131_000000:[3, 5, 7, 9]
+007669_000027:[]
+009937_000021:[]
+004655_000018:[2, 6, 11, 15, 19]
+010997_000012:[0, 1, 2]
+008417_000018:[]
+007291_000021:[]
+014237_000032:[]
+000289_000000:[6]
+008005_000000:[8]
+013952_000004:[]
+019163_000002:[]
+014711_000002:[]
+015263_000013:[10, 16, 17]
+005399_000028:[]
+013224_000008:[7]
+020684_000019:[]
+007716_000021:[3]
+009838_000011:[]
+008309_000036:[]
+001296_000012:[]
+006048_000002:[]
+015592_000018:[0, 1]
+001971_000018:[0, 7, 9]
+005047_000037:[0]
+009042_000018:[]
+019727_000004:[19]
+000626_000015:[]
+021299_000021:[]
+015039_000019:[9, 14]
+021578_000029:[]
+004024_000001:[6, 18]
+007072_000007:[]
+016310_000026:[]
+004622_000009:[]
+013675_000033:[0, 7]
+020774_000008:[]
+010359_000030:[]
+023569_000033:[]
+000446_000005:[]
+019146_000013:[]
+021388_000033:[5, 13]
+005303_000017:[]
+001337_000037:[17]
+015752_000025:[3]
+021166_000017:[]
+020631_000011:[]
+020234_000039:[17, 19]
+009543_000009:[12]
+005279_000025:[13]
+010518_000004:[14]
+016514_000032:[]
+006066_000014:[]
+022302_000015:[3]
+007128_000012:[]
+013644_000024:[]
+005368_000017:[]
+010054_000038:[6, 15]
+016593_000008:[2, 3, 6, 9]
+023508_000019:[6]
+018587_000036:[]
+009923_000017:[]
+018913_000018:[]
+012250_000024:[0, 8]
+002554_000005:[13]
+017327_000001:[]
+014490_000032:[]
+017891_000035:[]
+011499_000037:[8, 11, 13]
+023768_000028:[]
+003066_000000:[]
+021500_000007:[3]
+022923_000035:[]
+023089_000006:[]
+003125_000020:[]
+001183_000010:[]
+016574_000029:[]
+005942_000010:[]
+000046_000000:[12]
+021247_000026:[]
+020748_000027:[]
+022921_000004:[]
+023568_000006:[]
+003993_000012:[5, 8, 10]
+004549_000003:[2, 11]
+006451_000034:[1, 2, 4, 7, 8, 10, 12, 14, 19]
+024711_000030:[]
+009398_000034:[]
+000673_000028:[]
+014019_000000:[9]
+019096_000011:[]
+016075_000019:[]
+010264_000034:[]
+008772_000009:[]
+015485_000022:[6, 9]
+020760_000038:[2]
+010640_000021:[18]
+013077_000027:[16]
+021623_000012:[]
+001752_000019:[]
+021233_000038:[]
+021923_000038:[]
+024600_000033:[2]
+024320_000033:[0, 5, 8]
+011433_000003:[15]
+018555_000021:[]
+005542_000028:[]
+007448_000001:[]
+001453_000014:[]
+023679_000016:[]
+020642_000005:[0, 3, 4, 10, 15, 16, 18]
+014750_000008:[13]
+022179_000006:[4]
+005919_000016:[11, 19]
+002624_000015:[6]
+006395_000011:[10]
+022767_000003:[]
+012896_000018:[4, 6, 14]
+006444_000010:[]
+008539_000025:[]
+006159_000025:[2]
+020584_000001:[]
+013630_000001:[13]
+018375_000001:[10]
+011666_000012:[7, 15]
+022548_000012:[]
+005456_000022:[12, 18]
+008180_000026:[11, 19]
+018995_000025:[]
+007502_000023:[]
+001680_000029:[]
+019226_000029:[]
+004603_000036:[]
+022656_000001:[3, 18]
+003952_000022:[]
+002349_000022:[]
+017328_000027:[10]
+004450_000002:[]
+010636_000017:[]
+019748_000005:[]
+023708_000029:[4, 7, 10, 13, 14, 16, 19]
+004871_000011:[]
+015885_000022:[]
+010587_000011:[3, 11, 14, 17]
+005432_000018:[13, 19]
+006754_000026:[3]
+018999_000009:[0, 1, 5, 6, 15, 16]
+002269_000012:[16, 17]
+023890_000008:[5, 16]
+022896_000005:[]
+009109_000023:[14, 16, 19]
+006073_000001:[]
+005357_000020:[10, 14]
+023283_000023:[13]
+013010_000037:[6, 13, 16]
+019938_000034:[4]
+009628_000000:[]
+017074_000036:[3, 10]
+018499_000033:[]
+000464_000015:[]
+011449_000031:[]
+007790_000033:[1, 5, 10, 16]
+008345_000010:[]
+020402_000003:[]
+023100_000034:[]
+008154_000037:[]
+012949_000008:[10, 11, 16, 18]
+001042_000037:[5, 11, 18]
+019089_000025:[]
+010654_000036:[7, 13, 19]
+016037_000020:[]
+005169_000026:[0]
+011253_000010:[]
+016540_000001:[]
+024598_000016:[]
+021853_000009:[0, 18]
+016236_000027:[]
+009350_000033:[]
+009260_000012:[]
+017683_000030:[7, 11]
+018220_000026:[]
+019500_000034:[]
+018020_000023:[]
+024343_000023:[]
+004812_000007:[2]
+005139_000022:[]
+004565_000002:[]
+021411_000001:[]
+021016_000000:[]
+022690_000025:[2, 19]
+005301_000027:[]
+006698_000032:[19]
+012207_000027:[2]
+005165_000008:[]
+021150_000006:[0, 10]
+004329_000009:[]
+009262_000030:[]
+016249_000018:[12, 18, 19]
+003366_000019:[5, 11, 13, 16, 19]
+019797_000014:[]
+009234_000020:[0, 9, 13, 16]
+019698_000009:[]
+009768_000038:[0]
+010007_000020:[18, 19]
+019814_000011:[]
+014290_000031:[9]
+003321_000010:[]
+005593_000033:[]
+010678_000010:[1, 4, 18]
+012084_000035:[4, 5, 7]
+021052_000010:[]
+008469_000019:[2]
+005562_000013:[]
+023306_000005:[]
+001947_000006:[2]
+022789_000020:[]
+019819_000000:[]
+003194_000010:[]
+013178_000018:[]
+023195_000023:[]
+004924_000019:[]
+010492_000033:[]
+016946_000002:[]
+009220_000005:[7, 15]
+017560_000006:[4]
+012869_000027:[]
+002104_000032:[]
+007450_000014:[]
+019725_000035:[]
+021893_000001:[8]
+020068_000025:[]
+011982_000012:[]
+016041_000036:[18]
+000578_000028:[]
+005153_000004:[2]
+005071_000016:[0, 1, 3, 4, 6, 7, 11, 13, 14, 16, 18]
+011519_000037:[]
+004747_000007:[]
+019020_000006:[]
+023315_000009:[3, 12]
+005066_000006:[]
+005923_000029:[]
+015650_000006:[4]
+012928_000011:[]
+024624_000022:[]
+013531_000024:[]
+017614_000037:[]
+020755_000012:[10, 17]
+020893_000017:[]
+003620_000036:[]
+007575_000028:[0, 12]
+010955_000027:[]
+004835_000012:[8]
+024187_000034:[]
+012744_000029:[13]
+011838_000025:[4, 10, 13]
+008790_000021:[4]
+001546_000014:[7]
+007492_000000:[14, 19]
+015733_000013:[7]
+011503_000024:[]
+003957_000004:[]
+007439_000020:[8]
+010618_000026:[2, 8, 16, 17]
+003682_000025:[]
+014532_000001:[3, 12]
+021265_000014:[]
+017930_000016:[8]
+009092_000018:[]
+000624_000025:[0]
+008178_000015:[3, 15]
+006443_000002:[8]
+003348_000020:[]
+002021_000021:[18]
+021042_000035:[]
+009064_000033:[]
+003057_000005:[7, 13]
+017201_000011:[]
+004407_000029:[11]
+002278_000037:[3]
+011398_000018:[]
+023029_000029:[]
+003692_000005:[]
+012221_000016:[14]
+004924_000036:[]
+005125_000034:[]
+020930_000002:[]
+021258_000002:[]
+003187_000008:[]
+014077_000022:[]
+018267_000009:[16]
+011678_000001:[]
+018662_000011:[]
+014721_000036:[4, 7, 18]
+000649_000037:[]
+011137_000028:[]
+023726_000035:[17]
+007658_000012:[]
+003885_000004:[]
+002635_000032:[6, 8]
+008440_000011:[]
+003360_000008:[]
+023583_000027:[]
+003022_000020:[3]
+008722_000018:[1, 4]
+022345_000039:[]
+013974_000034:[1]
+023799_000033:[0]
+000144_000005:[15]
+009612_000014:[]
+002128_000036:[3, 7, 13]
+015633_000031:[]
+021826_000009:[]
+020180_000024:[]
+022510_000026:[0, 1, 8, 11, 12, 17]
+002236_000027:[]
+019564_000011:[]
+004672_000033:[]
+021107_000029:[4, 10, 12, 16]
+016121_000000:[]
+004794_000038:[13]
+021999_000029:[]
+014103_000010:[]
+003316_000018:[]
+021548_000012:[1]
+003925_000001:[5]
+009239_000037:[]
+016848_000014:[]
+011862_000032:[]
+015904_000008:[4, 10, 18]
+024465_000018:[2, 9, 17]
+006833_000009:[]
+002367_000033:[]
+017320_000029:[]
+023712_000015:[]
+003726_000036:[15]
+009633_000004:[]
+001950_000008:[]
+023657_000027:[]
+021069_000004:[13]
+023933_000029:[]
+013842_000002:[]
+011886_000037:[5]
+017736_000001:[18]
+024988_000015:[16]
+009897_000007:[]
+008986_000005:[19]
+021128_000024:[]
+001638_000001:[]
+015480_000009:[5, 8]
+024108_000017:[]
+017850_000031:[1, 2, 7, 14, 19]
+023616_000000:[]
+015264_000037:[1]
+021741_000016:[]
+022035_000019:[2, 19]
+019807_000019:[]
+014049_000035:[10]
+021177_000020:[]
+013299_000029:[]
+019799_000025:[10]
+010364_000009:[3, 6, 12]
+003304_000026:[17]
+005641_000031:[14]
+002496_000029:[11, 15]
+003132_000011:[]
+005612_000010:[6, 18]
+012519_000026:[]
+023395_000001:[4, 6, 18]
+021917_000020:[]
+012359_000011:[1, 3, 5, 10, 13]
+016740_000029:[4]
+005424_000017:[]
+011358_000031:[]
+023921_000016:[]
+006369_000025:[16]
+011479_000005:[3]
+003350_000009:[]
+000432_000028:[]
+014081_000033:[0, 1]
+015735_000013:[]
+000468_000005:[11]
+007986_000010:[]
+008784_000037:[16]
+000985_000003:[11, 16, 19]
+006094_000034:[]
+007620_000012:[]
+005043_000004:[2, 8]
+018287_000010:[]
+018803_000017:[18]
+013117_000016:[3]
+008156_000008:[]
+000798_000026:[]
+010743_000032:[10]
+013787_000038:[8]
+018217_000039:[7, 18]
+014091_000005:[]
+021694_000039:[]
+000608_000037:[]
+005170_000019:[4, 10, 17]
+017272_000013:[]
+021125_000014:[]
+012218_000033:[]
+013887_000014:[3]
+023486_000024:[]
+009549_000014:[]
+020193_000037:[3, 5]
+017687_000032:[]
+020564_000038:[2, 5]
+001957_000021:[2, 16]
+006739_000013:[18]
+017076_000008:[]
+004459_000018:[]
+006263_000011:[]
+013995_000000:[]
+005261_000033:[]
+015101_000033:[16]
+016523_000007:[17]
+008642_000007:[3, 11]
+001877_000010:[]
+003917_000019:[6]
+015549_000001:[0, 3]
+014033_000037:[]
+000144_000022:[]
+006585_000018:[0, 1]
+020132_000011:[0, 9, 13]
+008606_000031:[]
+024974_000035:[]
+008354_000039:[3, 13, 17]
+022035_000025:[3]
+006408_000000:[]
+020695_000038:[2, 7]
+019545_000001:[]
+018577_000008:[10, 16, 17]
+022955_000002:[5]
+011598_000032:[]
+020216_000024:[12]
+004009_000016:[]
+008636_000027:[]
+021651_000014:[]
+003862_000002:[12]
+007882_000010:[]
+003040_000015:[8]
+004333_000028:[]
+007138_000007:[15]
+010022_000034:[4, 19]
+004738_000001:[]
+002615_000022:[]
+000747_000029:[8]
+024543_000037:[]
+014917_000011:[]
+024042_000013:[]
+003287_000036:[]
+024796_000017:[4, 7]
+021972_000000:[]
+001533_000035:[14]
+017078_000036:[]
+012147_000003:[]
+021570_000029:[4, 18]
+022437_000023:[]
+009653_000039:[2, 4]
+014816_000016:[16]
+019929_000003:[]
+001863_000006:[]
+024728_000011:[]
+006788_000012:[]
+006025_000035:[14, 15]
+023342_000013:[]
+008501_000011:[0]
+023423_000011:[]
+008465_000018:[]
+008332_000017:[3, 11, 16]
+004656_000028:[12]
+022443_000015:[2]
+009787_000034:[]
+014137_000008:[2, 14, 17]
+011626_000029:[]
+001192_000001:[]
+021576_000019:[]
+013080_000026:[]
+016406_000035:[]
+023397_000002:[6, 12, 15]
+020257_000022:[]
+020833_000037:[]
+015680_000021:[]
+017904_000031:[]
+000765_000010:[14]
+010000_000026:[]
+008523_000032:[8]
+015255_000005:[]
+005191_000003:[]
+011451_000012:[]
+019288_000015:[16]
+023677_000020:[]
+022862_000023:[9]
+001112_000039:[6, 16, 17]
+014818_000032:[]
+004964_000012:[]
+023417_000032:[15]
+004847_000002:[]
+019710_000037:[]
+004045_000010:[17]
+022522_000019:[]
+016562_000022:[10]
+003680_000028:[]
+003878_000015:[]
+017008_000024:[]
+023294_000001:[16]
+007224_000020:[]
+005790_000028:[15]
+004270_000017:[6, 16]
+022533_000038:[]
+015639_000031:[13, 19]
+016174_000014:[0, 11, 15]
+001280_000019:[]
+017968_000018:[]
+016555_000001:[]
+010177_000009:[]
+023704_000004:[]
+018050_000036:[]
+006339_000039:[7]
+011184_000006:[]
+005350_000001:[]
+017484_000026:[]
+022182_000013:[]
+018398_000030:[11]
+004312_000019:[6]
+019167_000014:[8]
+005327_000018:[14]
+009837_000016:[]
+019642_000004:[]
+008014_000030:[3, 9, 12, 15, 17, 19]
+014816_000033:[8, 16, 19]
+017516_000022:[]
+006430_000038:[]
+008524_000006:[]
+002252_000029:[8]
+023339_000003:[]
+015245_000007:[]
+002620_000037:[]
+021269_000025:[]
+019577_000024:[]
+024430_000031:[]
+009105_000033:[]
+018501_000011:[0, 4]
+003649_000014:[]
+018202_000008:[]
+008006_000011:[]
+009307_000009:[1, 5, 11, 13, 15, 19]
+018053_000009:[]
+001972_000027:[]
+007687_000017:[5, 13, 15, 17]
+010335_000017:[19]
+023867_000035:[]
+015277_000017:[5]
+007873_000031:[2, 6]
+020660_000002:[]
+004979_000030:[]
+003283_000013:[]
+010533_000005:[4]
+010130_000022:[3, 6, 18]
+010853_000038:[5, 12]
+009449_000028:[]
+007919_000017:[]
+011306_000032:[]
+009322_000018:[4]
+019606_000026:[14]
+010298_000032:[11]
+011504_000011:[3, 5, 15]
+011399_000028:[12]
+015675_000035:[]
+003145_000031:[]
+004704_000039:[18]
+014530_000007:[]
+000019_000021:[]
+019432_000028:[]
+002690_000023:[]
+007567_000020:[]
+019540_000021:[4, 9]
+024868_000000:[]
+007587_000029:[]
+015427_000013:[8, 15]
+012743_000029:[0, 4, 11, 15, 18]
+008878_000020:[]
+006095_000015:[]
+004952_000030:[8]
+022817_000027:[]
+002222_000032:[]
+013944_000000:[3, 7, 11, 16]
+015913_000029:[]
+000293_000018:[]
+001039_000013:[4]
+024479_000018:[]
+020588_000001:[0]
+001085_000006:[]
+009134_000025:[]
+013993_000031:[]
+013998_000002:[1, 3, 13, 17]
+015974_000038:[]
+006401_000005:[1, 7, 8, 12, 14]
+018086_000005:[]
+015944_000013:[]
+017046_000022:[]
+005782_000021:[]
+022666_000033:[10, 17]
+022389_000020:[11]
+013251_000038:[]
+010515_000014:[3, 4, 7]
+016776_000037:[]
+010080_000004:[]
+019448_000000:[2, 4, 8, 9, 10, 11, 12, 13]
+015797_000033:[1, 4, 17]
+007506_000009:[]
+012302_000037:[]
+017521_000023:[1, 15]
+000465_000005:[]
+013765_000021:[2, 3, 11]
+007973_000011:[]
+018397_000001:[0]
+019440_000038:[]
+015809_000023:[7]
+024204_000000:[]
+007276_000036:[15, 18]
+004566_000006:[1]
+016878_000012:[]
+010294_000026:[]
+005956_000036:[]
+014445_000004:[13]
+019587_000015:[9]
+023429_000005:[6]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000631_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000631_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b5eb6b84eb51b2c91b3c40a74e0bb9352e02634a
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000631_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+020554_000006:[1, 2, 5, 10, 11, 14, 16]
+001137_000037:[]
+008000_000004:[19]
+007054_000011:[]
+011366_000014:[4, 19]
+002790_000038:[]
+002056_000011:[]
+009341_000038:[1, 2, 6, 8, 10, 19]
+010221_000023:[]
+003617_000022:[]
+016147_000000:[3, 15]
+006699_000003:[1, 3, 4, 9]
+013812_000010:[]
+018289_000018:[]
+002928_000024:[]
+006973_000003:[]
+011619_000021:[]
+018685_000007:[]
+014949_000000:[]
+016074_000019:[]
+022590_000031:[]
+004393_000001:[]
+018943_000029:[17]
+024185_000039:[]
+022671_000020:[]
+014310_000021:[1, 5, 9, 15, 18, 19]
+024108_000003:[]
+011531_000007:[]
+018858_000022:[17]
+003800_000037:[11, 18]
+020918_000027:[1]
+009199_000022:[2, 6]
+017624_000023:[10, 12, 19]
+007477_000022:[]
+018418_000038:[2, 9]
+005699_000012:[9]
+001155_000018:[]
+005062_000032:[5, 13]
+014331_000026:[0, 11, 16]
+018328_000001:[18]
+006834_000000:[]
+004867_000018:[4, 12]
+013493_000005:[0, 7]
+007183_000028:[]
+015647_000011:[17]
+021822_000016:[]
+004406_000016:[]
+015973_000008:[0, 1, 14, 17, 19]
+022187_000030:[]
+021405_000036:[]
+008735_000002:[0, 2, 8, 9, 13]
+022550_000035:[2, 4, 5, 8, 11, 15]
+004593_000006:[]
+024925_000015:[]
+008617_000002:[]
+024205_000022:[18]
+019824_000037:[8]
+020833_000003:[]
+001281_000030:[0, 1]
+000917_000022:[]
+012078_000003:[]
+011871_000026:[]
+000300_000004:[4]
+010987_000018:[]
+024689_000039:[]
+001730_000008:[]
+000556_000025:[11]
+016935_000029:[0, 2, 4, 11, 12]
+002068_000026:[]
+003307_000031:[]
+006607_000030:[]
+002494_000025:[]
+004244_000035:[17]
+013763_000016:[]
+020744_000039:[1]
+021298_000032:[]
+008667_000032:[]
+006576_000015:[]
+007474_000031:[]
+014022_000030:[]
+005790_000011:[18]
+011714_000024:[4]
+023198_000015:[0, 4, 5, 14]
+014228_000018:[]
+001399_000031:[18]
+007107_000020:[]
+019872_000038:[10, 13]
+000012_000029:[0, 3, 5, 7, 14]
+010299_000005:[]
+022625_000024:[]
+018521_000000:[4]
+020719_000010:[11]
+011725_000033:[17]
+020638_000031:[]
+017908_000003:[]
+013703_000033:[1]
+006160_000011:[]
+005551_000024:[]
+018631_000003:[0]
+023915_000003:[1, 12, 13]
+007599_000032:[3, 19]
+013280_000023:[]
+005314_000005:[]
+013659_000026:[19]
+011580_000001:[15]
+001742_000019:[]
+006138_000002:[]
+021272_000033:[]
+002131_000001:[]
+023905_000037:[]
+024692_000000:[]
+021226_000020:[3, 6, 16]
+001147_000037:[12]
+001254_000017:[]
+016054_000001:[6]
+016287_000001:[5]
+005423_000038:[]
+005860_000011:[4, 14]
+017385_000005:[]
+007776_000011:[0, 2, 11, 16, 17]
+019834_000000:[]
+005403_000029:[6, 7, 11]
+003913_000037:[5, 7, 8, 9, 13, 15]
+016961_000036:[16]
+024241_000017:[7]
+018647_000029:[]
+013950_000023:[]
+002341_000025:[0]
+023699_000039:[]
+007522_000019:[]
+010314_000022:[0, 19]
+013720_000035:[]
+014414_000017:[]
+024340_000015:[]
+015590_000038:[]
+021256_000007:[]
+022139_000030:[19]
+010966_000016:[]
+008715_000030:[]
+024678_000031:[]
+007509_000030:[]
+014147_000023:[9]
+022450_000002:[]
+024069_000000:[10]
+009903_000017:[]
+015187_000001:[15]
+008372_000032:[]
+013008_000012:[2, 8, 10, 17, 19]
+017840_000005:[]
+017380_000007:[11, 14]
+010864_000037:[]
+016528_000024:[]
+023271_000002:[1, 4]
+024972_000034:[7, 8, 10, 18]
+014918_000011:[2, 16]
+017150_000019:[14]
+001200_000029:[6]
+010688_000027:[9]
+013680_000027:[14, 15]
+004799_000035:[]
+023888_000038:[4]
+021872_000004:[14]
+016635_000029:[19]
+022376_000005:[2, 9, 14, 16]
+002467_000024:[]
+007953_000017:[]
+023721_000009:[]
+021154_000030:[]
+000877_000004:[1, 4, 10]
+012089_000020:[]
+006356_000003:[]
+015742_000036:[0]
+024680_000004:[1, 2, 10]
+016394_000024:[]
+020746_000022:[4, 10]
+000989_000039:[]
+016896_000004:[12]
+023721_000007:[10]
+013693_000032:[1, 2, 8, 17]
+002675_000036:[]
+021198_000008:[]
+000997_000028:[13]
+014077_000034:[15]
+012161_000003:[]
+021293_000028:[]
+000339_000000:[]
+011963_000001:[]
+001577_000030:[]
+016025_000038:[3]
+016731_000025:[10]
+013701_000007:[15]
+023404_000014:[0, 1]
+001020_000031:[]
+006689_000021:[]
+007098_000034:[11, 13]
+011334_000030:[6]
+006924_000034:[]
+018175_000002:[]
+021836_000009:[]
+006483_000037:[7, 12, 13]
+006828_000000:[17]
+019968_000012:[]
+021780_000031:[8, 13]
+010179_000028:[4, 13]
+009799_000006:[]
+024534_000024:[]
+008281_000039:[0, 1, 3, 4, 6, 11, 13, 14, 16]
+021289_000005:[]
+019569_000013:[]
+012119_000015:[]
+016062_000028:[]
+015601_000033:[]
+019240_000023:[]
+020509_000013:[3]
+006588_000001:[]
+004906_000017:[1, 6, 9, 12, 15]
+021214_000033:[0, 2, 3, 5, 6, 7, 8, 15, 17, 18, 19]
+000138_000018:[]
+011947_000003:[5, 15, 18]
+003319_000027:[]
+005537_000004:[0, 2, 4, 5, 10, 14, 18]
+023825_000004:[]
+006902_000011:[]
+020345_000010:[]
+004732_000015:[]
+024749_000039:[]
+015711_000001:[]
+012652_000035:[]
+003931_000009:[]
+022852_000018:[]
+013058_000039:[4, 7, 8]
+017035_000016:[0, 19]
+014128_000005:[13]
+022110_000019:[4, 6, 9, 13, 14]
+017723_000029:[]
+019693_000012:[]
+013274_000012:[]
+010786_000011:[]
+003508_000021:[]
+013216_000036:[4]
+002737_000016:[6, 9, 10]
+011768_000034:[1, 3, 12, 14, 19]
+006697_000033:[]
+018329_000034:[0, 4, 9, 15, 16, 17]
+024759_000020:[]
+023552_000005:[]
+024513_000023:[]
+013197_000017:[]
+024425_000007:[8]
+004292_000018:[]
+011775_000020:[]
+012441_000002:[]
+003365_000030:[5, 15]
+015149_000023:[9]
+024261_000015:[]
+015516_000036:[]
+003942_000037:[]
+014065_000026:[16]
+016666_000004:[2, 13, 18]
+019700_000021:[]
+020659_000020:[7]
+019801_000032:[]
+015395_000016:[16]
+014222_000031:[]
+008241_000022:[]
+011365_000025:[]
+020702_000006:[]
+002069_000004:[]
+019418_000021:[1, 2, 5]
+008397_000019:[]
+021166_000001:[]
+006291_000008:[]
+005239_000005:[]
+006574_000009:[]
+011668_000009:[3, 7]
+006436_000017:[]
+008682_000009:[]
+020207_000015:[]
+020517_000033:[]
+018176_000019:[]
+022730_000020:[]
+013081_000023:[]
+001100_000013:[5, 8, 9, 10, 12, 13, 15]
+023365_000035:[3, 10, 12]
+017093_000039:[]
+006478_000023:[]
+005398_000033:[]
+012118_000039:[]
+016325_000030:[]
+008146_000030:[11]
+018793_000003:[16]
+015273_000009:[]
+006507_000004:[10, 19]
+019288_000010:[]
+015503_000036:[8]
+015160_000018:[]
+021067_000009:[]
+018554_000017:[]
+024308_000032:[0, 4, 12, 14, 17]
+024842_000006:[]
+003669_000017:[6]
+016297_000005:[]
+008311_000032:[1]
+004421_000038:[]
+019950_000011:[5]
+023172_000038:[3, 4, 5, 15]
+009316_000025:[]
+006677_000025:[]
+004682_000024:[]
+005956_000034:[0]
+014842_000005:[]
+001587_000025:[]
+019018_000006:[13, 15]
+009825_000001:[]
+011097_000018:[]
+000982_000008:[]
+024548_000017:[]
+020532_000012:[]
+010588_000026:[]
+021216_000004:[]
+010156_000035:[]
+011329_000013:[]
+021247_000002:[1, 9, 11, 14]
+006336_000030:[14, 16]
+001700_000039:[]
+017372_000032:[13]
+008461_000016:[5]
+001475_000026:[]
+008607_000016:[]
+021010_000020:[]
+020275_000006:[]
+004882_000012:[]
+023326_000030:[]
+007893_000032:[3]
+012853_000036:[6]
+000754_000013:[]
+012282_000016:[]
+003461_000010:[7]
+020911_000008:[]
+016871_000010:[]
+009089_000018:[]
+011222_000035:[18]
+014201_000030:[]
+023880_000007:[]
+023592_000030:[]
+022309_000026:[]
+014366_000037:[5, 18]
+007987_000005:[0, 17]
+018829_000003:[15]
+019390_000031:[10]
+003842_000030:[6]
+003376_000026:[7, 10]
+013290_000000:[3, 10]
+009936_000028:[]
+012282_000038:[4, 6, 10]
+023065_000023:[]
+009096_000022:[]
+024952_000035:[5]
+007627_000018:[]
+015235_000009:[]
+016377_000031:[]
+007829_000027:[]
+006176_000012:[4]
+013452_000002:[]
+022224_000012:[]
+001755_000034:[]
+008716_000022:[19]
+014150_000034:[]
+000012_000032:[]
+016247_000017:[6]
+004058_000022:[4, 12]
+012908_000023:[]
+013695_000007:[0, 1, 9, 11, 12, 18]
+012535_000011:[]
+010168_000000:[]
+007508_000022:[17]
+011218_000018:[]
+000363_000032:[0, 5, 8, 10, 14]
+016758_000022:[]
+015495_000021:[]
+020422_000029:[]
+015942_000028:[]
+011217_000016:[16]
+016021_000017:[0, 2, 10, 19]
+022697_000038:[]
+000473_000033:[]
+016340_000036:[]
+017320_000014:[1, 7, 15, 17, 19]
+007247_000011:[13, 16, 18, 19]
+021065_000011:[]
+002285_000013:[11]
+013611_000020:[18]
+024996_000020:[1, 8, 13]
+024171_000011:[]
+003331_000024:[]
+016963_000037:[]
+021943_000024:[]
+016225_000015:[1, 13]
+006491_000022:[]
+004677_000010:[]
+001275_000008:[]
+023529_000034:[6]
+000219_000027:[18]
+021610_000029:[7, 16]
+012239_000024:[]
+022359_000028:[]
+009442_000020:[]
+020478_000029:[0, 11]
+012849_000028:[]
+010059_000025:[]
+014642_000032:[]
+012391_000038:[]
+003958_000029:[]
+004607_000012:[]
+018271_000015:[1, 8, 14]
+011358_000008:[0, 17]
+016050_000017:[2]
+015311_000002:[]
+006812_000025:[]
+003683_000028:[0, 1, 12, 15]
+015637_000016:[]
+003518_000029:[]
+000382_000013:[19]
+021336_000033:[]
+004057_000033:[]
+009382_000027:[17]
+012876_000017:[]
+008351_000008:[13]
+021992_000008:[]
+021010_000007:[]
+019480_000001:[]
+007244_000024:[11]
+008022_000023:[]
+012737_000031:[]
+013079_000031:[]
+008874_000006:[]
+010033_000032:[]
+004660_000022:[]
+010410_000014:[6]
+011163_000031:[2, 4]
+014668_000002:[10]
+013675_000007:[1, 7, 8]
+012928_000028:[11]
+008608_000023:[]
+008760_000034:[]
+016054_000037:[3]
+019305_000025:[19]
+020772_000013:[9]
+013474_000036:[]
+004072_000016:[]
+006261_000030:[]
+018068_000007:[]
+002844_000026:[2, 8]
+010384_000009:[13]
+014532_000016:[]
+008379_000010:[]
+002462_000024:[]
+002163_000032:[]
+023725_000020:[2, 3, 15, 17]
+015237_000012:[6]
+000264_000010:[3]
+007731_000038:[5, 8]
+017167_000007:[]
+006851_000010:[]
+000153_000037:[0, 1, 5, 8, 13, 16, 18]
+018915_000026:[]
+000293_000005:[]
+011018_000008:[]
+015243_000036:[6]
+016590_000025:[]
+013798_000024:[]
+021907_000000:[4]
+020000_000018:[]
+005247_000031:[]
+002016_000033:[12]
+003858_000035:[]
+004916_000036:[8]
+007677_000039:[7, 14, 17]
+014196_000020:[]
+009463_000029:[6, 8, 14]
+001506_000007:[9]
+004498_000023:[4, 6, 14]
+000929_000025:[0, 2]
+008154_000038:[7, 13, 16]
+022349_000011:[]
+010661_000020:[]
+013838_000013:[3, 4, 8, 10, 11, 12, 13, 14]
+002533_000032:[]
+003582_000019:[]
+006715_000038:[]
+016730_000036:[13]
+011166_000021:[]
+013907_000008:[]
+002128_000008:[]
+013749_000023:[0, 15, 16]
+010641_000037:[]
+008371_000027:[5]
+002063_000017:[2]
+012015_000018:[]
+019942_000008:[12]
+011511_000013:[3, 4, 8, 9, 12, 13, 18]
+018051_000016:[7, 19]
+015348_000014:[]
+002705_000033:[]
+023256_000039:[]
+007945_000020:[]
+002918_000029:[7]
+015932_000008:[4, 10, 14, 15, 16]
+000454_000029:[4]
+024314_000006:[]
+022242_000010:[]
+015550_000003:[]
+024238_000026:[11]
+010175_000007:[]
+019368_000004:[10, 13]
+004410_000028:[]
+002355_000029:[2, 6, 7]
+024503_000013:[]
+020666_000000:[19]
+005790_000012:[0, 5, 14, 16, 17]
+023050_000009:[0, 2, 8, 16, 17]
+023048_000015:[]
+013566_000027:[]
+018991_000021:[]
+000771_000024:[]
+012087_000018:[14]
+008548_000006:[]
+000344_000030:[]
+004412_000016:[4, 6]
+003075_000033:[]
+018703_000036:[5]
+006221_000003:[1, 16, 18]
+008755_000037:[9, 10, 18, 19]
+011399_000025:[1, 7]
+015088_000038:[7]
+021189_000011:[13, 19]
+001415_000001:[]
+010817_000019:[14, 16]
+022610_000039:[]
+000525_000000:[9]
+011756_000005:[]
+002202_000000:[]
+010340_000028:[]
+008958_000025:[]
+007106_000018:[]
+006157_000014:[]
+000191_000023:[2]
+007885_000039:[3, 10, 12, 13, 16]
+023318_000012:[0]
+013651_000019:[]
+014304_000037:[4, 12, 16, 18, 19]
+015698_000038:[14]
+004466_000028:[0, 1, 4, 11]
+024758_000031:[]
+021535_000022:[]
+023888_000000:[]
+017106_000022:[]
+000694_000029:[]
+005796_000000:[4]
+008660_000003:[]
+012685_000012:[]
+003937_000024:[10, 14]
+024841_000019:[]
+016411_000039:[]
+022754_000016:[]
+019315_000020:[]
+003536_000001:[0, 2, 5, 7, 11]
+015317_000034:[]
+014701_000038:[6, 11, 14]
+011827_000009:[12]
+011421_000021:[]
+022870_000000:[]
+018475_000005:[]
+024763_000031:[11, 15]
+012326_000016:[]
+009574_000004:[]
+011173_000035:[]
+016820_000010:[3, 7, 9, 12, 13]
+021712_000006:[]
+012461_000002:[]
+008120_000035:[]
+015034_000020:[]
+019926_000000:[2, 8]
+023199_000028:[4, 5, 13]
+006877_000010:[]
+012067_000037:[]
+000717_000004:[]
+017390_000019:[]
+024785_000031:[7]
+002854_000023:[]
+003655_000024:[]
+010291_000024:[]
+024436_000011:[]
+020265_000001:[8]
+009804_000002:[5, 10, 16]
+020581_000010:[2, 3, 6, 7, 10, 11, 14, 18]
+017166_000025:[]
+009273_000016:[10]
+002757_000011:[1, 5]
+012579_000017:[]
+012576_000022:[10]
+000492_000001:[10]
+014030_000027:[17]
+016741_000036:[]
+023261_000036:[]
+007117_000003:[]
+019460_000028:[6, 10]
+013940_000031:[]
+017414_000024:[6]
+021178_000036:[0, 5]
+005890_000003:[]
+013621_000003:[]
+002817_000008:[]
+020321_000037:[]
+017634_000034:[2, 4, 14]
+014978_000022:[1, 3, 12, 13]
+017219_000006:[]
+021139_000012:[11]
+015067_000014:[]
+002010_000004:[7, 19]
+013076_000032:[]
+023475_000034:[]
+017876_000037:[]
+015797_000000:[]
+013638_000016:[8, 11, 16, 17]
+023354_000005:[8]
+023964_000003:[]
+005489_000028:[]
+003817_000024:[]
+023568_000009:[]
+017348_000028:[]
+020990_000015:[15]
+010606_000017:[2, 5, 6]
+002855_000007:[]
+004146_000020:[]
+001491_000030:[11]
+009507_000035:[]
+011548_000008:[2, 13, 15]
+010789_000029:[2, 3, 8]
+005401_000039:[]
+021850_000033:[]
+012706_000027:[0, 1, 2, 4, 5, 7, 10, 11, 14, 15, 16]
+012125_000014:[12]
+013247_000032:[]
+009311_000027:[]
+022317_000008:[]
+024897_000002:[]
+013853_000027:[4]
+017008_000036:[4]
+009737_000026:[]
+015203_000006:[]
+024084_000029:[9]
+006763_000026:[]
+019704_000029:[15]
+004967_000025:[]
+009539_000023:[10]
+007037_000019:[]
+005047_000032:[0]
+017714_000038:[]
+011455_000038:[18]
+004939_000018:[]
+014178_000007:[]
+022794_000020:[17]
+014988_000029:[]
+015843_000007:[]
+000315_000023:[]
+015445_000039:[]
+003453_000030:[2, 3, 5, 10, 13, 14, 17]
+015558_000037:[]
+014391_000008:[]
+012514_000000:[]
+021832_000022:[]
+006015_000023:[]
+022030_000002:[0, 4, 6, 7, 13, 16]
+000899_000002:[7, 17]
+019467_000013:[9]
+005122_000003:[8]
+013693_000037:[]
+018177_000012:[]
+015368_000004:[0, 4, 11, 16]
+004664_000011:[]
+017553_000016:[19]
+022028_000028:[]
+020254_000017:[]
+011691_000036:[]
+023955_000017:[2]
+006932_000030:[18]
+003022_000027:[3]
+008749_000024:[]
+020091_000001:[]
+001994_000027:[]
+021460_000033:[6, 16]
+006525_000020:[0]
+010790_000021:[]
+006966_000003:[]
+008811_000012:[5]
+010808_000011:[12]
+022386_000039:[13, 19]
+019944_000031:[]
+017560_000005:[]
+011824_000019:[2]
+014241_000030:[]
+021241_000034:[1]
+005515_000009:[]
+001887_000036:[]
+011501_000019:[]
+014446_000005:[]
+003141_000014:[]
+016628_000016:[]
+012686_000007:[]
+007280_000020:[]
+014718_000022:[1, 3, 4, 9, 10, 15]
+023921_000001:[6]
+019752_000033:[11, 12]
+001813_000035:[]
+021186_000005:[]
+000554_000013:[9, 14]
+010817_000033:[]
+005088_000011:[5, 8]
+002590_000001:[]
+009493_000029:[]
+002090_000035:[]
+007198_000009:[]
+016205_000039:[]
+017109_000012:[]
+013497_000013:[]
+018618_000023:[3, 11]
+014301_000005:[14, 15, 16]
+007754_000024:[19]
+015828_000037:[11]
+015782_000021:[6]
+003945_000039:[]
+013274_000033:[]
+016217_000018:[]
+017943_000029:[]
+000470_000024:[]
+024793_000033:[7, 9, 13]
+002150_000015:[13]
+012657_000031:[]
+014723_000031:[11]
+022203_000024:[15, 19]
+022515_000017:[]
+009394_000032:[]
+018155_000033:[6, 7, 8, 10, 14, 17, 18]
+014278_000038:[4]
+008402_000019:[]
+003426_000009:[0, 11]
+023611_000013:[]
+012795_000021:[]
+013050_000038:[11]
+004808_000014:[0, 2, 4, 6, 7, 9, 15, 19]
+014909_000019:[]
+019919_000021:[11]
+022829_000033:[]
+012476_000023:[]
+003254_000008:[6, 7, 8, 17]
+006706_000009:[6]
+000221_000007:[17]
+020920_000025:[]
+000511_000009:[]
+005015_000031:[7]
+006230_000009:[]
+024944_000015:[]
+006475_000003:[]
+015442_000018:[]
+006514_000007:[]
+003720_000026:[3, 14]
+018841_000012:[]
+001777_000005:[]
+000136_000034:[]
+023326_000006:[4]
+009688_000025:[]
+011917_000000:[0, 1, 6, 9, 12, 16]
+013307_000008:[1, 9, 16]
+013034_000006:[2, 7]
+006538_000029:[]
+019507_000029:[18]
+017533_000008:[]
+000619_000034:[]
+012803_000025:[]
+001502_000001:[4]
+003742_000036:[16]
+023307_000037:[]
+020994_000039:[8]
+006474_000002:[14]
+002422_000017:[]
+004975_000022:[]
+004796_000017:[]
+004865_000039:[1, 11]
+010238_000025:[]
+014787_000026:[0]
+001476_000030:[17]
+018084_000013:[]
+020881_000013:[]
+008925_000029:[2, 3, 4, 5, 9, 11, 14, 16, 19]
+015793_000028:[]
+011703_000027:[]
+018309_000000:[]
+015149_000027:[5, 8, 9]
+019503_000020:[]
+008212_000006:[0, 7, 10, 14]
+006205_000010:[]
+024167_000037:[5, 16]
+015700_000039:[]
+012593_000020:[0]
+005195_000014:[]
+016656_000024:[]
+009992_000028:[]
+007378_000004:[]
+008426_000011:[16]
+014367_000008:[3, 4, 6]
+022683_000025:[]
+017273_000021:[0]
+013075_000026:[]
+005433_000013:[17]
+018773_000013:[1, 3]
+002455_000003:[4, 5]
+014831_000004:[]
+002390_000026:[]
+024234_000031:[8]
+008768_000018:[5, 13]
+003879_000034:[3]
+007916_000020:[]
+003651_000021:[0, 8, 14, 17]
+018766_000029:[11]
+015106_000038:[]
+002777_000013:[]
+005159_000019:[6]
+016417_000003:[18]
+023766_000029:[4]
+008008_000032:[10]
+017524_000007:[12]
+006394_000004:[]
+020347_000026:[12]
+011362_000021:[]
+009673_000038:[]
+010181_000026:[]
+023838_000039:[1, 2, 5]
+016417_000032:[18]
+024877_000022:[4, 15]
+015331_000023:[1, 2, 4, 5, 7, 9, 10, 11]
+016681_000007:[]
+010011_000036:[11]
+011484_000011:[]
+003074_000013:[0, 2, 7, 10]
+004630_000019:[]
+011977_000009:[0, 4, 10, 11]
+022813_000010:[]
+018494_000029:[1, 2, 14, 17]
+022142_000001:[]
+017294_000023:[]
+018759_000024:[]
+024243_000033:[0, 4, 5, 14]
+024327_000019:[]
+013774_000001:[]
+003593_000005:[6]
+013290_000005:[]
+022502_000012:[]
+005250_000024:[]
+005505_000023:[2, 5, 19]
+014511_000035:[15]
+017020_000030:[]
+016096_000021:[]
+005709_000019:[]
+014465_000010:[2, 5, 8, 14, 17]
+011928_000016:[13]
+014598_000017:[15]
+002710_000001:[3, 8, 9, 12, 16]
+016438_000016:[]
+024414_000022:[]
+009249_000032:[0, 10]
+019779_000015:[]
+001404_000031:[]
+023834_000028:[]
+017844_000021:[]
+021583_000014:[]
+013812_000033:[]
+014018_000038:[0, 1, 6, 18]
+000055_000037:[9]
+012389_000011:[0, 5, 10, 12, 16, 18, 19]
+022992_000032:[]
+010361_000014:[18]
+019130_000007:[]
+005217_000001:[1]
+008213_000013:[]
+017829_000022:[5]
+012403_000015:[]
+001296_000035:[]
+010303_000038:[]
+002007_000024:[]
+009373_000021:[8, 12, 13, 14, 18]
+023754_000020:[4, 11, 19]
+005181_000021:[]
+006577_000033:[]
+020957_000024:[]
+021997_000034:[17]
+003190_000004:[4, 15, 18]
+016032_000006:[4]
+013302_000028:[]
+024417_000002:[]
+023798_000010:[13]
+009880_000019:[3, 10]
+005642_000030:[]
+022894_000010:[]
+002082_000027:[]
+016971_000029:[17]
+015234_000017:[3, 5, 6, 9, 16]
+016422_000008:[0, 1, 2, 11, 12, 17]
+009242_000001:[]
+005284_000026:[]
+009597_000035:[]
+013193_000009:[]
+004552_000016:[]
+012278_000010:[1]
+000649_000008:[1, 2]
+015082_000004:[]
+001099_000016:[7]
+001434_000004:[]
+014727_000004:[3, 4, 6, 9]
+018359_000031:[]
+014928_000003:[6, 9]
+012133_000014:[]
+017333_000018:[]
+020894_000030:[4, 10]
+024261_000006:[]
+015709_000030:[]
+009753_000010:[9]
+023067_000036:[]
+019656_000013:[17]
+007431_000012:[0, 4]
+022249_000038:[]
+013655_000021:[18, 19]
+023683_000026:[]
+010226_000006:[]
+001040_000017:[11]
+016700_000006:[]
+014653_000032:[]
+016494_000009:[]
+013315_000000:[]
+001951_000014:[7]
+019133_000015:[8]
+000333_000022:[]
+011328_000037:[0, 1, 2, 19]
+018480_000011:[5, 6, 8, 11, 12, 15]
+014364_000009:[]
+018647_000001:[]
+017331_000016:[]
+017522_000023:[1, 2, 9, 10, 17]
+023461_000035:[6]
+002258_000025:[]
+015304_000000:[]
+011331_000006:[]
+016306_000020:[6]
+020060_000019:[6]
+015252_000006:[]
+017726_000032:[]
+000463_000039:[]
+001870_000002:[]
+017369_000023:[]
+023709_000032:[]
+024216_000010:[]
+009392_000006:[]
+009181_000028:[]
+006306_000002:[]
+012914_000018:[8]
+023130_000020:[]
+008462_000012:[12]
+019118_000025:[9]
+009240_000021:[12]
+022670_000017:[]
+016899_000001:[]
+000364_000039:[]
+008048_000001:[12, 17]
+013438_000007:[0, 1, 3, 8, 9, 16, 19]
+011244_000008:[19]
+010077_000004:[]
+001757_000001:[5, 9, 13]
+024255_000025:[]
+018099_000026:[15]
+002280_000030:[0, 8]
+016316_000039:[]
+019622_000022:[19]
+016041_000002:[]
+008810_000010:[13]
+000326_000005:[17]
+024710_000038:[4]
+013721_000028:[6]
+002559_000017:[]
+011035_000020:[]
+009134_000014:[11]
+003581_000012:[]
+011958_000023:[0]
+013255_000006:[]
+008481_000018:[]
+023041_000007:[]
+000949_000036:[18]
+013810_000025:[3, 8, 16]
+022826_000005:[5, 10, 17]
+013941_000019:[17]
+012953_000037:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000640_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000640_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6ac2653d6d30638a86bcda0cd973d851d074d7e1
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000640_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+011721_000018:[]
+006145_000004:[]
+015025_000024:[17, 19]
+012561_000029:[]
+017563_000013:[5, 11, 18]
+022776_000002:[]
+012921_000009:[10]
+011462_000028:[8, 14]
+017247_000013:[]
+006788_000030:[0, 2, 12]
+003124_000028:[8, 14]
+004042_000018:[]
+024438_000035:[6, 7, 8, 14]
+012965_000021:[]
+022661_000003:[]
+002738_000031:[]
+024550_000007:[]
+018779_000010:[]
+005807_000029:[]
+017746_000002:[]
+011225_000038:[]
+023718_000033:[]
+007810_000020:[7]
+016524_000024:[]
+013404_000007:[1, 3, 18]
+007285_000001:[]
+019227_000001:[0, 1, 2, 3, 4, 6, 7, 8, 10, 14, 16, 17]
+001615_000025:[4, 12, 14, 15]
+012217_000029:[]
+011543_000023:[1, 6]
+019383_000027:[]
+008779_000006:[]
+010442_000030:[8, 15]
+012747_000001:[]
+010492_000036:[]
+008377_000025:[3, 13, 14, 17]
+005274_000032:[]
+000351_000016:[]
+011957_000025:[]
+013003_000006:[2, 7, 9]
+001597_000007:[]
+012236_000012:[0, 4, 9, 17]
+006742_000021:[]
+015047_000007:[]
+021970_000012:[]
+016282_000018:[16]
+010738_000010:[]
+009582_000037:[]
+013465_000008:[4, 12]
+007060_000008:[]
+003213_000028:[]
+001093_000037:[6, 10, 12]
+012388_000030:[7]
+001427_000018:[]
+000769_000011:[]
+005217_000014:[1]
+004828_000022:[]
+004246_000026:[0]
+003009_000039:[]
+002717_000018:[9]
+000093_000002:[2, 8]
+022490_000027:[4]
+004174_000012:[9]
+015292_000038:[]
+004990_000030:[0, 8, 9]
+011843_000026:[]
+004495_000039:[]
+004385_000036:[17]
+003517_000039:[10, 11]
+016201_000015:[]
+010247_000008:[]
+010005_000010:[19]
+004251_000036:[18]
+009973_000031:[4]
+023348_000035:[6, 19]
+000625_000012:[]
+013386_000033:[]
+011138_000033:[0, 3, 7, 13, 15]
+002057_000033:[0, 11]
+015604_000035:[]
+011738_000012:[0, 1, 7, 9]
+024279_000002:[0, 9]
+005741_000014:[]
+018034_000014:[0, 8]
+011720_000018:[]
+015845_000018:[]
+007189_000005:[0]
+010987_000036:[]
+011840_000039:[10]
+009971_000038:[2, 13]
+010967_000018:[17]
+004882_000016:[0, 5, 6]
+007397_000011:[]
+006596_000026:[]
+017274_000036:[]
+022572_000011:[]
+019182_000038:[5, 7, 14]
+020450_000034:[]
+011975_000023:[8, 10, 11, 18]
+014590_000031:[1]
+018371_000003:[]
+006129_000028:[]
+010017_000029:[0, 1, 2, 3, 4, 12, 15, 17, 18]
+015375_000025:[]
+020046_000024:[2, 4]
+014296_000014:[]
+023512_000016:[4, 11, 17]
+000059_000031:[]
+007542_000018:[10, 18]
+017248_000010:[]
+000444_000010:[]
+001887_000005:[]
+008979_000018:[]
+004210_000015:[]
+022045_000003:[]
+001131_000012:[2, 4, 7, 14]
+023708_000038:[4, 6, 7, 16, 18]
+000201_000012:[16]
+005734_000028:[]
+000201_000009:[]
+008890_000005:[6, 11, 12]
+019305_000000:[]
+003904_000031:[]
+020025_000027:[]
+007037_000008:[10, 14]
+011352_000015:[4, 16, 18]
+007754_000027:[]
+013691_000002:[9]
+023729_000035:[1, 2, 5]
+006828_000029:[10]
+007113_000022:[]
+000825_000028:[5]
+000213_000015:[0, 1, 4, 5, 10, 12, 13, 16, 17]
+018357_000016:[0]
+019411_000011:[2, 9, 18]
+005095_000031:[0]
+021196_000032:[1, 6, 10]
+007967_000000:[]
+019207_000005:[4, 9, 18]
+005748_000024:[]
+013670_000032:[]
+006591_000035:[]
+022347_000020:[19]
+006277_000026:[2]
+020244_000015:[0, 1, 7, 9, 10, 13, 16, 18]
+005098_000015:[2, 4, 6, 15, 17, 19]
+024071_000022:[1, 6]
+019610_000027:[]
+018834_000005:[]
+003642_000029:[8]
+005921_000002:[12]
+001139_000013:[1, 9]
+021355_000039:[]
+013112_000024:[]
+000989_000006:[]
+015413_000016:[8]
+015533_000003:[2, 12, 15]
+023843_000014:[]
+013855_000004:[7]
+000294_000038:[2, 18]
+007285_000027:[]
+004927_000010:[]
+004580_000025:[6]
+022776_000027:[]
+003590_000032:[6]
+023135_000026:[5, 12]
+021966_000031:[3]
+001913_000032:[]
+008369_000034:[11]
+013313_000030:[]
+018788_000038:[1, 2, 10, 13]
+024551_000016:[10]
+011959_000039:[14, 17]
+010468_000009:[]
+010554_000018:[]
+019082_000010:[]
+010933_000010:[]
+023026_000014:[]
+004909_000019:[14, 17, 19]
+014906_000008:[2, 3, 9, 15, 16]
+003908_000008:[]
+015221_000015:[5, 13]
+024258_000033:[0, 13]
+016542_000035:[]
+021039_000024:[]
+024580_000036:[0, 9, 16]
+018639_000019:[]
+007875_000024:[]
+019862_000024:[]
+007745_000035:[10, 11, 13, 15]
+022496_000017:[]
+013465_000021:[4]
+002877_000017:[]
+020745_000034:[]
+024087_000001:[]
+006942_000005:[17]
+021987_000010:[12, 19]
+009014_000027:[]
+010718_000027:[]
+012416_000004:[]
+004014_000000:[]
+017206_000023:[1, 16]
+017329_000027:[]
+004262_000007:[0, 1, 3, 4, 5, 7, 10, 19]
+017375_000015:[3, 6, 11, 15, 18]
+012470_000013:[]
+013008_000031:[0, 1, 2, 5, 8, 13, 17]
+013454_000002:[]
+014705_000004:[2, 5]
+014403_000027:[8, 15, 19]
+003774_000039:[14, 17, 18]
+000281_000004:[0, 2, 9, 10, 13, 17]
+019943_000026:[]
+002270_000006:[]
+019271_000022:[]
+022388_000039:[7]
+012026_000027:[]
+010539_000023:[8]
+004589_000015:[]
+002897_000008:[]
+004351_000025:[]
+005583_000028:[]
+009903_000000:[]
+003415_000037:[]
+023926_000033:[]
+006756_000030:[]
+016351_000023:[]
+022319_000038:[]
+021534_000019:[]
+002213_000012:[]
+001506_000028:[18]
+024598_000002:[]
+023279_000000:[]
+015462_000028:[0, 1, 5]
+000748_000035:[]
+007019_000027:[16]
+013672_000004:[]
+010913_000011:[3, 16]
+017833_000013:[5]
+018617_000014:[7, 13]
+006362_000002:[10, 11, 12, 13]
+014878_000028:[4, 19]
+004204_000007:[5]
+008375_000022:[10]
+013141_000000:[17]
+006202_000026:[]
+018217_000018:[3, 7, 15, 18]
+001307_000033:[11]
+020941_000020:[16]
+024759_000016:[10, 16]
+024373_000014:[]
+020363_000018:[]
+013361_000014:[]
+011583_000007:[]
+014247_000021:[9, 13, 14, 18]
+006965_000033:[]
+006236_000021:[]
+012612_000002:[]
+016721_000005:[]
+012991_000037:[]
+003426_000015:[19]
+006207_000024:[]
+004908_000035:[19]
+005782_000015:[0, 1, 5, 6, 17]
+002635_000021:[]
+021239_000038:[]
+012506_000008:[9, 10, 16]
+015255_000026:[9]
+022156_000010:[]
+007370_000015:[14, 19]
+015268_000022:[]
+012046_000029:[]
+021050_000003:[]
+008460_000027:[]
+023226_000037:[12]
+024113_000013:[14, 19]
+012918_000008:[14]
+011927_000009:[0, 7, 11, 12, 16]
+012078_000002:[11, 16]
+004885_000038:[12]
+020151_000014:[0]
+003460_000024:[]
+022798_000021:[0]
+014254_000031:[]
+009004_000001:[]
+020968_000014:[0]
+005850_000010:[]
+019103_000003:[10]
+022885_000027:[]
+012020_000030:[]
+018810_000018:[]
+020374_000030:[1]
+021310_000029:[6, 7]
+004664_000000:[]
+016685_000025:[]
+017837_000020:[3]
+012423_000019:[18]
+001942_000015:[]
+001641_000022:[0, 1, 5, 8, 9, 12]
+007965_000038:[2, 5, 9, 15]
+009341_000024:[1, 2, 8, 10, 19]
+014511_000025:[5]
+009468_000020:[]
+005604_000033:[]
+022040_000003:[3, 15, 19]
+005138_000037:[]
+012176_000014:[]
+008245_000004:[]
+018593_000017:[]
+018936_000012:[6]
+007238_000021:[]
+014535_000000:[]
+011464_000020:[]
+017876_000006:[9, 15]
+010192_000019:[]
+004300_000032:[]
+004910_000029:[]
+018990_000005:[]
+017585_000025:[]
+023399_000015:[1]
+010512_000033:[]
+017045_000038:[]
+017098_000029:[18]
+001998_000031:[]
+005514_000014:[12]
+009897_000004:[6, 9]
+011771_000029:[1, 7]
+009000_000033:[]
+020587_000026:[]
+006618_000008:[]
+015534_000034:[]
+020036_000027:[14]
+014724_000001:[]
+004856_000023:[]
+018353_000037:[3, 11]
+014064_000033:[]
+023218_000018:[3, 7, 8, 13, 19]
+017979_000028:[]
+009869_000018:[1, 11, 13]
+016939_000019:[4, 8, 11, 12, 19]
+014912_000030:[]
+024845_000030:[2]
+018875_000001:[]
+015146_000021:[14, 15, 17]
+002100_000039:[10, 15]
+022510_000001:[]
+008691_000031:[9, 10, 18]
+020202_000023:[16]
+011747_000005:[1, 11, 17, 19]
+013263_000019:[]
+000667_000018:[]
+008789_000027:[]
+023791_000023:[]
+003484_000000:[5]
+024168_000008:[0]
+001655_000013:[]
+000560_000038:[]
+005833_000020:[]
+015541_000007:[6]
+002089_000015:[]
+011642_000002:[]
+006681_000018:[6]
+023891_000020:[]
+023029_000023:[]
+006134_000036:[12, 17, 18]
+005579_000012:[]
+022274_000026:[]
+006241_000001:[]
+003982_000031:[1, 7, 16]
+020292_000001:[]
+013946_000037:[2, 5, 8, 9, 11, 12, 14, 15, 16]
+016541_000021:[]
+008093_000028:[]
+021103_000033:[2, 3, 6]
+016516_000018:[]
+016329_000014:[]
+011598_000037:[]
+001817_000034:[]
+008496_000006:[]
+015982_000021:[]
+013779_000017:[]
+005774_000030:[1, 5, 15, 16, 17]
+005445_000033:[]
+012509_000001:[]
+008861_000021:[0, 15]
+001755_000037:[]
+013762_000007:[13]
+009377_000007:[]
+021106_000038:[1]
+023081_000019:[]
+000367_000010:[1, 2, 4, 14]
+021294_000013:[4, 7, 17, 18]
+019950_000031:[]
+006205_000031:[]
+020791_000021:[]
+023827_000000:[]
+011162_000028:[]
+011797_000036:[]
+011055_000032:[]
+017274_000004:[]
+022566_000033:[]
+019199_000036:[]
+013264_000014:[19]
+019766_000018:[0, 4, 7, 10, 17]
+016413_000006:[]
+009914_000008:[0, 17]
+010824_000035:[]
+018808_000030:[1]
+024117_000030:[]
+003393_000003:[4, 10, 11, 14, 15, 18, 19]
+019581_000002:[]
+003598_000015:[]
+022534_000009:[16]
+005995_000016:[]
+004366_000019:[5, 16]
+012909_000001:[14]
+012160_000002:[]
+013366_000035:[]
+007083_000011:[]
+003538_000034:[]
+005114_000035:[]
+013758_000004:[]
+023223_000016:[]
+012201_000000:[]
+012622_000031:[]
+011707_000006:[]
+015777_000008:[2, 7, 10, 14]
+023933_000016:[]
+008606_000026:[]
+015150_000035:[]
+010583_000010:[]
+008505_000007:[]
+015159_000008:[]
+015313_000001:[]
+009705_000034:[13]
+012590_000038:[]
+007336_000006:[]
+022148_000004:[7]
+003708_000006:[]
+022169_000021:[]
+021564_000020:[1]
+023647_000013:[]
+009351_000039:[]
+009897_000036:[]
+001405_000037:[0, 4, 7, 10, 17]
+009368_000026:[3, 6, 16]
+012958_000003:[2, 8, 17, 18]
+020306_000004:[0, 3, 5, 7]
+007709_000008:[]
+021006_000034:[3, 4, 12, 15]
+001234_000002:[3, 8, 13, 17, 19]
+020229_000033:[19]
+021495_000014:[]
+023637_000006:[]
+020027_000038:[]
+017516_000037:[]
+018991_000027:[]
+023222_000000:[2, 3, 4, 5, 11, 14]
+019643_000026:[]
+009649_000006:[]
+003917_000017:[9]
+018853_000003:[5, 8]
+012969_000012:[]
+009364_000008:[0, 4]
+000112_000007:[]
+004104_000005:[3, 7, 15]
+021993_000026:[11]
+009379_000026:[14]
+015991_000028:[]
+005177_000004:[]
+000699_000010:[]
+009933_000033:[1, 6, 18]
+020238_000017:[]
+005093_000014:[]
+009457_000014:[]
+018845_000036:[0, 2, 10, 19]
+012721_000002:[]
+014893_000018:[7, 14]
+006853_000030:[17]
+022623_000011:[17]
+019478_000002:[]
+018786_000021:[]
+024856_000012:[]
+002895_000019:[]
+011741_000034:[]
+002987_000006:[2]
+001665_000028:[]
+005329_000007:[10]
+024482_000007:[]
+007406_000002:[]
+020800_000034:[6, 15]
+000612_000025:[]
+002550_000027:[0, 1, 5, 10, 14]
+024737_000000:[]
+017905_000031:[]
+005530_000025:[11]
+013074_000010:[]
+009837_000014:[]
+021384_000003:[13]
+013887_000000:[12]
+011480_000000:[6]
+010984_000018:[]
+024319_000001:[0, 2]
+022266_000006:[4]
+020352_000007:[]
+010899_000001:[]
+022365_000026:[]
+014903_000020:[]
+010458_000012:[15]
+002326_000002:[8, 13]
+023766_000033:[3, 9, 13, 14]
+014423_000027:[3, 16]
+015012_000031:[0, 10]
+012807_000039:[]
+002666_000018:[]
+015639_000019:[]
+019849_000036:[]
+000185_000026:[]
+000128_000011:[]
+003333_000001:[]
+003254_000022:[]
+022641_000026:[]
+015437_000028:[]
+020879_000037:[0, 14, 16]
+019917_000039:[9, 10, 12, 15, 17]
+020317_000025:[13]
+017496_000016:[14]
+015267_000019:[6, 12, 16, 19]
+013217_000006:[8, 16, 18]
+005799_000024:[12]
+011657_000035:[0]
+024775_000028:[]
+014564_000019:[]
+017174_000000:[]
+021050_000014:[]
+014778_000020:[]
+002194_000035:[3, 19]
+008630_000008:[7, 13]
+004123_000002:[0, 15]
+003620_000003:[2, 16]
+021077_000013:[]
+011455_000011:[]
+013271_000035:[0, 15]
+016568_000004:[1]
+005771_000033:[3, 5, 6, 9, 13]
+016426_000034:[]
+020497_000021:[7, 9, 13, 19]
+016339_000000:[]
+021566_000013:[]
+010939_000031:[]
+021438_000014:[2]
+007137_000006:[]
+015353_000022:[5, 10, 12]
+008229_000010:[19]
+019511_000038:[0]
+009631_000026:[]
+024192_000009:[14, 16]
+012322_000010:[]
+003769_000015:[19]
+013341_000036:[17]
+014965_000012:[]
+005308_000025:[3, 4]
+013632_000035:[1, 7, 14]
+021737_000011:[11]
+007662_000022:[]
+008890_000010:[]
+010997_000033:[14]
+005545_000016:[]
+021949_000034:[]
+007152_000014:[0, 5, 15, 16]
+014827_000002:[]
+000806_000018:[1]
+000712_000021:[11]
+013160_000023:[]
+005084_000031:[]
+023980_000033:[]
+012870_000038:[3]
+007808_000033:[]
+012664_000038:[]
+024213_000031:[]
+021088_000033:[]
+022047_000035:[]
+018167_000011:[3]
+021579_000037:[]
+016934_000033:[]
+000433_000008:[]
+021940_000037:[0, 11, 15]
+019046_000005:[16]
+002793_000000:[]
+008647_000004:[]
+018026_000033:[14]
+020627_000013:[]
+006975_000036:[]
+024187_000012:[]
+015234_000021:[]
+006435_000009:[]
+016675_000026:[]
+011008_000037:[1, 3, 14, 18]
+001521_000030:[0, 2, 7]
+005869_000028:[]
+024537_000017:[]
+012981_000011:[2]
+016291_000039:[6]
+011188_000026:[]
+013600_000033:[]
+006993_000020:[]
+013489_000027:[3, 7, 10, 11, 13]
+005704_000024:[]
+004657_000011:[2, 12]
+019590_000026:[12, 13, 15]
+014437_000014:[2, 13, 15, 18]
+019976_000031:[]
+019989_000006:[]
+008076_000000:[]
+006292_000019:[]
+016144_000002:[4]
+021441_000029:[]
+013811_000035:[]
+006802_000011:[14]
+024516_000008:[0]
+018882_000006:[]
+015139_000019:[7]
+016890_000023:[]
+008352_000038:[10]
+009834_000033:[11]
+010525_000038:[]
+023045_000016:[2, 5, 12, 17, 19]
+020964_000029:[2, 3, 10, 19]
+002063_000018:[]
+021801_000033:[5, 6]
+022567_000026:[]
+008464_000021:[4]
+005544_000002:[]
+001700_000006:[]
+017977_000018:[0, 15, 16]
+018071_000010:[]
+013473_000036:[16]
+006729_000037:[2, 7, 14, 17]
+012467_000006:[0, 8, 13, 15]
+016728_000034:[]
+002731_000026:[0, 6]
+016158_000015:[]
+022477_000004:[]
+024093_000004:[]
+000599_000001:[0]
+022704_000015:[8, 14]
+016690_000030:[8]
+022743_000023:[0]
+001254_000038:[]
+015352_000002:[10, 12, 14, 15, 17]
+010919_000017:[]
+006763_000033:[1, 2, 4, 8, 9, 10, 12, 19]
+020525_000029:[0]
+018459_000008:[]
+021042_000031:[13]
+012545_000007:[]
+021254_000025:[]
+024272_000001:[]
+021835_000035:[]
+018556_000019:[13]
+007834_000017:[0, 6, 8, 10, 11, 14]
+005245_000014:[14]
+003141_000002:[]
+012263_000011:[4, 9]
+014929_000015:[]
+001996_000027:[]
+002876_000010:[6]
+011457_000014:[0, 14]
+010183_000039:[]
+022267_000023:[]
+014805_000003:[]
+023381_000017:[1, 6, 12]
+019649_000009:[]
+015637_000023:[2, 9]
+022016_000008:[]
+005150_000000:[4, 14, 17]
+020700_000000:[]
+023308_000009:[13, 16]
+020626_000034:[]
+007117_000016:[14]
+006124_000002:[10, 11, 17]
+000481_000005:[0, 5, 7, 9, 14]
+009927_000028:[]
+020201_000008:[]
+009385_000010:[]
+017512_000015:[5]
+011568_000027:[]
+001991_000024:[11]
+020955_000019:[]
+016135_000032:[]
+017270_000038:[]
+018427_000007:[]
+004242_000039:[4]
+010906_000027:[]
+023501_000031:[2]
+019318_000008:[]
+024855_000030:[]
+009441_000018:[5]
+018307_000039:[]
+007855_000005:[18]
+020083_000027:[]
+012670_000025:[]
+000841_000028:[]
+004176_000012:[]
+013853_000003:[]
+007649_000001:[]
+011957_000033:[]
+004672_000000:[11]
+021674_000026:[3, 16]
+013582_000000:[8, 12]
+019866_000009:[]
+018898_000012:[4]
+019869_000030:[]
+015444_000021:[1, 19]
+011483_000000:[]
+021771_000025:[3, 5, 6, 8, 13]
+012647_000018:[]
+018654_000029:[1, 16]
+003348_000006:[1, 3, 6, 7, 13, 15, 18]
+023342_000034:[]
+018412_000032:[]
+000510_000037:[]
+009487_000018:[2, 14, 19]
+012333_000025:[11]
+011413_000038:[]
+019901_000005:[]
+007762_000009:[0]
+010796_000018:[11]
+008326_000021:[]
+012304_000005:[]
+021454_000000:[]
+020034_000024:[]
+006540_000031:[4]
+005089_000001:[]
+022362_000031:[3, 18]
+007945_000019:[1, 4, 6, 9, 12, 13, 17, 18]
+023181_000003:[]
+018235_000037:[1, 2, 9, 18]
+007657_000020:[]
+011150_000005:[3, 4, 13, 16]
+001215_000035:[]
+019522_000005:[10]
+017721_000011:[]
+019634_000039:[1, 3, 4, 5, 12, 13, 15, 19]
+008067_000005:[]
+022745_000019:[1, 6]
+023262_000009:[1, 7]
+014496_000033:[0, 18]
+011988_000024:[]
+009587_000002:[]
+016322_000002:[2]
+006560_000002:[]
+004198_000003:[]
+019222_000029:[13]
+005469_000029:[11]
+013251_000039:[]
+003990_000024:[]
+023026_000000:[]
+022850_000014:[]
+022066_000019:[]
+002562_000038:[]
+008689_000014:[2, 5, 18]
+020401_000035:[4]
+021314_000001:[]
+017774_000036:[]
+003295_000003:[]
+001269_000002:[]
+002150_000008:[1, 14]
+024018_000023:[]
+006016_000011:[]
+021529_000003:[]
+018592_000031:[]
+010876_000022:[4]
+002674_000039:[]
+002048_000004:[]
+007696_000018:[]
+021426_000030:[]
+013257_000001:[13]
+011221_000033:[]
+017478_000017:[11]
+021081_000006:[]
+014977_000001:[]
+018956_000022:[]
+012744_000003:[2]
+001600_000018:[14]
+024902_000005:[7, 13]
+021132_000034:[1, 8, 13]
+005067_000008:[]
+019981_000005:[2]
+014905_000037:[1, 3, 4, 12]
+023414_000005:[]
+015289_000039:[]
+007005_000037:[]
+004237_000031:[]
+016252_000027:[]
+001928_000037:[17]
+008448_000009:[]
+012840_000019:[6, 10, 12, 13, 19]
+018365_000028:[11]
+013589_000022:[]
+016908_000019:[]
+005142_000033:[6]
+014136_000005:[]
+010526_000026:[5]
+017903_000038:[]
+009893_000000:[2, 3, 4, 13, 15]
+018754_000018:[]
+021058_000020:[]
+021959_000002:[]
+008097_000036:[]
+016448_000007:[]
+008619_000010:[]
+001820_000036:[]
+001540_000035:[4, 7, 8, 11]
+015060_000005:[16]
+001390_000028:[2, 7]
+007118_000019:[18]
+006516_000032:[]
+012626_000000:[14]
+015841_000002:[]
+004046_000007:[]
+008351_000020:[]
+021755_000020:[]
+021320_000015:[3]
+000776_000025:[]
+021134_000037:[]
+006962_000024:[3, 15]
+006937_000037:[]
+011318_000014:[2]
+004481_000008:[]
+020051_000035:[]
+010340_000018:[1]
+023960_000000:[]
+003444_000011:[]
+007450_000006:[]
+009319_000028:[]
+013425_000028:[]
+024637_000021:[]
+007648_000000:[2, 14, 17]
+023408_000031:[]
+021507_000038:[]
+013031_000025:[]
+000838_000021:[]
+014265_000008:[16]
+015464_000015:[4, 8]
+006839_000019:[]
+016497_000002:[]
+006028_000014:[]
+012912_000027:[]
+005141_000014:[]
+014216_000034:[0, 8]
+012869_000002:[]
+000312_000021:[]
+014141_000010:[]
+001614_000018:[]
+019535_000011:[]
+024738_000009:[]
+020951_000027:[15]
+017222_000017:[17]
+010948_000007:[17]
+002849_000010:[3, 8, 9]
+014009_000006:[]
+019553_000015:[18]
+006795_000035:[9, 10]
+017927_000036:[]
+022116_000015:[]
+009458_000011:[2]
+008861_000010:[3]
+000946_000018:[]
+023737_000004:[]
+001230_000016:[]
+021674_000027:[]
+020413_000004:[]
+003022_000018:[]
+018501_000037:[12]
+022990_000016:[]
+000590_000006:[5]
+015833_000022:[]
+002440_000028:[]
+010771_000007:[]
+004410_000002:[4, 9, 12, 15, 17]
+016207_000008:[]
+021681_000008:[]
+023135_000002:[]
+000614_000000:[]
+021185_000000:[3]
+022078_000011:[]
+020650_000023:[]
+002391_000006:[]
+002179_000031:[]
+001020_000001:[]
+018843_000025:[]
+007825_000013:[5, 10]
+013137_000031:[]
+009270_000015:[]
+013695_000019:[]
+009313_000038:[]
+011750_000011:[3]
+007433_000027:[0, 7]
+008562_000021:[]
+024016_000037:[]
+001981_000037:[2, 3, 5, 16]
+014055_000007:[]
+012064_000036:[15]
+022304_000031:[]
+012749_000031:[1, 14, 17]
+022704_000016:[]
+017787_000007:[]
+023785_000038:[4, 7, 16]
+010093_000032:[0, 1, 3, 5, 9, 13]
+023251_000020:[1, 9]
+017154_000006:[]
+005269_000032:[]
+005561_000012:[5, 7]
+000939_000023:[]
+001996_000013:[]
+013740_000025:[2, 7, 9, 10, 16]
+014453_000019:[8, 13]
+001650_000007:[]
+017501_000019:[]
+000579_000003:[]
+019104_000020:[1, 13]
+022900_000018:[7, 10]
+019548_000037:[]
+024937_000013:[15]
+000450_000036:[]
+024632_000036:[]
+023595_000007:[]
+016209_000010:[1, 10]
+011548_000002:[]
+011947_000001:[3, 5, 15]
+000320_000007:[3]
+022714_000019:[1, 5, 12]
+000947_000019:[]
+003610_000037:[17]
+022291_000033:[]
+014554_000020:[11]
+003879_000014:[12]
+001569_000032:[]
+000836_000017:[]
+006491_000013:[]
+009688_000005:[]
+005737_000002:[1, 12, 13]
+022736_000031:[]
+002619_000013:[1, 13]
+005797_000023:[]
+014508_000018:[14]
+014603_000034:[18]
+012087_000015:[]
+008726_000004:[]
+004272_000014:[6, 8]
+008025_000038:[9]
+006142_000018:[]
+022586_000001:[]
+009762_000009:[11]
+009641_000033:[0]
+012418_000001:[9]
+024010_000009:[]
+008629_000016:[]
+017327_000007:[]
+009463_000004:[]
+006861_000028:[]
+022653_000005:[]
+022277_000022:[]
+013620_000016:[16]
+017871_000006:[8]
+024572_000002:[]
+017429_000026:[9]
+001205_000031:[]
+011518_000026:[1, 9, 11]
+008156_000039:[]
+004554_000002:[]
+000706_000016:[4]
+016109_000022:[]
+006955_000031:[]
+002317_000006:[]
+015720_000021:[]
+015100_000031:[]
+001544_000002:[]
+010468_000029:[]
+004767_000007:[]
+010842_000027:[]
+016971_000028:[]
+004989_000002:[8, 12]
+006591_000027:[]
+001163_000001:[]
+016706_000037:[]
+001724_000032:[]
+022872_000030:[10]
+024194_000004:[4, 15, 18]
+002985_000002:[]
+010090_000033:[]
+006042_000031:[]
+023874_000013:[]
+004993_000030:[]
+022734_000036:[0, 4, 7, 8]
+007789_000036:[]
+021434_000025:[]
+013146_000038:[]
+019694_000025:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000662_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000662_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ec241ff19c82bca096e40418f85c4bcdbf2b7f97
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000662_corrupted_depths.txt
@@ -0,0 +1,500 @@
+020571_000001:[]
+022780_000011:[]
+016044_000028:[]
+003665_000003:[10]
+005987_000037:[]
+024354_000017:[3, 8]
+009002_000030:[]
+011539_000011:[12]
+005068_000003:[]
+007716_000032:[1, 3]
+006570_000031:[]
+004834_000018:[7]
+004074_000031:[]
+018052_000013:[1, 19]
+013864_000001:[4, 8, 9, 10, 11, 14]
+021919_000020:[]
+023690_000030:[]
+022906_000021:[]
+022908_000008:[]
+009142_000032:[]
+009157_000002:[]
+005977_000032:[]
+022617_000022:[5, 6, 11]
+012914_000004:[]
+011731_000028:[4, 12]
+018326_000020:[]
+002650_000011:[]
+020903_000006:[1, 4]
+015992_000009:[]
+009172_000038:[]
+014593_000017:[]
+018729_000007:[]
+021158_000027:[]
+017320_000015:[0, 7, 17, 19]
+015688_000006:[]
+005585_000019:[]
+002430_000027:[]
+024621_000018:[]
+001891_000029:[]
+007670_000018:[16]
+002711_000019:[]
+008061_000032:[1, 11]
+010159_000023:[]
+008145_000018:[2, 5, 9, 14]
+023320_000000:[]
+010519_000007:[]
+024603_000026:[]
+002625_000039:[8]
+000811_000021:[]
+014817_000010:[]
+014614_000010:[9]
+017849_000019:[]
+006866_000023:[]
+006395_000036:[]
+024709_000033:[]
+020250_000018:[]
+015315_000008:[0]
+011890_000008:[]
+001175_000001:[]
+021371_000033:[3, 5, 12]
+011068_000038:[7]
+017272_000032:[]
+022130_000028:[]
+018603_000002:[13]
+009817_000034:[3, 10, 13, 18]
+007133_000036:[1, 2, 7, 12]
+006943_000012:[]
+006049_000031:[15]
+003473_000031:[]
+008257_000000:[]
+019204_000031:[1, 12, 17]
+010312_000029:[]
+009145_000025:[15]
+014190_000024:[6]
+019468_000034:[10]
+002021_000036:[2, 13, 16]
+018595_000027:[0, 15]
+007746_000030:[4]
+008931_000012:[]
+001876_000026:[]
+004330_000012:[14, 15, 18]
+018163_000013:[]
+022126_000039:[]
+002775_000004:[]
+004819_000020:[]
+007483_000019:[]
+018434_000017:[5]
+021401_000024:[]
+017033_000010:[4, 13]
+022056_000005:[1, 13, 16]
+020033_000037:[]
+014124_000015:[15]
+010289_000005:[8]
+001109_000022:[]
+002220_000030:[]
+002878_000021:[]
+024297_000003:[1]
+014418_000029:[]
+016672_000037:[]
+003521_000031:[]
+023517_000001:[]
+001150_000032:[5, 16]
+004546_000039:[]
+013578_000000:[18]
+007846_000008:[0, 3, 12]
+019224_000017:[]
+005451_000011:[]
+015379_000026:[]
+002864_000002:[2, 6, 10, 11, 13, 14]
+001354_000020:[1, 12]
+019464_000022:[14, 16]
+007942_000035:[]
+002445_000011:[1, 13, 16, 18]
+015184_000028:[]
+007510_000016:[]
+009956_000002:[]
+019639_000008:[4, 9]
+011410_000012:[]
+004927_000038:[0, 2, 3, 6, 10, 12, 13, 14, 17, 18, 19]
+001798_000012:[0, 5]
+016390_000016:[9]
+023678_000014:[]
+024615_000018:[]
+020199_000035:[]
+006996_000015:[3, 15]
+024567_000022:[5, 8, 9, 11, 19]
+018750_000006:[2]
+002206_000035:[2, 9, 17]
+000594_000022:[]
+024685_000025:[0, 3, 4, 9]
+021138_000003:[6]
+021448_000012:[8, 9, 15, 18]
+016286_000024:[]
+011065_000034:[]
+023945_000017:[]
+012356_000015:[]
+011678_000000:[]
+001022_000009:[17]
+023655_000013:[]
+013736_000015:[]
+007394_000032:[1, 13]
+024814_000030:[]
+011025_000017:[]
+022259_000009:[6]
+017306_000019:[9]
+010394_000031:[]
+018604_000022:[10]
+022096_000034:[4, 6, 8, 13, 16, 18]
+000412_000022:[]
+015054_000006:[4, 10, 13, 15]
+021233_000016:[]
+012789_000036:[]
+017223_000033:[1, 10, 18]
+002653_000006:[]
+023921_000021:[]
+013206_000030:[]
+001734_000033:[10, 15]
+001590_000010:[4, 6]
+015331_000006:[]
+023133_000017:[6, 13]
+008995_000021:[]
+013512_000001:[12]
+008848_000027:[]
+000129_000009:[]
+022108_000016:[]
+013697_000025:[]
+007550_000000:[]
+020093_000010:[3, 5, 7, 9, 10, 13, 14, 17, 18, 19]
+020293_000005:[]
+015895_000037:[3, 4, 18]
+014521_000036:[]
+006452_000030:[]
+023436_000022:[]
+009702_000016:[]
+024525_000031:[]
+016600_000016:[]
+022510_000038:[]
+015983_000023:[0, 1, 5]
+009808_000002:[]
+021011_000039:[]
+005292_000035:[8]
+019733_000022:[8, 11]
+017698_000004:[8, 15, 19]
+017041_000015:[15, 19]
+015159_000018:[]
+008831_000019:[]
+019445_000026:[]
+006948_000020:[6]
+002507_000009:[4]
+017551_000008:[0, 2]
+002385_000033:[]
+019012_000029:[6, 8, 13]
+013645_000030:[]
+002972_000004:[0, 8, 13]
+002538_000037:[]
+011402_000019:[]
+000106_000022:[]
+011738_000015:[0, 4, 7]
+015166_000021:[2]
+016460_000012:[]
+004367_000030:[]
+006394_000022:[]
+020741_000030:[]
+006901_000003:[4]
+011366_000001:[0, 4, 13, 14, 15, 19]
+024691_000039:[4]
+020345_000002:[]
+003946_000031:[]
+023651_000030:[4, 5, 9, 10, 12, 16, 19]
+008367_000028:[]
+015627_000001:[0, 5]
+015768_000027:[]
+005433_000016:[1, 2, 9, 10]
+019581_000033:[]
+014399_000037:[3]
+007669_000026:[]
+010620_000010:[10, 17]
+024498_000029:[15]
+021356_000023:[]
+016839_000008:[]
+014217_000023:[]
+019193_000009:[16]
+003755_000023:[]
+007448_000022:[1]
+001196_000004:[]
+016197_000028:[]
+024623_000016:[]
+015965_000010:[]
+005113_000009:[]
+009336_000008:[]
+012736_000029:[0]
+022620_000026:[]
+009865_000012:[]
+010581_000018:[]
+002915_000021:[]
+006443_000003:[8]
+012562_000028:[]
+014654_000020:[]
+024984_000011:[]
+012259_000017:[4, 5, 17]
+000981_000013:[3]
+006977_000004:[]
+010577_000014:[7]
+016765_000026:[]
+004981_000032:[]
+001476_000026:[]
+014725_000016:[17]
+011842_000019:[3]
+017361_000028:[19]
+016181_000003:[10]
+008237_000001:[]
+007224_000019:[]
+006753_000024:[]
+009286_000003:[9]
+020770_000006:[7]
+000443_000037:[]
+009773_000012:[6]
+014594_000032:[0, 14]
+015703_000013:[13]
+017219_000014:[1]
+001849_000007:[]
+004094_000031:[]
+003510_000015:[]
+004496_000029:[]
+014175_000023:[]
+015961_000024:[]
+018525_000023:[11]
+005360_000017:[1, 5, 6, 7, 12]
+022646_000004:[]
+002624_000014:[2, 4, 6, 7, 9, 10, 14, 15, 16]
+016202_000032:[2]
+018113_000015:[]
+001461_000001:[0, 3, 5, 7, 8, 11, 16, 19]
+007384_000013:[]
+012753_000000:[]
+018099_000038:[15]
+020007_000028:[]
+015764_000008:[]
+006792_000035:[3, 13]
+001077_000019:[]
+003362_000011:[]
+003596_000031:[]
+021434_000010:[17]
+004507_000002:[]
+016996_000006:[7]
+002374_000010:[]
+011909_000009:[0, 1, 3, 4, 7, 9, 10, 11]
+018680_000031:[]
+001664_000023:[]
+005175_000022:[]
+005833_000009:[]
+022433_000023:[19]
+013232_000011:[]
+020505_000007:[3]
+017691_000026:[]
+017205_000022:[]
+019431_000024:[]
+005650_000001:[5, 10, 12, 15, 17, 18, 19]
+009537_000024:[8]
+020160_000026:[]
+010004_000019:[1]
+005430_000015:[]
+010916_000014:[0, 2, 14, 15]
+020878_000012:[0]
+009849_000034:[2, 3, 4, 17, 19]
+018236_000000:[]
+006240_000023:[13, 18]
+010653_000035:[7]
+010240_000025:[]
+012842_000026:[6, 17]
+020544_000008:[18]
+005048_000009:[]
+009285_000019:[7, 10]
+006424_000025:[17]
+011706_000034:[0, 1, 2, 3, 4, 5, 8, 10, 12, 13, 15]
+006948_000002:[12, 19]
+000873_000032:[1, 3, 4, 7, 12, 14, 16]
+022729_000038:[7, 15]
+010760_000013:[7, 8]
+017689_000019:[17]
+024973_000006:[7, 16, 18]
+009144_000035:[]
+020876_000030:[]
+002240_000002:[10]
+014017_000000:[]
+015195_000000:[2]
+015963_000010:[5, 12, 17]
+010566_000031:[]
+008708_000016:[]
+005430_000034:[]
+007239_000010:[]
+023082_000032:[]
+002449_000013:[]
+007338_000014:[4]
+022744_000026:[]
+014651_000003:[]
+016259_000007:[14]
+021581_000015:[]
+021836_000005:[]
+008397_000028:[]
+004619_000015:[12, 16]
+023341_000016:[]
+013771_000027:[]
+020960_000000:[3]
+009101_000009:[3, 4, 6, 7, 9, 11, 13, 16]
+023215_000001:[]
+015355_000023:[]
+024694_000039:[0, 1, 7, 9, 12, 14]
+016140_000010:[]
+020850_000002:[]
+006147_000031:[]
+005423_000018:[]
+003978_000026:[]
+015149_000026:[]
+002951_000001:[]
+006227_000003:[6]
+020208_000021:[]
+001061_000026:[]
+002806_000018:[]
+022166_000037:[]
+023693_000016:[]
+001468_000016:[]
+010809_000033:[]
+020690_000039:[]
+000588_000011:[]
+011517_000004:[11]
+001991_000011:[11, 16]
+012095_000034:[5]
+012615_000038:[]
+015819_000033:[]
+020335_000008:[]
+009911_000007:[]
+023627_000020:[13]
+010706_000033:[11, 12, 19]
+011343_000030:[]
+007667_000030:[]
+010044_000032:[0, 1, 16]
+017729_000009:[]
+022626_000032:[0, 14]
+002654_000033:[]
+008600_000004:[]
+002838_000034:[1, 10]
+005830_000018:[1]
+017518_000003:[]
+015566_000006:[0, 7]
+015678_000032:[13, 14]
+007598_000031:[6, 11]
+011507_000027:[]
+010558_000034:[]
+009126_000003:[]
+004894_000013:[]
+001302_000029:[]
+015585_000036:[5, 17]
+013115_000003:[]
+021930_000024:[]
+001778_000010:[]
+018398_000021:[]
+011638_000007:[]
+021607_000029:[12]
+007487_000033:[]
+008314_000016:[]
+013108_000005:[4, 13, 16]
+013235_000031:[]
+011405_000034:[6, 8]
+018502_000039:[]
+009483_000033:[]
+000001_000007:[0, 1, 18, 19]
+002703_000011:[]
+020313_000007:[]
+006279_000035:[]
+004849_000006:[]
+004738_000034:[0, 14]
+004016_000013:[]
+018467_000035:[]
+008927_000016:[]
+012122_000029:[7]
+024231_000024:[6, 9]
+014813_000031:[]
+001837_000011:[]
+012832_000009:[]
+024707_000017:[]
+017404_000019:[4]
+013689_000029:[]
+021205_000034:[7, 14]
+012988_000016:[]
+017043_000038:[]
+005916_000000:[0, 15, 17]
+011079_000034:[2, 16]
+021990_000020:[]
+012610_000003:[]
+005719_000038:[]
+015341_000036:[2]
+006859_000023:[]
+006286_000017:[]
+019855_000033:[]
+024637_000031:[]
+020590_000023:[15]
+007708_000002:[]
+008597_000020:[]
+015883_000033:[0, 2, 4, 7, 17]
+007339_000016:[17]
+010445_000010:[1, 16]
+024943_000035:[]
+022028_000008:[]
+011319_000015:[]
+003118_000018:[]
+002239_000012:[]
+000229_000005:[]
+003833_000035:[1]
+005169_000033:[5]
+015626_000028:[]
+021830_000036:[]
+019991_000004:[]
+020769_000036:[]
+001137_000004:[]
+014765_000011:[0, 3, 16]
+004726_000021:[]
+006423_000002:[15]
+011931_000008:[9]
+014279_000034:[2]
+002836_000002:[8, 13]
+015785_000027:[]
+017649_000022:[1]
+023319_000035:[5, 14]
+001748_000007:[11, 13]
+011061_000022:[6, 9, 14, 19]
+024372_000020:[10, 14]
+012651_000009:[]
+007141_000022:[4, 17, 18, 19]
+013336_000017:[6]
+023072_000025:[5, 6]
+011397_000034:[]
+022592_000037:[]
+016723_000030:[5]
+016271_000038:[7]
+019725_000007:[16]
+003195_000010:[1]
+022648_000026:[1, 16]
+006121_000023:[1]
+018208_000030:[]
+021592_000021:[0, 9]
+012436_000036:[17]
+022627_000018:[7, 12]
+012929_000023:[2, 17]
+004659_000039:[]
+022228_000035:[0]
+024083_000024:[4, 6, 19]
+022148_000014:[]
+022211_000034:[2, 13]
+015459_000028:[]
+009180_000021:[]
+007207_000021:[]
+012295_000002:[2]
+007581_000034:[]
+016170_000014:[7]
+014820_000003:[6, 9, 12]
+015680_000028:[]
+021935_000009:[]
+011920_000032:[]
+004611_000032:[4, 5, 9, 10, 17]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000669_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000669_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c08807b0423d4bcfe6f108f361ea2bc5da476b0d
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000669_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+000877_000017:[1, 2, 4, 19]
+011614_000018:[]
+024785_000038:[14, 16, 17]
+002819_000016:[2, 11, 12, 13]
+014161_000009:[0]
+018766_000036:[]
+008831_000005:[]
+010249_000013:[]
+009311_000030:[7]
+007150_000022:[]
+010151_000029:[1, 3]
+017043_000019:[]
+002912_000000:[]
+024460_000038:[5, 11]
+020223_000014:[]
+012864_000005:[8, 16]
+004664_000026:[]
+000471_000012:[]
+001626_000022:[]
+014686_000013:[]
+004070_000024:[]
+000454_000027:[]
+010541_000011:[]
+020951_000001:[]
+023666_000032:[]
+005393_000024:[]
+021309_000009:[]
+015084_000027:[9]
+015295_000015:[]
+005175_000036:[]
+017493_000018:[4, 16]
+016009_000006:[]
+019973_000013:[5, 13]
+003625_000015:[6]
+004129_000002:[1]
+017361_000010:[]
+010151_000019:[]
+001304_000034:[1]
+011848_000039:[]
+004196_000006:[]
+021607_000027:[]
+014572_000003:[18]
+005391_000007:[8, 12, 13, 19]
+005938_000016:[]
+001483_000015:[8, 17]
+019866_000013:[6, 15, 18]
+020209_000012:[]
+011716_000002:[]
+006366_000011:[]
+016700_000003:[]
+012459_000015:[]
+023121_000035:[]
+005911_000025:[]
+020881_000024:[]
+021926_000028:[]
+020577_000029:[0, 1, 10, 18]
+004737_000013:[0, 3, 17, 19]
+018236_000022:[]
+004907_000039:[]
+018291_000012:[6]
+008217_000030:[]
+020522_000002:[3, 4, 7]
+023831_000014:[]
+024559_000017:[]
+021553_000004:[]
+014970_000035:[1, 7, 11]
+001697_000029:[14]
+008045_000024:[7, 11]
+016296_000020:[14]
+003792_000007:[11, 19]
+018368_000031:[]
+006719_000011:[7, 18]
+011150_000017:[3, 4, 6, 7, 9, 13, 16]
+020541_000030:[3, 12]
+011885_000037:[6]
+020102_000007:[14]
+002761_000008:[]
+015781_000016:[]
+011895_000030:[5, 6]
+004960_000028:[9, 19]
+016453_000029:[]
+000361_000003:[]
+016150_000037:[5]
+023200_000017:[]
+024875_000014:[1, 9, 12, 19]
+018244_000023:[]
+024136_000017:[]
+016999_000030:[4, 8, 18]
+023390_000016:[]
+011972_000022:[]
+004147_000026:[2, 18]
+011624_000031:[]
+010255_000033:[7]
+005044_000033:[]
+000696_000012:[]
+002463_000036:[]
+016273_000007:[2, 8, 9]
+022374_000025:[7, 8]
+004414_000016:[]
+011404_000000:[6]
+009121_000019:[6, 14]
+002921_000007:[]
+017311_000018:[7, 15, 17]
+015944_000033:[15]
+009724_000038:[12]
+020837_000012:[]
+017028_000015:[]
+004388_000036:[10]
+022075_000030:[3, 9]
+004526_000035:[2]
+009420_000007:[]
+018403_000014:[]
+000259_000018:[]
+000925_000016:[1, 17]
+001981_000000:[4]
+019414_000016:[]
+022043_000012:[]
+020549_000037:[]
+024735_000026:[6, 13]
+011306_000039:[]
+018743_000015:[0, 2, 7]
+001720_000011:[]
+015087_000016:[0, 1, 4, 5, 7, 8, 14, 19]
+011083_000009:[]
+021847_000009:[]
+008152_000014:[0, 1, 7, 8, 13, 16]
+020966_000030:[]
+012722_000026:[8, 17]
+010737_000005:[0, 2, 5, 18]
+017093_000031:[]
+000903_000024:[8]
+021261_000015:[]
+014264_000035:[6, 14]
+011396_000026:[6]
+009919_000025:[12]
+013810_000038:[]
+023457_000010:[17]
+022820_000033:[0]
+015225_000026:[]
+003453_000023:[1, 5, 17, 19]
+009515_000035:[9]
+002050_000005:[]
+023241_000011:[]
+008864_000008:[]
+012417_000032:[]
+019321_000009:[7]
+008007_000034:[]
+018737_000000:[3, 10]
+008873_000009:[0, 1, 15, 18]
+017448_000009:[1, 3, 10, 12, 19]
+005595_000017:[]
+021078_000033:[]
+003268_000033:[5, 11, 16]
+010912_000029:[]
+012083_000032:[]
+016312_000030:[]
+008480_000016:[]
+004185_000016:[7, 11, 13]
+021690_000034:[]
+008835_000006:[]
+010840_000007:[]
+013258_000006:[]
+003579_000012:[6]
+015105_000018:[]
+005451_000034:[]
+018679_000000:[9]
+013552_000011:[]
+006502_000009:[1, 19]
+013727_000019:[]
+009425_000032:[1]
+015608_000026:[]
+023511_000005:[]
+013137_000037:[]
+019102_000024:[]
+013347_000002:[]
+024607_000012:[1, 6, 7, 9, 11, 13, 15, 17]
+014107_000016:[]
+018979_000000:[]
+015918_000004:[]
+001750_000017:[2]
+021309_000036:[]
+003487_000019:[]
+011746_000003:[12]
+001033_000007:[]
+023480_000036:[]
+013487_000036:[]
+003593_000010:[6, 12]
+005002_000027:[]
+000252_000032:[]
+003353_000008:[17]
+010963_000015:[13]
+022998_000020:[5, 8, 10, 14]
+009677_000009:[6, 10]
+011985_000012:[]
+010439_000033:[]
+004958_000036:[]
+011732_000015:[]
+016102_000034:[]
+012951_000022:[]
+019138_000015:[]
+017337_000015:[]
+007936_000018:[]
+016312_000003:[]
+004952_000008:[]
+006953_000006:[]
+005124_000017:[]
+000251_000016:[13]
+019291_000023:[1, 10]
+022397_000026:[]
+013456_000030:[]
+001745_000021:[2, 5, 6, 12, 13, 14, 19]
+016039_000015:[]
+000669_000011:[]
+014736_000014:[]
+004535_000014:[]
+018791_000004:[]
+003696_000015:[1, 6, 9, 10, 12, 15, 17, 18]
+008281_000006:[3]
+005484_000039:[]
+004899_000037:[]
+020820_000007:[14]
+007838_000015:[3, 6, 12, 17]
+019313_000025:[9]
+015582_000024:[]
+008608_000022:[]
+009968_000008:[]
+004361_000000:[1]
+011186_000000:[]
+004397_000025:[6, 7, 12, 13]
+021477_000010:[]
+012982_000036:[0, 19]
+018853_000036:[1, 3, 9, 10, 13]
+023302_000025:[]
+016530_000037:[]
+005112_000038:[11]
+003608_000023:[3]
+012191_000014:[]
+006470_000030:[3]
+008305_000021:[]
+003117_000001:[]
+022661_000019:[]
+017628_000037:[]
+020235_000031:[]
+024551_000013:[3, 6, 12, 13, 14, 16]
+022946_000030:[]
+006494_000038:[8]
+022420_000003:[]
+008400_000030:[1, 15]
+013749_000015:[0, 7, 15, 16]
+006064_000026:[]
+007291_000027:[]
+000476_000039:[]
+021678_000024:[]
+020564_000026:[]
+019544_000019:[5]
+003782_000000:[]
+021593_000004:[]
+005710_000015:[4]
+022260_000039:[15]
+016916_000026:[]
+024832_000025:[2]
+005379_000023:[]
+017465_000021:[]
+007141_000011:[4, 5, 9, 14, 17, 19]
+023941_000018:[14]
+021180_000034:[]
+001916_000032:[]
+011608_000000:[5, 19]
+014060_000024:[10, 12]
+023478_000026:[]
+017829_000016:[12]
+001690_000022:[19]
+018279_000034:[10]
+003206_000017:[]
+011402_000007:[11]
+006610_000014:[]
+015752_000019:[]
+009015_000016:[]
+014629_000010:[3]
+023462_000034:[]
+011268_000034:[0, 4, 10, 11, 15]
+010755_000036:[]
+001855_000028:[]
+020846_000005:[]
+018342_000011:[]
+017749_000031:[11]
+021597_000017:[]
+002370_000000:[5, 11, 14, 16, 17]
+020604_000013:[]
+014974_000023:[]
+009115_000016:[]
+023490_000012:[0]
+007345_000003:[8]
+000913_000031:[9]
+023984_000019:[2, 6, 11]
+022083_000018:[3, 14]
+016938_000016:[3]
+016067_000008:[2, 9, 14]
+010379_000036:[]
+012946_000031:[]
+016871_000020:[]
+024128_000026:[6]
+017080_000024:[7, 10, 11]
+003271_000026:[8]
+021157_000028:[]
+018461_000028:[]
+001655_000005:[]
+024523_000013:[3]
+005500_000008:[]
+003718_000025:[15]
+011921_000026:[]
+022770_000000:[]
+021121_000033:[12, 13]
+020628_000030:[]
+003281_000026:[]
+003124_000036:[8]
+017165_000002:[]
+003271_000033:[]
+006720_000027:[]
+007751_000030:[]
+008228_000020:[9, 18]
+001303_000035:[]
+015427_000000:[]
+013018_000023:[8]
+018234_000016:[]
+016464_000032:[]
+012756_000024:[2]
+018296_000033:[19]
+018392_000019:[7, 9, 14]
+017655_000031:[]
+019632_000038:[14]
+008617_000001:[11, 19]
+006724_000039:[0, 1, 6, 14]
+013853_000022:[]
+017870_000031:[1, 3, 19]
+013443_000018:[]
+011246_000027:[]
+013512_000031:[0]
+006331_000007:[]
+003486_000007:[]
+014382_000006:[6]
+018195_000018:[]
+006715_000033:[1, 6]
+003678_000002:[]
+007359_000029:[8, 9, 17]
+010794_000039:[]
+009725_000033:[7]
+022845_000032:[5]
+014709_000023:[]
+019942_000028:[12, 17]
+017944_000018:[]
+011940_000026:[9, 17]
+007170_000025:[8, 12]
+005905_000024:[18]
+015366_000004:[5, 17]
+021255_000016:[9, 13]
+007337_000038:[3, 7, 8, 17]
+021898_000021:[]
+004501_000028:[]
+018846_000034:[]
+003768_000020:[12]
+015504_000012:[]
+014120_000034:[2, 3, 4, 8, 12, 16]
+008379_000013:[]
+019713_000027:[]
+013541_000018:[]
+005524_000023:[13]
+023487_000010:[10]
+018152_000017:[15]
+017003_000020:[]
+002120_000005:[]
+016286_000030:[15]
+004015_000024:[16]
+019779_000013:[]
+003464_000037:[]
+023707_000025:[6]
+024903_000015:[]
+018269_000007:[]
+003354_000031:[]
+015450_000037:[10]
+011253_000018:[6]
+015706_000000:[]
+000955_000002:[]
+018921_000017:[]
+016820_000023:[0, 3, 5, 9, 12, 16, 18]
+017080_000005:[]
+009383_000022:[]
+024241_000026:[]
+024935_000008:[]
+006717_000015:[4, 14, 15]
+014623_000013:[]
+017655_000012:[]
+015541_000018:[]
+024538_000002:[13, 16]
+002499_000001:[]
+023270_000037:[11]
+010455_000029:[6]
+016610_000002:[]
+012074_000006:[]
+014093_000002:[]
+001769_000005:[9, 14, 16]
+016989_000027:[3, 16, 17, 19]
+006262_000026:[]
+010154_000019:[19]
+006217_000032:[]
+023529_000012:[6, 7]
+017633_000010:[6]
+003683_000029:[]
+019379_000007:[14]
+014073_000023:[17]
+004184_000030:[]
+013649_000015:[3]
+024345_000014:[]
+023833_000038:[11, 16]
+018842_000001:[]
+011954_000003:[3, 8, 13]
+022271_000007:[]
+000542_000026:[11]
+022484_000026:[8, 13]
+009968_000016:[]
+024126_000005:[0, 4, 7, 8, 15]
+018096_000009:[]
+018011_000015:[14]
+008765_000002:[1, 6, 7, 9]
+005464_000007:[]
+001860_000016:[]
+018537_000016:[]
+012051_000026:[]
+012818_000017:[]
+003534_000037:[]
+002449_000031:[6, 11, 18]
+003151_000027:[]
+007918_000009:[9, 12]
+015512_000029:[]
+018592_000034:[]
+008283_000009:[2, 17]
+024883_000015:[]
+018052_000012:[7]
+020095_000006:[17]
+020416_000027:[]
+006314_000013:[13]
+007391_000018:[17]
+012544_000024:[]
+020547_000027:[]
+001337_000016:[]
+001998_000038:[1, 9]
+005866_000008:[0, 4, 6, 10, 13, 16, 19]
+022437_000017:[0, 1, 2, 4, 5]
+005637_000025:[]
+000849_000037:[]
+006958_000024:[9]
+005512_000015:[]
+004824_000039:[]
+016112_000033:[]
+004264_000003:[]
+016156_000006:[]
+019408_000002:[]
+005775_000039:[]
+000698_000037:[18]
+011425_000031:[]
+012885_000035:[3, 9, 13]
+016563_000019:[]
+018517_000030:[]
+018373_000037:[]
+012148_000006:[]
+018832_000016:[1]
+024884_000002:[]
+022136_000018:[]
+015432_000018:[]
+012186_000000:[12]
+014356_000035:[0, 2, 6]
+022258_000039:[0, 4, 18]
+020060_000007:[7]
+014714_000000:[]
+012223_000008:[]
+023010_000027:[5, 9]
+019425_000018:[]
+022702_000027:[]
+021377_000037:[]
+019104_000028:[10, 13]
+008050_000004:[]
+006488_000030:[]
+015668_000008:[]
+013271_000021:[3, 17]
+002996_000037:[]
+001452_000022:[]
+021411_000027:[13, 15]
+014985_000015:[8, 11]
+004042_000038:[]
+024758_000029:[]
+020143_000025:[]
+011682_000031:[12, 16]
+015609_000033:[]
+001565_000032:[9]
+019947_000024:[]
+014788_000035:[]
+007983_000035:[]
+014641_000014:[]
+022686_000008:[0, 11]
+024334_000018:[2, 7, 13]
+018033_000004:[]
+008906_000003:[4]
+008707_000011:[]
+022229_000004:[13]
+002055_000032:[18]
+002073_000010:[]
+012202_000005:[18]
+016685_000035:[]
+024167_000007:[16]
+011505_000035:[8, 11, 17, 19]
+012782_000019:[]
+019284_000017:[]
+001173_000023:[11, 14, 15]
+023477_000033:[]
+024928_000039:[]
+019977_000014:[11, 14]
+017511_000016:[]
+013806_000020:[]
+018158_000004:[17]
+010928_000028:[]
+018840_000004:[]
+021571_000002:[4, 6, 14, 19]
+013195_000023:[1, 8, 18]
+012029_000004:[13]
+011354_000028:[]
+020381_000032:[]
+022180_000023:[18]
+009343_000039:[]
+021334_000026:[]
+023345_000023:[]
+022607_000016:[4]
+001818_000002:[18]
+004070_000014:[]
+000351_000007:[5, 7, 8, 16, 17]
+001230_000023:[1]
+006205_000004:[]
+021935_000030:[12]
+022661_000031:[6]
+020211_000024:[7, 16]
+009249_000011:[0, 1, 4, 10, 11, 14, 19]
+019727_000016:[]
+009871_000031:[]
+003915_000014:[]
+019534_000003:[]
+006004_000031:[]
+011310_000003:[]
+013253_000038:[]
+001243_000034:[]
+000738_000015:[]
+000226_000015:[9]
+011193_000036:[3]
+006510_000023:[]
+004347_000020:[4]
+012370_000022:[3, 18]
+003352_000036:[0, 6, 10]
+021711_000024:[11]
+019649_000012:[]
+005041_000023:[]
+023428_000029:[]
+017249_000013:[9]
+009037_000012:[]
+020124_000036:[0]
+001519_000006:[]
+023481_000014:[]
+014181_000025:[2, 15]
+005165_000016:[2, 13]
+019010_000014:[]
+011362_000001:[]
+014032_000017:[10]
+011194_000010:[]
+004858_000020:[]
+010709_000027:[]
+019659_000000:[]
+021048_000029:[]
+014675_000018:[11]
+014474_000012:[0, 8]
+004775_000016:[]
+018881_000015:[12]
+021370_000005:[]
+011082_000031:[]
+013521_000010:[]
+013808_000004:[]
+005065_000001:[]
+011420_000009:[]
+013443_000003:[2]
+012664_000023:[]
+024263_000022:[15, 16]
+007440_000027:[]
+013791_000035:[]
+015817_000016:[1, 2, 3, 4, 8, 9, 14, 15]
+023049_000038:[11]
+014852_000024:[8]
+017749_000034:[]
+015991_000033:[1, 4]
+003643_000035:[]
+020002_000011:[1, 2, 4, 5, 6, 8, 12, 15, 16, 18, 19]
+009225_000011:[]
+022268_000032:[4]
+021681_000022:[]
+011067_000011:[17]
+019282_000037:[9, 16]
+018940_000022:[]
+022439_000008:[]
+003682_000027:[]
+003889_000010:[0]
+014661_000012:[]
+001500_000016:[]
+016013_000005:[]
+015753_000017:[6]
+012869_000005:[4]
+009779_000020:[7]
+004823_000035:[]
+002479_000003:[2]
+006740_000000:[]
+019035_000026:[]
+013804_000007:[]
+000034_000030:[3, 13, 14, 18]
+015050_000023:[]
+005472_000012:[9, 15]
+010298_000022:[]
+006043_000038:[15]
+007510_000030:[4]
+000760_000037:[]
+022622_000008:[]
+015432_000013:[]
+008172_000017:[5, 13, 14]
+001754_000036:[5, 12]
+010496_000023:[2, 10]
+014570_000003:[0, 2, 3, 10, 14, 16, 17]
+016316_000010:[]
+023470_000018:[3]
+009154_000023:[]
+000943_000026:[]
+020283_000039:[6]
+001056_000013:[17]
+022018_000004:[4, 18]
+021442_000001:[10]
+005916_000019:[1]
+023776_000002:[4, 6, 8]
+014447_000005:[]
+012858_000035:[]
+013990_000037:[18]
+013444_000007:[3]
+005999_000001:[0]
+017979_000013:[]
+006068_000022:[3, 4, 5, 15, 16, 19]
+021838_000000:[]
+001156_000001:[9]
+020680_000029:[]
+022979_000011:[]
+005977_000008:[10]
+021518_000012:[19]
+004148_000031:[8]
+002001_000032:[]
+008177_000031:[12]
+006490_000018:[]
+009620_000009:[]
+023424_000008:[4]
+016278_000027:[12, 16]
+012781_000031:[8]
+003720_000011:[6]
+023149_000001:[0, 2, 5, 14]
+004074_000033:[]
+010665_000035:[2, 3, 5, 8, 12, 15, 16, 18]
+003486_000006:[]
+006750_000023:[]
+000186_000027:[]
+013499_000004:[]
+018238_000037:[]
+002091_000034:[19]
+014816_000004:[1, 2, 11, 15, 16]
+016244_000000:[3]
+007499_000021:[4, 10]
+016355_000037:[0]
+004601_000023:[7]
+022030_000031:[]
+021782_000021:[]
+009682_000035:[]
+023661_000028:[]
+021367_000028:[]
+009007_000025:[]
+011649_000010:[]
+013447_000017:[1, 5, 11, 18]
+012514_000003:[]
+000959_000015:[]
+007303_000014:[]
+012684_000035:[]
+007971_000036:[5]
+009855_000009:[3, 13, 16, 18, 19]
+009475_000000:[0]
+011518_000009:[5, 18]
+002014_000011:[]
+005222_000004:[]
+015295_000016:[]
+018642_000022:[]
+009355_000015:[]
+020069_000024:[6, 7, 10, 16]
+007357_000026:[18]
+011622_000001:[14]
+018596_000016:[]
+018612_000035:[2, 15]
+010972_000015:[]
+012583_000012:[]
+022870_000025:[9]
+013743_000027:[]
+006044_000016:[]
+015448_000038:[]
+016700_000000:[]
+004063_000039:[]
+021405_000013:[]
+021058_000000:[]
+018514_000026:[]
+006403_000034:[]
+020835_000016:[19]
+012053_000034:[]
+023293_000039:[]
+010504_000009:[]
+005223_000038:[14, 15, 19]
+011788_000005:[]
+021035_000018:[]
+010408_000038:[17]
+021419_000030:[]
+019776_000027:[0, 3]
+017779_000025:[]
+008315_000030:[15]
+000927_000037:[]
+020964_000001:[]
+005017_000008:[]
+019369_000015:[]
+005239_000035:[]
+010181_000008:[]
+006747_000012:[18]
+006063_000003:[]
+021210_000018:[11, 14]
+014331_000011:[]
+024552_000028:[]
+017672_000005:[]
+019666_000035:[]
+016550_000002:[]
+011942_000020:[]
+019215_000002:[1, 19]
+000988_000024:[7, 8]
+006427_000036:[]
+014890_000007:[]
+022254_000015:[0]
+017974_000010:[14]
+012512_000001:[12]
+020239_000032:[]
+019071_000025:[]
+013278_000032:[]
+000446_000027:[]
+003288_000004:[1, 8, 13]
+019546_000014:[16, 19]
+009508_000034:[18]
+020661_000021:[]
+001903_000037:[]
+017409_000031:[10]
+015163_000014:[]
+008765_000010:[1, 8]
+011837_000010:[0, 11, 13, 15, 17]
+011128_000008:[]
+017164_000010:[3]
+004448_000009:[9, 12, 19]
+016827_000000:[0, 2, 3, 15, 19]
+007266_000001:[]
+017405_000007:[8]
+018466_000027:[]
+017144_000032:[]
+016967_000000:[3, 5, 10, 16]
+006165_000008:[5, 9, 13, 16, 18, 19]
+019977_000037:[0, 16, 17]
+012751_000039:[]
+004416_000029:[]
+005206_000016:[]
+022889_000029:[]
+001685_000015:[18]
+001021_000006:[]
+013443_000009:[]
+013027_000006:[]
+004776_000018:[]
+016476_000027:[]
+022909_000010:[]
+006273_000000:[]
+004823_000015:[]
+000243_000032:[9, 16]
+002905_000016:[]
+008437_000000:[7, 8, 17, 19]
+022371_000008:[12]
+010911_000004:[]
+015478_000005:[]
+014569_000026:[11]
+021876_000037:[]
+001969_000017:[16, 19]
+006930_000006:[]
+016880_000037:[]
+000516_000010:[0, 7, 11, 15]
+011791_000005:[]
+010342_000030:[10, 16, 18]
+012861_000007:[]
+021019_000020:[]
+005573_000014:[]
+015436_000036:[6, 7, 17, 18]
+004260_000012:[]
+002110_000017:[]
+003189_000027:[2, 8, 11]
+024884_000030:[]
+022317_000039:[]
+001552_000033:[]
+001460_000003:[]
+010212_000034:[12, 19]
+021052_000022:[0, 9]
+010385_000007:[]
+012467_000023:[]
+019576_000002:[1, 7]
+014457_000037:[0, 16]
+008640_000023:[]
+008792_000014:[8]
+011089_000028:[2, 6, 7, 10, 12, 16]
+023103_000004:[]
+003987_000006:[3, 6, 11]
+005218_000031:[0, 2, 8]
+014215_000027:[]
+019304_000011:[14]
+015458_000007:[1, 4, 6, 17]
+013228_000028:[]
+023435_000013:[]
+021004_000009:[1, 4, 6, 13, 15, 17]
+006925_000032:[12]
+002106_000006:[]
+011562_000005:[1, 4, 5]
+002247_000031:[]
+018804_000008:[0, 4, 7]
+012686_000037:[2]
+010745_000036:[]
+012303_000038:[0]
+019233_000013:[7]
+011269_000000:[7]
+012357_000021:[5]
+000144_000027:[]
+019766_000026:[]
+006099_000003:[5, 13]
+000553_000031:[]
+017849_000015:[13]
+021119_000001:[]
+008923_000038:[0, 11]
+007032_000014:[]
+021196_000013:[]
+023013_000013:[]
+014421_000031:[6, 9, 10]
+012830_000019:[]
+012291_000020:[10]
+022082_000028:[3, 14]
+017013_000037:[]
+004370_000016:[18]
+001080_000028:[4, 10]
+008242_000039:[11]
+023510_000015:[14, 15]
+019695_000011:[]
+021521_000013:[]
+021330_000003:[3, 7, 16]
+002762_000013:[18, 19]
+007059_000032:[]
+021002_000007:[17]
+002733_000023:[]
+015995_000007:[]
+009160_000015:[]
+003561_000012:[3]
+008282_000019:[]
+023312_000014:[0, 13, 19]
+009193_000024:[]
+018043_000024:[]
+014932_000023:[]
+009367_000038:[14]
+001160_000005:[]
+022649_000015:[]
+017160_000036:[0, 9]
+001973_000014:[8]
+014640_000024:[]
+020726_000034:[]
+008798_000005:[]
+019952_000025:[2]
+023060_000032:[]
+021793_000014:[6, 9, 11]
+006049_000039:[]
+021355_000027:[]
+018286_000013:[1, 8, 11]
+014919_000019:[1, 4, 9]
+023616_000004:[]
+008048_000027:[3, 7, 9, 13, 19]
+015793_000009:[]
+023719_000039:[]
+005318_000005:[]
+018083_000003:[14]
+008424_000001:[17]
+018540_000001:[]
+022108_000018:[]
+014815_000032:[2]
+016733_000004:[]
+012480_000011:[3, 15]
+020157_000019:[]
+004016_000001:[]
+005913_000007:[]
+024859_000021:[]
+012069_000004:[11]
+019491_000013:[4]
+003841_000001:[]
+003823_000038:[]
+018926_000001:[5, 6, 8, 19]
+019753_000009:[16]
+013656_000028:[9]
+009040_000013:[]
+015619_000003:[]
+018051_000012:[19]
+007073_000001:[]
+019152_000011:[2, 15]
+006323_000024:[]
+011538_000018:[1, 19]
+002702_000016:[]
+024567_000013:[8, 9, 11]
+012419_000004:[4, 15]
+024418_000010:[17]
+021664_000022:[]
+002859_000018:[]
+007319_000034:[]
+006439_000000:[]
+010469_000032:[]
+023211_000015:[]
+018037_000026:[0, 7]
+013232_000013:[15]
+024049_000010:[]
+005044_000010:[0, 3, 10]
+010469_000017:[4]
+011005_000020:[]
+022992_000012:[]
+022372_000012:[1]
+021816_000025:[4, 9, 18]
+017546_000033:[]
+007642_000017:[]
+000357_000021:[]
+006990_000009:[]
+020483_000039:[0, 1]
+020234_000031:[10, 12, 13, 17]
+015588_000021:[]
+023810_000037:[19]
+004245_000021:[6]
+009206_000027:[]
+023584_000036:[]
+012039_000034:[]
+001069_000022:[]
+023177_000017:[1, 2, 10, 17, 18]
+021118_000020:[]
+001818_000014:[2, 6, 8]
+007339_000003:[]
+000867_000019:[]
+008513_000018:[5]
+004777_000008:[19]
+002224_000036:[5, 14]
+007808_000032:[]
+021083_000002:[]
+017023_000027:[14]
+007753_000010:[7]
+007050_000009:[]
+018257_000016:[6]
+000291_000030:[]
+018620_000029:[]
+012161_000015:[]
+001414_000018:[0, 5, 18]
+009075_000010:[4, 19]
+024657_000006:[]
+003708_000025:[]
+004929_000035:[]
+012643_000019:[3, 16]
+015052_000028:[]
+017746_000021:[]
+020628_000021:[5, 6, 8, 9, 10]
+000919_000007:[]
+007000_000029:[19]
+022512_000011:[]
+017678_000011:[]
+008728_000003:[]
+021543_000027:[]
+009523_000005:[]
+023307_000023:[2, 4, 16, 18]
+008496_000005:[]
+021264_000018:[]
+010293_000013:[]
+024829_000002:[]
+019836_000028:[]
+002617_000009:[1]
+022421_000006:[0]
+012978_000017:[]
+016204_000012:[]
+018940_000018:[]
+024312_000025:[18]
+023646_000038:[]
+006150_000009:[]
+005909_000002:[2, 10, 13]
+015650_000036:[]
+011369_000001:[]
+018559_000014:[8]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000673_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000673_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..32932aae4efce251b2375d929478130bb12d07cd
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000673_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+013655_000013:[10, 18]
+019187_000011:[]
+003521_000027:[6, 14, 15]
+020205_000032:[17]
+023118_000004:[]
+004329_000020:[18]
+006530_000021:[]
+010950_000029:[6]
+024548_000024:[]
+009481_000020:[]
+006269_000021:[7]
+005797_000001:[4, 6, 7, 17]
+013435_000031:[]
+018977_000010:[9]
+018961_000009:[]
+023622_000009:[]
+020084_000003:[]
+018083_000019:[]
+007177_000017:[]
+011787_000011:[]
+020830_000033:[15]
+003279_000016:[]
+017975_000039:[6]
+008196_000008:[]
+024458_000028:[]
+000050_000006:[]
+003845_000000:[0, 2, 4, 7, 9, 11, 16, 18]
+002594_000001:[3, 4, 14]
+024739_000028:[]
+008145_000016:[0, 2, 4, 5, 7, 14, 16, 19]
+021739_000020:[4]
+015158_000028:[6]
+020739_000030:[]
+007904_000002:[5]
+022903_000001:[7, 16]
+022417_000038:[]
+016191_000038:[]
+022705_000025:[6]
+018305_000008:[]
+020719_000002:[]
+017857_000032:[]
+010096_000022:[7]
+004540_000009:[13]
+012517_000013:[]
+020741_000008:[3, 6, 8]
+014941_000039:[0]
+020663_000030:[]
+015213_000005:[]
+010417_000014:[0]
+022951_000024:[]
+013879_000039:[]
+011799_000013:[]
+014831_000001:[]
+002374_000026:[3, 6]
+012197_000025:[]
+007032_000037:[4, 7, 18]
+011780_000001:[11]
+019355_000004:[]
+003692_000039:[]
+022836_000039:[]
+004991_000025:[4, 15, 18]
+020933_000034:[9, 15]
+006527_000009:[]
+013033_000015:[]
+017066_000022:[14]
+016354_000003:[]
+001322_000012:[2, 5, 9, 16, 17]
+024247_000011:[0, 18]
+023820_000000:[]
+003143_000025:[]
+001080_000036:[]
+000353_000036:[]
+016349_000026:[]
+001315_000033:[]
+020518_000022:[]
+023112_000038:[3]
+015124_000016:[]
+017771_000010:[]
+018907_000003:[]
+022946_000028:[]
+010378_000022:[9]
+012421_000015:[]
+000287_000007:[0, 5, 6, 9]
+003137_000000:[10]
+011290_000037:[]
+016696_000025:[4, 9, 17]
+000170_000014:[18]
+015740_000037:[]
+011706_000016:[]
+011573_000026:[]
+015094_000023:[13, 18]
+020133_000013:[]
+003758_000004:[]
+006051_000001:[]
+023864_000015:[5, 13, 15]
+009584_000005:[]
+024139_000036:[7, 12]
+001046_000007:[11, 13, 15, 18]
+005439_000026:[]
+014281_000002:[]
+010979_000036:[]
+017001_000026:[]
+014997_000036:[12]
+015538_000020:[]
+015351_000022:[4, 5]
+002841_000024:[]
+024450_000035:[]
+023704_000028:[1, 6, 13]
+012492_000031:[]
+020229_000034:[]
+006405_000010:[]
+012499_000015:[]
+010663_000031:[9]
+017469_000017:[3]
+000981_000007:[4, 7, 9, 12, 17]
+021314_000035:[]
+005643_000008:[6]
+004127_000012:[]
+014929_000003:[0, 10, 14, 19]
+002035_000030:[3, 8]
+022089_000010:[]
+020769_000025:[]
+017823_000010:[10, 14]
+022997_000018:[]
+017225_000033:[]
+002712_000035:[]
+014981_000033:[2, 7]
+003129_000038:[19]
+012489_000011:[]
+019590_000008:[6]
+002601_000028:[1, 2, 10, 14, 15]
+004742_000012:[]
+012810_000025:[11]
+012111_000033:[]
+018337_000000:[16, 17, 19]
+011542_000014:[]
+011541_000005:[3, 16]
+015992_000001:[]
+002798_000034:[]
+009814_000004:[4]
+010151_000006:[]
+016439_000027:[4]
+008099_000030:[]
+001002_000025:[]
+008152_000012:[]
+005988_000013:[2, 6, 14, 16]
+002856_000001:[1, 5, 7, 8, 9, 10, 12, 15, 16, 17]
+015619_000030:[]
+024555_000010:[]
+011272_000021:[]
+000542_000033:[4, 11]
+011862_000016:[]
+009108_000006:[]
+006078_000024:[]
+002969_000006:[5]
+000091_000007:[14]
+009432_000020:[]
+018913_000008:[]
+012732_000008:[]
+014379_000004:[4]
+000573_000021:[]
+024723_000002:[1, 2, 3, 13, 15, 18]
+020715_000011:[3, 9]
+022034_000017:[]
+007195_000013:[7]
+008210_000023:[17]
+010259_000006:[]
+023115_000031:[]
+012626_000009:[]
+005031_000035:[15, 17]
+001305_000036:[]
+002009_000018:[]
+007057_000003:[4]
+008406_000013:[9]
+024994_000005:[]
+009634_000004:[]
+021847_000031:[]
+011785_000029:[]
+022218_000002:[]
+010804_000012:[2, 4, 12, 13]
+015270_000022:[]
+002881_000021:[12]
+003816_000013:[0, 7, 11]
+024605_000011:[]
+004448_000032:[9, 19]
+007324_000022:[]
+017224_000028:[3]
+004324_000022:[]
+018296_000019:[0, 2, 7, 13]
+019758_000035:[]
+012847_000006:[]
+011912_000022:[]
+018460_000010:[0, 10]
+009415_000009:[]
+007593_000025:[4]
+004128_000033:[4, 12]
+019089_000033:[]
+024409_000018:[]
+008597_000030:[]
+000701_000020:[]
+009113_000009:[12]
+013233_000031:[6]
+017344_000037:[6, 8, 10, 17, 19]
+017332_000021:[]
+018857_000029:[7, 12, 13]
+015775_000019:[]
+006832_000023:[]
+000423_000036:[]
+003144_000034:[]
+009084_000007:[18]
+012155_000007:[0, 1, 4, 8]
+000492_000021:[]
+012076_000026:[]
+008967_000014:[]
+017824_000036:[7, 14]
+016544_000038:[1]
+012115_000014:[4, 6, 9, 13, 16]
+022456_000015:[]
+020824_000032:[15]
+011142_000038:[18]
+009751_000035:[15]
+006997_000032:[]
+022712_000020:[3]
+021971_000020:[]
+023988_000015:[14, 15]
+016949_000012:[]
+018786_000013:[13]
+024692_000014:[]
+001224_000005:[]
+014962_000018:[]
+022416_000016:[]
+012266_000005:[1, 4, 6, 19]
+024180_000022:[18]
+019602_000023:[]
+002928_000018:[1]
+003493_000001:[]
+019797_000033:[]
+010702_000007:[]
+024451_000025:[14]
+022655_000000:[]
+022678_000017:[5]
+005839_000007:[]
+015980_000029:[2, 5, 6, 8, 14, 16]
+014818_000000:[]
+001317_000032:[13]
+018992_000038:[10]
+013419_000032:[]
+002191_000009:[]
+002451_000038:[]
+002112_000034:[1, 5, 7, 8, 9, 10, 11, 15]
+005047_000019:[11, 15]
+018824_000030:[]
+014170_000013:[]
+003208_000018:[]
+017088_000010:[]
+022213_000018:[]
+001175_000006:[0, 4]
+015401_000037:[0]
+004092_000003:[0, 3, 16]
+017290_000004:[]
+004661_000005:[1, 6, 14]
+012890_000034:[5, 16]
+023047_000026:[]
+000376_000000:[]
+007710_000023:[13]
+011031_000026:[3, 4, 5, 7, 9, 14, 16, 18]
+001438_000004:[3, 6, 15]
+024412_000001:[]
+019746_000037:[]
+002406_000018:[]
+020766_000039:[2, 5, 7, 17]
+021233_000034:[]
+019561_000010:[18]
+017890_000035:[7]
+013949_000029:[]
+009683_000014:[]
+001559_000008:[]
+001120_000035:[]
+024245_000015:[2, 7, 18]
+005379_000003:[]
+008877_000032:[]
+012887_000027:[]
+010194_000012:[1]
+003682_000008:[8]
+002634_000010:[8, 16]
+011486_000036:[17]
+022183_000030:[8]
+014266_000017:[1, 2]
+022205_000005:[5, 16]
+016480_000031:[]
+022623_000014:[]
+000615_000020:[2]
+001685_000022:[8, 12]
+013080_000039:[]
+024658_000024:[]
+004421_000033:[2]
+001761_000032:[]
+012891_000030:[]
+008822_000009:[0, 7, 10, 13, 15, 17]
+000369_000008:[0]
+007370_000035:[6, 14]
+011604_000032:[]
+015830_000035:[]
+003150_000039:[3, 7, 13]
+017873_000032:[3]
+010791_000024:[]
+006066_000018:[2, 14]
+022703_000012:[]
+013167_000015:[]
+007309_000027:[]
+020240_000039:[2, 11, 16]
+022961_000026:[6, 16]
+019010_000004:[1, 4]
+006054_000030:[4, 6, 18]
+003191_000033:[]
+000264_000029:[3]
+009987_000036:[]
+003005_000026:[4]
+021509_000020:[]
+002152_000021:[11]
+006731_000030:[5, 6, 7, 8, 11, 14, 19]
+023202_000030:[11]
+007620_000007:[]
+015093_000039:[]
+001707_000032:[]
+020954_000029:[18]
+001405_000021:[7, 15]
+022724_000038:[]
+008371_000000:[8]
+002377_000005:[19]
+009417_000020:[0]
+010222_000017:[0]
+000696_000039:[]
+015494_000007:[]
+004066_000028:[]
+010838_000011:[12]
+013425_000012:[]
+009208_000028:[]
+004584_000004:[6, 11]
+011836_000005:[10, 11]
+002044_000033:[4, 5, 10, 18, 19]
+018009_000001:[4, 6, 13, 15, 16]
+020433_000028:[0, 1, 3, 10]
+019184_000002:[2, 10, 13, 15]
+006658_000027:[5, 11]
+019995_000011:[12]
+017842_000038:[]
+023893_000013:[2, 5, 7, 19]
+016153_000018:[]
+007075_000006:[]
+005813_000029:[3, 8, 19]
+023281_000021:[]
+022962_000024:[]
+020448_000008:[2, 11, 17]
+003067_000021:[]
+000346_000028:[]
+017149_000005:[]
+015632_000020:[0, 12, 13]
+024113_000006:[13]
+023950_000036:[4]
+018871_000034:[]
+023994_000027:[]
+013271_000007:[]
+014559_000010:[]
+005509_000029:[]
+010059_000020:[]
+011498_000016:[13, 18]
+007905_000034:[]
+014076_000027:[1, 19]
+011721_000001:[12]
+024829_000014:[12]
+009781_000021:[]
+009962_000022:[]
+024582_000004:[]
+001095_000002:[8, 9, 14]
+016024_000008:[]
+012453_000007:[]
+015625_000038:[15]
+015393_000025:[]
+005930_000026:[]
+000460_000022:[]
+021405_000003:[13]
+012293_000015:[1, 5]
+010450_000016:[]
+023482_000026:[]
+017389_000018:[]
+024675_000035:[8, 11, 19]
+022104_000026:[]
+016010_000035:[1, 10]
+018287_000011:[]
+011884_000030:[0, 3, 6, 19]
+018994_000008:[11]
+021989_000006:[11]
+009413_000020:[14]
+017130_000039:[3, 6, 11, 18]
+009518_000010:[]
+005925_000004:[]
+008477_000010:[]
+013946_000012:[]
+022370_000001:[]
+019789_000025:[1]
+014405_000007:[]
+023831_000017:[]
+010806_000026:[]
+024930_000002:[1, 5]
+023546_000006:[]
+010076_000025:[]
+024401_000000:[]
+010811_000008:[4]
+020738_000030:[]
+015306_000029:[]
+011334_000022:[0]
+017125_000015:[]
+017694_000025:[]
+011450_000013:[0, 19]
+018086_000014:[]
+002951_000003:[8]
+006153_000000:[]
+011812_000038:[]
+011442_000025:[10, 12]
+017944_000011:[]
+005239_000002:[]
+023728_000001:[]
+017680_000003:[8, 11]
+009791_000023:[]
+006884_000027:[]
+013373_000001:[17]
+024186_000035:[]
+013149_000017:[]
+008265_000008:[]
+006940_000038:[4, 10, 11]
+016250_000004:[18]
+016745_000024:[7]
+013478_000016:[]
+024682_000036:[14]
+015272_000020:[]
+009683_000016:[]
+022234_000005:[1, 8]
+022900_000035:[]
+001629_000011:[]
+000922_000015:[]
+008530_000008:[3, 7, 11]
+014295_000013:[]
+014429_000035:[1, 18]
+012557_000013:[6]
+011325_000010:[6]
+000627_000006:[1, 4, 10, 11, 19]
+021651_000003:[4, 11, 19]
+010966_000036:[9, 18]
+021925_000022:[]
+019603_000033:[5, 12, 18]
+017810_000034:[]
+002207_000010:[]
+014503_000005:[]
+021015_000023:[5, 6, 10, 12]
+010005_000003:[1, 9, 10, 13, 14, 15]
+021810_000021:[15, 17]
+005460_000008:[]
+015922_000034:[12]
+021788_000012:[]
+008467_000011:[7]
+018604_000012:[]
+009304_000007:[3]
+022818_000029:[]
+000388_000035:[4]
+011687_000016:[]
+006015_000007:[13]
+014760_000012:[]
+004085_000009:[]
+005766_000010:[6, 10, 16, 17]
+012319_000021:[9, 10, 16]
+000022_000017:[]
+015842_000004:[0, 10, 11, 13]
+013097_000023:[17]
+001593_000021:[]
+016987_000012:[4]
+017910_000031:[]
+013137_000000:[4]
+013364_000033:[]
+014918_000022:[16]
+024164_000022:[]
+019709_000023:[9, 14]
+003185_000008:[]
+000837_000024:[15]
+002275_000038:[8, 18]
+023922_000009:[]
+024409_000026:[15, 16, 17, 19]
+020644_000034:[]
+008331_000028:[]
+002035_000021:[3]
+002400_000011:[]
+018007_000028:[]
+011281_000007:[]
+003355_000036:[]
+015731_000009:[19]
+008250_000024:[]
+009853_000011:[3, 5, 10]
+013719_000018:[9]
+024701_000002:[0]
+009858_000013:[]
+011798_000022:[0, 2, 10, 11]
+000616_000024:[]
+000632_000038:[9]
+012876_000035:[1, 12, 18]
+014915_000004:[]
+012151_000023:[]
+001561_000000:[]
+009605_000017:[1]
+007819_000003:[]
+001867_000013:[]
+003290_000034:[]
+009384_000031:[]
+021614_000016:[]
+019933_000009:[3, 17, 18]
+005029_000004:[]
+003191_000019:[]
+000740_000011:[]
+009297_000032:[16]
+008870_000009:[]
+011703_000033:[13, 15]
+021017_000015:[11, 16]
+013410_000036:[]
+011159_000023:[]
+000154_000014:[1]
+022408_000005:[]
+017500_000036:[]
+020797_000009:[0, 8]
+018781_000031:[]
+017861_000000:[18]
+024870_000026:[3]
+004779_000023:[3]
+017296_000026:[9]
+017777_000038:[]
+012828_000000:[]
+013755_000025:[]
+010652_000030:[]
+016207_000023:[]
+006760_000024:[2, 10]
+011075_000021:[]
+009962_000007:[9]
+019252_000006:[11, 12]
+007330_000023:[17]
+017738_000037:[]
+022562_000018:[]
+021466_000017:[]
+000241_000029:[]
+024509_000035:[15]
+020637_000020:[8, 9]
+019449_000022:[]
+020706_000022:[3, 14]
+009662_000007:[]
+007666_000033:[9, 12]
+022197_000002:[5]
+017530_000009:[]
+016382_000006:[]
+008744_000007:[13]
+011194_000018:[]
+020349_000007:[]
+013489_000032:[3, 7, 8, 10]
+002181_000017:[5]
+002751_000010:[3, 7, 9, 11, 12, 14, 16, 19]
+024871_000011:[]
+004891_000006:[]
+010818_000010:[]
+004398_000009:[5, 17]
+006884_000030:[]
+019634_000028:[3, 4, 11, 12, 13]
+003747_000036:[]
+008427_000034:[]
+015104_000039:[]
+020171_000022:[]
+011952_000009:[]
+000530_000012:[]
+001149_000008:[]
+006896_000006:[7, 11, 17, 19]
+012613_000000:[14]
+002451_000001:[12]
+024514_000037:[]
+006509_000024:[]
+023947_000023:[8]
+004537_000026:[]
+001262_000031:[9, 12]
+006628_000038:[]
+015011_000013:[]
+013937_000008:[11]
+015205_000035:[3]
+006636_000021:[]
+005660_000017:[]
+006656_000014:[]
+018550_000037:[]
+006059_000034:[]
+017233_000018:[]
+013095_000010:[]
+024005_000004:[]
+022307_000021:[4, 5, 13]
+013798_000018:[6]
+001648_000001:[11, 12, 13]
+011126_000014:[]
+019493_000005:[]
+007642_000023:[]
+015740_000014:[0, 13, 14, 18]
+013318_000002:[8, 10, 13, 15, 16, 18]
+014817_000033:[]
+015699_000014:[]
+002374_000020:[]
+015357_000021:[]
+009076_000016:[15]
+007290_000001:[1, 7, 10, 15, 16]
+008099_000013:[]
+015751_000006:[]
+002593_000026:[]
+014367_000030:[]
+011330_000026:[19]
+015279_000039:[0, 10]
+019583_000016:[]
+018580_000027:[11]
+014083_000007:[1, 3, 7, 13]
+004809_000031:[]
+005599_000003:[]
+020810_000028:[]
+011034_000019:[15, 19]
+015068_000037:[17]
+024242_000008:[]
+000475_000037:[2, 3, 6, 8]
+000145_000032:[]
+004761_000039:[10, 19]
+006780_000017:[]
+000440_000003:[12]
+011838_000016:[10, 14]
+018645_000029:[]
+009183_000011:[]
+022467_000032:[]
+020778_000026:[9, 17]
+008560_000034:[]
+022982_000022:[]
+017672_000014:[]
+000913_000000:[13]
+023928_000014:[6, 18, 19]
+021604_000009:[18]
+001970_000036:[]
+001700_000019:[]
+005687_000023:[]
+014066_000020:[]
+013520_000005:[]
+009023_000006:[14, 19]
+022779_000027:[]
+002098_000023:[7, 16]
+013814_000000:[15]
+015829_000011:[]
+006728_000005:[]
+023004_000037:[]
+012099_000030:[]
+023274_000024:[]
+000808_000026:[]
+013470_000028:[]
+006625_000004:[8, 14]
+002185_000004:[]
+018642_000038:[]
+007030_000005:[1]
+017360_000006:[]
+024038_000021:[]
+011465_000014:[]
+021372_000000:[]
+008389_000005:[1, 9, 14]
+023394_000018:[12]
+016779_000011:[]
+008530_000011:[]
+009374_000022:[]
+002747_000022:[]
+020248_000018:[]
+022565_000001:[]
+018480_000008:[]
+010631_000030:[]
+013046_000001:[0]
+014370_000034:[]
+007227_000018:[]
+018037_000028:[]
+012524_000011:[]
+018505_000004:[]
+012179_000001:[]
+002348_000012:[]
+005416_000033:[7, 9, 13, 16, 18]
+009768_000037:[]
+012634_000026:[3, 5, 6, 13, 19]
+019472_000007:[]
+022295_000031:[]
+022537_000033:[]
+014672_000036:[19]
+006657_000022:[]
+004156_000017:[]
+013468_000034:[19]
+002084_000013:[]
+016830_000006:[4, 8, 13, 14, 16, 17, 18, 19]
+008960_000017:[19]
+003198_000023:[]
+002297_000026:[13]
+023714_000006:[16]
+018408_000033:[]
+003152_000035:[0, 3, 10, 17]
+007293_000001:[]
+004109_000003:[15]
+001937_000020:[]
+016105_000034:[10]
+010021_000020:[4, 13]
+001631_000016:[8]
+022262_000012:[]
+009154_000037:[13]
+023164_000007:[2, 14, 16]
+001571_000012:[]
+013078_000019:[]
+020297_000016:[]
+014409_000031:[]
+012935_000034:[1, 9, 11, 17]
+007078_000008:[]
+008415_000025:[]
+010106_000016:[4, 19]
+014802_000017:[]
+022788_000027:[]
+004015_000028:[12]
+017302_000021:[]
+009820_000012:[]
+014822_000015:[13]
+018136_000017:[]
+012743_000000:[]
+002588_000005:[14]
+018157_000034:[7, 9, 16]
+023116_000023:[]
+014384_000008:[1, 4, 5, 13, 18]
+019655_000028:[]
+023955_000027:[]
+012404_000011:[]
+021267_000009:[]
+016731_000030:[]
+017288_000019:[]
+004337_000037:[5, 19]
+023779_000007:[2, 6, 7, 11, 13, 15]
+005061_000016:[]
+020428_000039:[]
+011297_000015:[]
+009815_000017:[]
+014328_000019:[]
+006936_000020:[]
+020251_000020:[3, 4]
+013273_000007:[]
+012343_000027:[]
+002656_000025:[11]
+022352_000027:[]
+020477_000014:[14]
+017291_000034:[]
+008192_000039:[]
+006226_000011:[]
+007036_000008:[19]
+004245_000007:[]
+015576_000018:[10]
+014818_000037:[]
+004338_000018:[]
+005490_000002:[]
+000582_000000:[]
+016575_000013:[12, 17, 18]
+014631_000005:[16]
+000753_000011:[]
+020928_000020:[10]
+006420_000023:[0, 9, 13, 17, 18, 19]
+018471_000000:[]
+004654_000025:[18]
+006449_000008:[]
+021200_000007:[]
+007233_000020:[16]
+016676_000031:[5, 17]
+002185_000006:[1, 5, 18]
+021618_000031:[4, 5, 8, 19]
+005718_000011:[]
+020876_000015:[2, 14]
+003448_000023:[]
+008800_000029:[]
+006453_000027:[]
+015100_000005:[]
+021571_000011:[]
+010918_000024:[]
+017758_000022:[]
+023715_000007:[1]
+017900_000005:[]
+016557_000022:[]
+001924_000014:[]
+024916_000016:[]
+010106_000018:[4]
+017724_000027:[7]
+004998_000011:[]
+008429_000009:[16]
+006952_000001:[]
+020004_000031:[]
+015603_000027:[10]
+004497_000023:[3]
+013661_000038:[]
+012479_000027:[]
+001639_000020:[0, 4]
+007995_000038:[]
+000453_000030:[]
+016628_000015:[]
+011378_000007:[6]
+008782_000035:[]
+019289_000027:[]
+016710_000007:[9]
+022270_000032:[]
+002136_000014:[]
+007182_000004:[8, 17]
+018769_000003:[3]
+013457_000033:[3, 8, 9]
+001201_000025:[]
+011245_000014:[18]
+004477_000037:[2]
+020740_000025:[1, 7, 9, 14, 19]
+005700_000039:[2, 17]
+024221_000016:[8, 10, 14]
+008861_000015:[]
+015854_000019:[]
+011025_000029:[]
+008068_000016:[]
+020655_000033:[]
+017652_000007:[]
+017949_000001:[]
+024670_000015:[]
+003114_000001:[]
+023412_000000:[8]
+011220_000019:[0, 2, 4, 7, 11, 15, 16, 18, 19]
+001704_000016:[]
+002270_000022:[]
+023990_000015:[]
+000946_000019:[]
+021738_000001:[]
+017839_000014:[4]
+013641_000031:[]
+016836_000031:[]
+010830_000005:[]
+004505_000026:[]
+012980_000030:[2, 6]
+015613_000009:[3]
+012653_000016:[]
+022331_000034:[]
+002831_000002:[]
+005363_000017:[]
+010423_000039:[2, 3, 7, 9]
+012197_000005:[]
+003847_000003:[3, 16, 18]
+001570_000027:[]
+008147_000005:[3, 4, 8, 11]
+011315_000029:[]
+005970_000019:[]
+014774_000001:[]
+010286_000033:[1]
+002145_000030:[1, 8, 17]
+001943_000011:[]
+012030_000015:[18]
+009765_000012:[]
+019112_000036:[9]
+014890_000003:[]
+006852_000003:[]
+001272_000021:[]
+001480_000023:[1, 5]
+003952_000039:[11]
+024218_000008:[]
+000262_000005:[5]
+009380_000000:[5, 10, 13]
+017529_000003:[]
+021996_000029:[]
+010427_000010:[5]
+018032_000021:[]
+015547_000019:[5]
+016165_000038:[]
+005255_000024:[]
+009711_000001:[1, 5, 9, 11]
+015336_000014:[]
+019202_000037:[5, 14, 17]
+016967_000019:[]
+014218_000031:[5, 13, 17]
+011744_000039:[18]
+016126_000005:[15]
+013177_000027:[9]
+022972_000027:[]
+011664_000024:[]
+022502_000030:[]
+020662_000025:[]
+003794_000018:[]
+010669_000002:[]
+015318_000035:[]
+021108_000034:[]
+020743_000004:[17]
+008815_000004:[13, 14]
+014641_000023:[]
+011065_000014:[]
+009662_000015:[]
+016111_000039:[]
+020461_000016:[]
+002977_000035:[]
+020659_000029:[]
+011523_000032:[0, 13, 15, 19]
+009506_000003:[4]
+015194_000021:[13]
+000018_000027:[]
+004262_000013:[]
+006382_000008:[4, 8, 10]
+007484_000003:[3, 7]
+009206_000001:[]
+015929_000038:[4]
+011380_000035:[4, 18]
+006800_000006:[6]
+005725_000008:[16]
+006951_000038:[]
+013492_000033:[11, 16]
+008162_000004:[]
+008341_000003:[14]
+024552_000013:[]
+009996_000016:[]
+009990_000036:[4, 16]
+022074_000021:[]
+014462_000028:[]
+001207_000015:[]
+005448_000007:[6, 12, 13, 14]
+024239_000017:[]
+017890_000000:[]
+014093_000019:[]
+002834_000015:[]
+021813_000034:[]
+010820_000026:[12, 14, 15]
+012611_000026:[3, 5]
+009225_000027:[]
+014234_000004:[]
+024258_000007:[8]
+020846_000015:[0]
+023958_000017:[13]
+007984_000032:[]
+024397_000028:[]
+002177_000009:[8]
+003858_000016:[]
+008820_000024:[]
+011661_000036:[9, 14, 18]
+022347_000025:[4]
+022197_000023:[]
+009375_000039:[16]
+017627_000025:[7, 12, 14]
+023339_000019:[]
+018014_000037:[4, 5]
+020591_000035:[0]
+014088_000007:[]
+008807_000011:[9, 12]
+015683_000014:[2, 3]
+015326_000026:[]
+022982_000015:[]
+016912_000015:[]
+000356_000008:[3]
+019896_000030:[4, 6, 8, 11, 15, 16, 17]
+014111_000007:[0, 18]
+016382_000009:[]
+003895_000018:[]
+002315_000020:[8]
+001724_000022:[6]
+009704_000005:[]
+010857_000006:[10]
+001122_000001:[2, 9]
+018402_000006:[9]
+014401_000001:[12, 16]
+000190_000001:[]
+009042_000026:[13]
+023301_000013:[4, 19]
+024863_000020:[]
+015866_000027:[]
+016699_000010:[]
+000896_000024:[0]
+021654_000001:[]
+008693_000029:[]
+016292_000037:[11]
+004074_000035:[12]
+009145_000037:[]
+016247_000020:[0]
+021299_000034:[]
+000163_000008:[]
+001611_000006:[3, 6, 14, 19]
+005054_000019:[]
+022176_000021:[]
+009575_000010:[6]
+020151_000004:[]
+018563_000009:[10, 19]
+021912_000027:[11]
+007423_000015:[0, 8, 15]
+018186_000002:[0, 6, 16]
+014471_000004:[]
+018772_000023:[]
+009253_000023:[3, 4, 7, 14]
+004580_000023:[]
+011811_000018:[4, 7, 10, 13, 18]
+002265_000017:[]
+003580_000029:[4]
+004354_000029:[4, 6, 14, 16, 19]
+012757_000016:[16]
+023372_000021:[]
+012604_000006:[]
+024112_000002:[3]
+009988_000038:[19]
+002040_000028:[]
+010291_000028:[17]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000680_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000680_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8e937acadb45c280f5e3593e3967c68c243b8675
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000680_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+022286_000003:[]
+001840_000028:[]
+014025_000011:[0]
+008632_000016:[]
+015051_000015:[7]
+018019_000029:[]
+013101_000010:[]
+015229_000039:[]
+022337_000031:[]
+017983_000018:[]
+021033_000031:[]
+021742_000010:[]
+014567_000034:[]
+013776_000024:[0]
+014746_000021:[6]
+002316_000035:[]
+011943_000022:[]
+019159_000024:[]
+016918_000032:[]
+003236_000026:[]
+020462_000039:[]
+017792_000027:[17]
+016536_000003:[0, 5, 9]
+005895_000034:[5]
+013317_000002:[0, 3, 4, 7, 16]
+001411_000038:[]
+013814_000004:[]
+005569_000002:[]
+006536_000004:[]
+002307_000038:[1]
+002772_000006:[]
+020036_000031:[3, 18]
+017329_000015:[]
+004332_000036:[]
+001229_000017:[2, 7, 14, 16]
+018399_000014:[]
+006704_000006:[3]
+001256_000025:[]
+004483_000012:[18]
+022217_000007:[]
+005187_000003:[]
+013283_000027:[7, 9, 10, 12, 17]
+003883_000023:[14]
+010501_000020:[8, 13]
+006432_000004:[]
+022673_000035:[0, 1, 13]
+000689_000006:[9, 12, 16, 17, 18]
+016221_000014:[]
+011388_000023:[2, 6]
+019142_000037:[]
+013444_000010:[]
+011856_000032:[7]
+001757_000015:[0, 5, 6, 9]
+002016_000037:[4]
+024331_000007:[2]
+004479_000031:[]
+004250_000007:[2, 3, 17]
+009655_000013:[]
+006286_000026:[]
+007201_000035:[]
+021182_000002:[1, 14]
+008838_000009:[]
+003989_000028:[1, 8]
+023443_000032:[]
+016610_000020:[]
+011215_000022:[2, 3]
+006546_000008:[]
+001481_000006:[]
+024168_000014:[]
+007127_000033:[]
+017794_000011:[]
+011680_000038:[]
+021340_000009:[3, 19]
+010875_000039:[]
+024411_000001:[]
+017198_000033:[]
+018885_000032:[18]
+010090_000029:[16]
+013539_000002:[]
+013611_000012:[]
+004806_000007:[14]
+021225_000001:[13, 15]
+022005_000021:[]
+019592_000021:[18]
+022257_000020:[]
+020372_000014:[]
+015284_000002:[8]
+009965_000023:[9, 19]
+009859_000025:[]
+020364_000014:[0, 3, 7, 10, 11, 13, 15]
+012820_000000:[]
+012304_000011:[7, 12]
+021843_000026:[1, 6, 13, 14, 18]
+024304_000037:[0, 15]
+017588_000022:[5, 14]
+010974_000015:[17]
+018824_000033:[]
+022681_000021:[]
+002495_000000:[14]
+001225_000037:[]
+016302_000008:[18]
+003405_000035:[]
+002901_000025:[]
+006177_000018:[]
+016433_000020:[8, 18]
+003858_000039:[]
+000563_000021:[5]
+024561_000005:[]
+009710_000024:[]
+004723_000029:[]
+020797_000011:[]
+010538_000025:[]
+013495_000005:[]
+011288_000029:[6, 10]
+004957_000012:[12]
+021605_000008:[]
+005959_000016:[]
+012814_000005:[5]
+008826_000029:[]
+013306_000036:[]
+009308_000021:[]
+000515_000004:[3]
+023191_000004:[7]
+009063_000031:[1, 19]
+020270_000037:[]
+006039_000036:[8]
+024926_000026:[2, 6, 8, 11, 12, 15]
+016478_000009:[7, 10, 15]
+015926_000020:[]
+001394_000007:[]
+012412_000004:[0]
+015169_000017:[]
+009267_000032:[]
+008826_000014:[]
+013560_000025:[6, 10, 15]
+010986_000028:[4]
+022063_000038:[12]
+015979_000027:[3, 10, 17]
+014984_000016:[10]
+001170_000012:[]
+015889_000024:[]
+016681_000009:[]
+007619_000001:[]
+016627_000020:[]
+007908_000034:[3, 6, 11]
+022617_000019:[]
+008159_000023:[]
+013995_000016:[]
+009579_000003:[]
+022093_000029:[]
+017299_000003:[]
+013255_000012:[]
+003842_000026:[0, 6, 9, 14]
+020919_000013:[]
+016716_000006:[]
+003850_000029:[]
+012240_000004:[]
+010187_000035:[]
+011976_000022:[1, 2, 4, 9, 11, 14, 19]
+009122_000005:[3, 6, 11, 13]
+004562_000033:[9, 17]
+006267_000029:[]
+003764_000020:[19]
+000390_000005:[]
+000234_000036:[]
+012758_000007:[]
+010100_000036:[]
+004329_000013:[]
+020329_000034:[]
+014155_000022:[]
+008467_000025:[]
+017782_000004:[]
+019194_000026:[]
+001461_000019:[]
+020325_000016:[]
+008023_000003:[]
+003389_000008:[4]
+011942_000013:[]
+011726_000018:[]
+008961_000027:[]
+018690_000031:[]
+000395_000008:[]
+019629_000024:[12]
+015509_000004:[]
+001087_000038:[]
+001247_000021:[16]
+002108_000023:[]
+022031_000014:[0, 1]
+020173_000038:[]
+023290_000002:[]
+022299_000037:[]
+021214_000026:[]
+020733_000010:[]
+003532_000007:[5]
+024652_000029:[2]
+000061_000031:[]
+003158_000003:[]
+002846_000036:[18]
+001090_000033:[0, 2, 9, 10, 14]
+022326_000015:[]
+017924_000014:[]
+001988_000035:[]
+007156_000037:[17]
+003132_000021:[]
+017726_000039:[1]
+017289_000030:[9, 18]
+015909_000035:[19]
+021113_000018:[]
+019895_000021:[]
+018337_000036:[]
+006637_000015:[]
+006510_000012:[4, 7, 18]
+023047_000020:[]
+018317_000005:[]
+014327_000021:[15]
+018847_000023:[2, 6, 7]
+004963_000004:[3, 14, 17]
+009630_000038:[]
+003258_000021:[]
+017443_000027:[7]
+003217_000011:[]
+013825_000004:[7]
+010384_000001:[]
+014106_000034:[19]
+015018_000007:[]
+021171_000006:[]
+011186_000007:[]
+010244_000033:[]
+014853_000025:[]
+018740_000039:[]
+014441_000024:[]
+024806_000009:[]
+017333_000019:[]
+015876_000021:[]
+007785_000039:[3, 5, 6, 8, 13, 19]
+001846_000003:[6]
+023965_000027:[3, 4]
+007718_000017:[11, 15]
+015931_000017:[]
+010454_000026:[4, 8, 14]
+017215_000016:[]
+023239_000013:[2, 5, 11, 18]
+001317_000027:[]
+008782_000010:[2, 9, 11, 14]
+023311_000022:[]
+014706_000037:[2, 3, 6, 9, 10]
+018591_000034:[19]
+012143_000011:[5]
+006367_000037:[]
+000989_000017:[]
+007443_000012:[18]
+015546_000019:[]
+008014_000012:[0, 3, 6, 17]
+024321_000031:[]
+017766_000039:[]
+001957_000010:[]
+005904_000011:[0, 3, 8, 12, 16]
+022445_000030:[]
+007555_000036:[]
+024174_000000:[1, 6, 9, 12, 13, 17, 19]
+013074_000020:[]
+002355_000017:[]
+012440_000023:[]
+020574_000036:[]
+009228_000025:[6]
+018877_000036:[0, 2, 13, 18]
+018688_000035:[]
+012714_000033:[]
+010668_000026:[5, 17, 19]
+021913_000035:[]
+011475_000016:[]
+006836_000009:[0, 10, 11, 17, 19]
+017782_000031:[9]
+006140_000027:[]
+019087_000026:[4, 14]
+020052_000006:[]
+001423_000012:[]
+022164_000026:[2, 6]
+001439_000024:[18]
+013292_000022:[]
+013853_000036:[16]
+015367_000034:[]
+022637_000022:[]
+015303_000016:[0, 9]
+020334_000013:[1, 7, 14, 16]
+012405_000028:[]
+012754_000035:[]
+010753_000005:[4]
+008118_000037:[15, 17]
+005884_000010:[1, 18]
+011116_000001:[14, 16]
+019783_000026:[7, 12, 14, 18]
+013135_000029:[]
+014885_000006:[13]
+021582_000003:[14, 15]
+021962_000022:[]
+005139_000029:[14]
+020986_000038:[]
+023246_000001:[]
+023542_000008:[0, 6]
+009590_000037:[0]
+022908_000005:[]
+001137_000035:[14]
+017328_000015:[]
+001146_000007:[0, 1, 2, 10, 13, 14, 18]
+001317_000015:[]
+017332_000035:[]
+004519_000021:[]
+004489_000026:[]
+001627_000024:[]
+005962_000012:[]
+015761_000004:[]
+012035_000034:[]
+013405_000022:[]
+003596_000036:[]
+015560_000016:[1, 8]
+022601_000033:[2, 15]
+011355_000022:[]
+022509_000003:[]
+017293_000035:[]
+002258_000035:[0, 3, 13]
+003262_000036:[]
+014436_000002:[]
+018119_000014:[]
+010990_000025:[]
+010289_000038:[4, 5, 8]
+016624_000011:[16]
+009632_000006:[0, 2, 9, 12, 19]
+010443_000005:[1]
+011460_000004:[0]
+016467_000033:[]
+006037_000015:[15]
+008134_000028:[5, 9]
+013123_000006:[]
+009663_000004:[]
+023557_000032:[]
+019789_000019:[4, 17, 19]
+009609_000032:[]
+016885_000035:[]
+012414_000009:[6, 9, 14]
+011966_000030:[]
+022596_000039:[]
+018904_000028:[]
+005924_000026:[2, 3, 9, 13, 16]
+024917_000024:[1]
+012868_000018:[]
+001306_000004:[]
+013989_000018:[8]
+021257_000026:[]
+003954_000034:[]
+006182_000038:[]
+015479_000039:[]
+016009_000022:[]
+012418_000032:[]
+022283_000020:[]
+018626_000022:[]
+006303_000012:[7]
+018529_000010:[]
+024863_000017:[]
+021562_000035:[]
+024342_000000:[]
+011161_000037:[]
+006991_000012:[]
+012765_000021:[]
+004958_000020:[]
+022724_000001:[]
+004679_000019:[1]
+024367_000039:[]
+019507_000039:[1, 5, 9, 11, 13, 15, 18]
+022029_000005:[5, 14]
+018472_000030:[]
+023416_000039:[7]
+012080_000018:[]
+016515_000011:[]
+012842_000029:[]
+021585_000022:[]
+002763_000030:[3]
+008606_000030:[7, 8, 12, 19]
+022648_000033:[]
+020627_000016:[]
+011459_000020:[]
+005184_000016:[]
+019278_000024:[1, 14, 16, 17, 19]
+023197_000008:[]
+005592_000028:[14]
+021720_000032:[]
+008708_000031:[]
+006556_000030:[0, 1]
+004295_000031:[]
+024728_000032:[]
+012845_000038:[8, 15]
+015512_000018:[9]
+013415_000025:[8]
+019341_000028:[]
+017747_000017:[0, 11, 14, 18]
+019078_000030:[]
+014204_000029:[17]
+020430_000015:[9, 10]
+005605_000000:[]
+023964_000013:[]
+018800_000023:[]
+015957_000033:[]
+001126_000008:[]
+008066_000018:[]
+021410_000002:[6]
+015094_000039:[17, 18]
+000101_000007:[]
+017004_000012:[]
+002408_000038:[]
+016319_000024:[16]
+006687_000013:[1]
+010337_000022:[16]
+009736_000008:[]
+009050_000023:[]
+018182_000012:[]
+010173_000032:[12]
+001818_000039:[0, 18]
+005440_000025:[]
+024562_000026:[7, 11, 17, 18]
+004616_000038:[]
+007110_000028:[0, 8, 10]
+019477_000026:[2]
+015533_000012:[]
+020782_000032:[0, 8, 14, 16]
+007280_000004:[15]
+022358_000003:[15]
+023156_000000:[]
+018018_000003:[3]
+021440_000020:[]
+000977_000035:[]
+017588_000027:[]
+009142_000014:[4, 15, 18]
+012715_000009:[]
+007159_000004:[0, 9, 10, 15]
+000649_000034:[]
+016906_000039:[]
+002877_000008:[]
+010253_000033:[]
+010026_000038:[]
+012049_000022:[9]
+010010_000009:[]
+007636_000025:[9]
+019023_000002:[]
+001747_000033:[5, 6, 7, 9]
+000824_000009:[6]
+019798_000012:[]
+010471_000026:[]
+009496_000003:[]
+004175_000020:[3, 5, 7, 11, 15, 16, 17, 18]
+017317_000028:[4, 13]
+010486_000009:[0, 7]
+017262_000017:[]
+021312_000009:[10, 17]
+022193_000032:[]
+000038_000021:[14, 18]
+019476_000001:[]
+005274_000030:[2]
+018126_000034:[]
+009774_000015:[]
+015404_000031:[15]
+019449_000013:[]
+017506_000020:[]
+013662_000029:[10]
+014527_000007:[]
+015484_000017:[0, 1, 4, 6, 7, 11, 16, 17]
+024594_000019:[]
+015405_000038:[]
+006596_000012:[]
+023927_000007:[]
+022371_000015:[]
+022752_000012:[]
+017718_000036:[1]
+007793_000029:[3]
+012351_000004:[9]
+005310_000019:[2, 6, 13, 17]
+001874_000038:[]
+014791_000038:[]
+016341_000005:[17]
+018943_000025:[0]
+007655_000004:[]
+001680_000033:[]
+023928_000015:[6, 16, 19]
+011764_000020:[6, 10]
+023243_000005:[]
+002398_000030:[]
+006677_000002:[]
+023354_000024:[]
+018642_000005:[]
+000240_000007:[]
+006361_000035:[12, 14]
+018420_000006:[13, 19]
+017759_000008:[9]
+016075_000024:[3, 7, 13, 15]
+017983_000037:[]
+018003_000031:[9, 11, 13, 15, 19]
+016909_000005:[]
+023665_000011:[8]
+016591_000014:[]
+009091_000002:[5, 8]
+022932_000027:[2, 4]
+011405_000013:[6, 13]
+002271_000036:[]
+004955_000014:[17]
+015110_000022:[]
+008111_000019:[0, 12, 14]
+010395_000023:[]
+016532_000009:[]
+022180_000015:[9, 11, 17]
+017729_000028:[]
+020092_000002:[]
+007498_000035:[]
+000128_000000:[1, 3, 8, 11, 13]
+016954_000005:[]
+004044_000003:[]
+012757_000000:[2, 10]
+003473_000022:[]
+001905_000027:[]
+021197_000039:[]
+023697_000028:[]
+013454_000009:[]
+014818_000027:[]
+009460_000031:[]
+018847_000022:[]
+005565_000032:[5, 8]
+005620_000020:[3]
+007153_000013:[]
+008669_000000:[]
+016033_000000:[18]
+005349_000003:[]
+006569_000026:[]
+007284_000018:[12, 18]
+006258_000023:[14]
+022959_000014:[]
+016389_000036:[3, 13]
+015793_000000:[9]
+018448_000017:[]
+007499_000001:[9, 10, 14]
+016914_000017:[]
+001737_000033:[]
+005891_000016:[]
+008023_000028:[]
+006950_000036:[]
+023510_000004:[0]
+020890_000037:[]
+006310_000010:[12, 13, 17, 19]
+019353_000019:[]
+018057_000033:[]
+004817_000023:[]
+008529_000028:[]
+017940_000012:[13]
+013325_000017:[]
+009785_000007:[]
+010184_000026:[]
+001587_000032:[6]
+024113_000022:[3]
+007275_000038:[0, 1, 5, 7, 8, 13, 16, 17, 18]
+012537_000021:[0, 5, 6, 11, 16]
+004066_000025:[7, 10]
+017935_000013:[3, 7]
+007740_000014:[]
+009711_000012:[8, 12]
+014063_000033:[]
+001277_000014:[]
+023360_000006:[]
+001795_000005:[3, 4]
+014623_000010:[]
+018917_000000:[3]
+001672_000016:[3, 6, 19]
+015363_000014:[2, 4]
+017611_000014:[]
+019397_000035:[]
+019519_000015:[]
+019474_000007:[]
+015293_000005:[]
+013729_000009:[]
+000168_000021:[6]
+005745_000014:[]
+023919_000039:[4, 7, 9]
+000800_000010:[]
+012122_000007:[]
+002751_000038:[3]
+009098_000009:[2]
+024578_000009:[16]
+011841_000030:[16]
+016691_000034:[]
+014547_000037:[]
+015770_000003:[18]
+017780_000003:[]
+000220_000023:[8]
+013703_000025:[]
+014162_000038:[]
+000104_000034:[1]
+009865_000029:[]
+002273_000023:[1, 11, 15]
+017559_000020:[]
+006601_000038:[6, 8]
+013650_000003:[]
+003037_000026:[]
+017055_000000:[]
+010263_000014:[1, 3]
+020905_000037:[5, 10]
+001797_000008:[12, 13]
+009763_000006:[]
+018838_000017:[]
+022169_000007:[]
+019989_000022:[]
+010708_000010:[]
+006774_000014:[]
+018821_000030:[]
+019920_000013:[]
+003863_000019:[7]
+014806_000007:[3, 9]
+005591_000037:[]
+021045_000010:[]
+006093_000021:[13]
+008857_000015:[]
+007676_000030:[]
+016841_000036:[]
+009779_000014:[7]
+013673_000021:[]
+001637_000021:[]
+008217_000029:[]
+011427_000010:[]
+000365_000020:[16]
+006906_000038:[]
+003079_000009:[]
+005532_000003:[]
+006619_000016:[4, 7, 10]
+008496_000029:[2, 13]
+008095_000012:[0, 11, 14]
+011562_000032:[]
+015362_000035:[1]
+022970_000003:[]
+000627_000024:[4, 17]
+010433_000026:[]
+019100_000003:[]
+012647_000013:[11]
+016375_000033:[]
+008973_000020:[13, 16, 19]
+024638_000032:[]
+007101_000033:[]
+019044_000007:[]
+003115_000007:[]
+014552_000017:[]
+003451_000036:[0, 4, 7, 8, 9, 11, 15, 16, 18]
+001916_000011:[]
+017319_000019:[]
+023307_000008:[7]
+020797_000025:[]
+009422_000026:[]
+004258_000023:[15]
+003240_000030:[]
+009443_000035:[2, 4, 6, 16]
+009211_000038:[3]
+004125_000020:[]
+013785_000013:[9]
+016909_000017:[7, 17]
+011283_000009:[3]
+019308_000030:[]
+006484_000002:[9]
+024004_000021:[2, 6, 10, 12, 15]
+010100_000012:[]
+016864_000032:[]
+022424_000014:[14]
+019431_000014:[12, 13]
+015399_000005:[]
+010555_000007:[]
+003281_000016:[]
+013107_000000:[17]
+002618_000030:[17]
+019317_000022:[]
+015433_000011:[]
+011906_000001:[]
+018855_000007:[]
+002165_000021:[17]
+024600_000022:[]
+017454_000031:[]
+024760_000017:[15, 17]
+006750_000018:[]
+014656_000021:[]
+013633_000027:[]
+003706_000000:[5]
+010057_000013:[]
+021523_000035:[]
+006193_000022:[9, 13, 15, 19]
+003689_000023:[]
+015920_000022:[]
+013003_000024:[1, 2, 7, 8]
+014706_000011:[]
+000934_000022:[1]
+017725_000017:[]
+005407_000001:[]
+023258_000023:[]
+016184_000004:[]
+019544_000020:[1, 5]
+010949_000020:[]
+002622_000027:[]
+009870_000017:[]
+002723_000025:[]
+013326_000038:[14]
+013550_000005:[]
+018743_000026:[0, 1, 10]
+009542_000032:[]
+003163_000000:[]
+012822_000039:[]
+008624_000010:[4]
+022295_000030:[]
+023339_000028:[]
+006104_000035:[3, 9, 17]
+015795_000039:[0]
+009701_000033:[16]
+006967_000017:[]
+001188_000039:[0, 1, 16]
+000406_000014:[]
+021555_000037:[1]
+016205_000002:[]
+001975_000000:[]
+000575_000016:[2]
+022462_000016:[3, 8]
+005784_000012:[]
+023643_000001:[]
+019990_000010:[]
+006832_000022:[]
+004313_000003:[]
+022628_000017:[4]
+019690_000018:[]
+020130_000037:[]
+003568_000033:[]
+024566_000012:[7]
+002050_000031:[2, 16]
+022775_000010:[1, 4]
+023399_000013:[]
+020445_000004:[16]
+010132_000029:[4]
+002408_000019:[]
+024634_000039:[8]
+009410_000011:[19]
+005835_000000:[]
+012926_000031:[2, 5, 7, 9, 12, 14, 19]
+007767_000017:[]
+024980_000017:[9, 11, 14, 19]
+010536_000012:[]
+009892_000020:[]
+000604_000024:[16]
+007646_000011:[]
+008422_000024:[0, 2, 4, 8, 17, 18]
+024660_000006:[7, 9, 10]
+001115_000005:[16]
+023446_000030:[]
+010236_000035:[]
+018618_000037:[6]
+022228_000028:[]
+022959_000012:[]
+001893_000027:[3, 7, 12, 15]
+019855_000030:[]
+008072_000032:[1, 2, 8, 13]
+024288_000036:[5, 12]
+010787_000028:[]
+019471_000032:[6]
+010198_000003:[]
+004007_000031:[3, 7, 9, 11, 12, 14, 16, 17, 19]
+004757_000021:[5, 7]
+015664_000020:[]
+018729_000008:[]
+024228_000006:[]
+004374_000036:[14]
+019431_000036:[10]
+003941_000036:[]
+003037_000025:[]
+020923_000033:[0, 1, 7, 9, 11, 18, 19]
+022475_000033:[1, 4, 6]
+014023_000018:[]
+004306_000014:[]
+021461_000036:[]
+024618_000003:[]
+022886_000024:[]
+013856_000037:[4, 8]
+002683_000034:[11]
+013033_000035:[]
+002630_000031:[1, 19]
+020401_000003:[1, 10]
+006946_000000:[0, 3, 7, 12]
+018924_000016:[]
+007643_000026:[]
+011153_000000:[]
+012651_000018:[]
+011722_000021:[14]
+009579_000020:[]
+009030_000027:[]
+014782_000009:[0]
+007417_000025:[]
+020642_000007:[]
+016192_000025:[19]
+015883_000032:[0]
+010639_000025:[]
+010013_000015:[]
+016955_000012:[]
+018436_000025:[]
+019586_000033:[8]
+007724_000011:[3, 7, 19]
+008167_000006:[]
+005724_000016:[]
+018606_000002:[11]
+004857_000034:[5, 12, 14]
+024395_000036:[]
+004919_000025:[]
+008524_000023:[18]
+021694_000031:[]
+009077_000034:[]
+016003_000027:[]
+022608_000034:[]
+003043_000004:[]
+018955_000000:[]
+005674_000027:[]
+023883_000017:[]
+002579_000031:[]
+008642_000033:[1, 11, 17]
+002788_000019:[]
+003806_000000:[]
+003303_000006:[]
+012303_000026:[]
+012446_000018:[5]
+011500_000016:[]
+021786_000028:[]
+005407_000039:[]
+010955_000025:[]
+002121_000039:[6, 12]
+023738_000038:[]
+010650_000023:[]
+014342_000026:[4]
+002394_000025:[1, 10]
+024835_000036:[]
+010103_000014:[]
+019570_000036:[17]
+024132_000037:[8]
+024201_000008:[]
+009355_000034:[]
+022123_000015:[]
+010806_000025:[]
+007801_000017:[]
+002576_000031:[4, 9, 10]
+017578_000000:[1, 10, 18]
+004626_000004:[]
+018366_000009:[]
+010402_000039:[0, 1, 2, 7, 9, 10, 15]
+012461_000028:[19]
+013232_000038:[]
+021109_000028:[1, 8, 9, 14]
+017638_000016:[]
+005458_000034:[19]
+002968_000001:[]
+017350_000029:[3, 10, 16]
+014463_000025:[]
+022406_000035:[]
+007867_000001:[9, 11, 18]
+012602_000013:[7]
+011188_000007:[]
+024262_000002:[]
+000018_000024:[]
+019841_000029:[]
+001947_000018:[2, 14]
+022263_000012:[]
+018640_000032:[]
+009171_000039:[]
+012594_000031:[5, 6, 9]
+023787_000027:[7, 15, 17]
+007552_000003:[]
+015644_000029:[]
+019931_000007:[]
+009840_000036:[1, 17]
+000752_000023:[]
+009583_000027:[]
+020297_000004:[]
+015460_000018:[]
+007631_000039:[5]
+021371_000039:[5, 7]
+006254_000029:[]
+006796_000032:[]
+004430_000001:[18]
+013519_000004:[19]
+009513_000022:[3, 8]
+020237_000018:[8]
+017888_000018:[]
+002168_000003:[2, 5, 7, 10, 13, 15, 17]
+017536_000016:[]
+014127_000025:[5]
+003097_000024:[]
+012184_000019:[10]
+024373_000027:[]
+008600_000003:[]
+008874_000018:[15, 18, 19]
+001045_000019:[4, 14]
+004385_000013:[]
+019211_000019:[11]
+019716_000026:[6, 7]
+015963_000003:[5, 17]
+018963_000026:[12, 13]
+010924_000037:[11]
+001402_000004:[0]
+022846_000029:[]
+023398_000033:[]
+017902_000010:[]
+001829_000015:[7, 15]
+020323_000016:[7]
+009074_000032:[]
+015219_000012:[]
+007455_000004:[]
+020296_000002:[3]
+001979_000022:[]
+001997_000037:[]
+005866_000005:[0, 4, 6, 10, 13, 14, 16, 19]
+008408_000033:[]
+009678_000020:[]
+002322_000019:[8, 9, 16]
+016127_000013:[0, 1, 4, 10]
+020426_000036:[]
+006849_000007:[0]
+018533_000003:[]
+021432_000039:[19]
+017391_000014:[8, 12]
+017851_000038:[17]
+002069_000019:[]
+018682_000034:[5]
+006665_000021:[6, 18]
+002992_000015:[]
+023074_000011:[6]
+023448_000018:[]
+002932_000006:[16]
+019762_000013:[]
+009336_000031:[]
+011264_000007:[]
+022887_000016:[]
+016706_000016:[]
+009414_000036:[5, 18]
+023312_000001:[13]
+014569_000037:[12]
+022962_000004:[]
+011490_000025:[9, 11, 13]
+013894_000034:[19]
+022724_000025:[]
+022906_000010:[19]
+014226_000033:[]
+020072_000011:[]
+017522_000002:[16]
+018368_000006:[9, 11, 16]
+023515_000014:[4, 9, 13, 17]
+018120_000010:[16, 19]
+005393_000017:[]
+004483_000006:[14]
+024749_000008:[]
+020822_000002:[]
+013009_000034:[]
+022468_000037:[11]
+024654_000014:[]
+013159_000009:[]
+022139_000029:[]
+013291_000010:[]
+006862_000020:[]
+011512_000017:[6, 10, 18]
+019876_000007:[2, 19]
+010251_000012:[]
+018575_000033:[]
+015850_000028:[]
+023962_000033:[]
+014429_000002:[]
+001661_000028:[8, 11]
+024643_000009:[]
+005285_000006:[]
+021752_000032:[]
+018024_000002:[]
+016086_000023:[9, 13]
+022085_000013:[]
+018299_000012:[]
+016579_000032:[]
+015538_000019:[]
+023861_000038:[]
+002535_000017:[]
+023162_000002:[2, 3, 15]
+020652_000027:[3, 11]
+024732_000001:[]
+017412_000005:[2]
+020449_000018:[2, 4, 10, 15, 16]
+007913_000006:[11]
+014432_000020:[]
+001095_000010:[0, 1, 3, 7, 8, 10, 12, 14]
+006118_000014:[]
+019681_000016:[]
+020830_000010:[1]
+013659_000029:[]
+016780_000031:[13, 14, 15, 17]
+014612_000022:[]
+022556_000018:[]
+010806_000012:[0]
+001172_000003:[10]
+003953_000037:[]
+017072_000033:[]
+007253_000013:[]
+008954_000037:[]
+016047_000000:[]
+007543_000007:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000704_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000704_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2e97cbae8e36441f452952088358c3fc68313d05
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000704_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+022474_000020:[]
+020923_000038:[0, 4, 7, 11, 13, 16, 18]
+013961_000005:[6]
+011197_000003:[3]
+003486_000005:[]
+009390_000033:[3, 4, 5, 9, 17]
+021872_000003:[9]
+000297_000018:[]
+023811_000017:[]
+007659_000004:[6]
+017568_000005:[]
+001689_000011:[0, 1, 5, 12]
+023742_000036:[]
+014165_000023:[1]
+013028_000019:[]
+024883_000027:[]
+010325_000013:[0, 13]
+009086_000019:[]
+009897_000012:[]
+013573_000015:[]
+008015_000033:[]
+020319_000031:[2]
+023499_000022:[2]
+019160_000030:[0, 2, 4, 8, 10, 11, 14, 16, 18]
+017177_000022:[]
+014569_000010:[]
+010364_000021:[12]
+020093_000026:[]
+020339_000007:[]
+020146_000034:[0, 14, 15]
+005304_000010:[]
+004435_000001:[]
+004638_000037:[]
+002994_000006:[]
+017041_000001:[19]
+006223_000017:[]
+005609_000006:[4, 5, 6, 7, 17, 18]
+014949_000010:[]
+011925_000022:[6, 18]
+003516_000015:[]
+013284_000006:[]
+008205_000002:[]
+021573_000030:[]
+008727_000024:[3, 8]
+019428_000039:[]
+000622_000005:[]
+002169_000039:[3]
+010980_000020:[]
+008242_000013:[]
+015228_000019:[19]
+021175_000025:[]
+009572_000014:[15]
+004404_000002:[]
+003582_000033:[15]
+007263_000032:[]
+002442_000030:[2, 11]
+007645_000025:[7, 18]
+020135_000023:[]
+019377_000003:[1, 6, 9, 10, 14, 17]
+015377_000017:[8]
+001464_000018:[]
+016381_000027:[7]
+001833_000026:[]
+020966_000022:[0]
+010803_000028:[2, 14]
+010412_000003:[]
+017791_000024:[]
+006155_000008:[7, 10, 14]
+013920_000009:[]
+002710_000006:[]
+007896_000007:[]
+016208_000032:[]
+004150_000030:[]
+020868_000022:[]
+021103_000012:[]
+012421_000012:[]
+005829_000003:[]
+012499_000025:[]
+000021_000005:[]
+009000_000018:[11]
+016599_000014:[10, 16]
+019581_000024:[]
+002815_000019:[5, 10]
+004514_000014:[]
+021102_000001:[]
+001516_000035:[7]
+010240_000001:[2, 4]
+008229_000035:[]
+019579_000035:[]
+023201_000007:[8, 17]
+003764_000030:[2, 3, 11, 15, 18]
+018574_000034:[]
+020656_000005:[7, 11]
+008385_000003:[17]
+022686_000019:[17]
+000542_000038:[]
+021952_000034:[7, 14]
+009500_000012:[5, 16]
+012584_000026:[]
+010260_000012:[0]
+004522_000013:[8]
+022467_000000:[]
+004850_000018:[]
+004224_000001:[]
+008089_000032:[]
+012745_000029:[]
+024362_000025:[]
+016020_000029:[8]
+004548_000010:[]
+003534_000032:[4, 18, 19]
+010640_000014:[]
+002187_000026:[5]
+000116_000015:[14]
+020805_000004:[4, 12]
+004245_000008:[6, 14]
+013920_000018:[]
+005510_000026:[4]
+020425_000024:[]
+019527_000037:[]
+020715_000034:[]
+013648_000022:[2, 4, 6, 7, 8, 9, 10, 12, 14, 17, 18]
+008261_000015:[]
+011518_000000:[]
+003172_000006:[]
+008560_000022:[8]
+016161_000005:[4, 7, 19]
+012008_000000:[15]
+007779_000030:[]
+015164_000031:[5, 6, 12, 13]
+019010_000025:[13]
+004352_000005:[]
+022879_000028:[]
+017819_000018:[]
+012274_000019:[9]
+023424_000007:[]
+012946_000021:[]
+008993_000016:[13]
+006559_000034:[]
+005465_000028:[19]
+009583_000002:[0]
+017348_000027:[]
+008929_000001:[]
+002057_000036:[9, 12]
+012980_000039:[2, 6, 15, 18]
+021729_000028:[]
+019170_000028:[4]
+022821_000012:[1, 14]
+011926_000023:[1, 5, 7, 8, 11, 16, 17]
+009816_000033:[9]
+022394_000007:[]
+005191_000023:[2, 6, 9, 15, 16]
+024417_000028:[1]
+020653_000004:[9]
+010151_000010:[]
+005694_000032:[]
+020926_000021:[]
+004340_000002:[]
+015004_000010:[]
+018907_000035:[0, 4, 7, 8, 14, 16, 19]
+008059_000025:[]
+005888_000002:[6, 13, 16]
+017617_000014:[]
+009523_000021:[]
+017407_000015:[]
+021221_000033:[15, 18, 19]
+020893_000025:[]
+019294_000013:[4]
+017752_000009:[]
+024829_000025:[]
+015957_000020:[4]
+009945_000031:[]
+023434_000038:[]
+002415_000004:[]
+024896_000016:[4, 9, 12]
+000819_000011:[4, 5, 7, 8, 9, 12, 13, 15, 17]
+012397_000007:[]
+024290_000024:[]
+006299_000038:[]
+018376_000035:[2, 8, 11, 17, 19]
+002988_000019:[]
+017599_000021:[]
+012354_000017:[0, 8, 17]
+009078_000001:[]
+010191_000032:[]
+024624_000021:[]
+020367_000013:[]
+002087_000010:[9, 11, 14]
+016010_000033:[1, 2, 12]
+001888_000000:[]
+014540_000009:[]
+020569_000021:[10]
+011631_000029:[]
+002313_000006:[]
+018410_000020:[15]
+000289_000031:[]
+008090_000000:[]
+019305_000020:[]
+003677_000010:[]
+012838_000011:[5]
+024903_000035:[5]
+024714_000024:[]
+007498_000002:[5, 8, 11, 12, 18]
+016904_000038:[2]
+013383_000029:[17]
+003233_000022:[17, 18]
+023467_000017:[0, 8, 13, 14]
+012956_000006:[]
+003108_000025:[3]
+014958_000031:[5]
+018919_000002:[15]
+014522_000000:[]
+022291_000004:[]
+018090_000020:[6, 11, 13, 15, 16]
+002027_000003:[10]
+024924_000016:[]
+014984_000024:[]
+007569_000027:[]
+017382_000015:[0, 1, 2, 4, 7, 11, 12, 13, 18]
+009028_000013:[]
+015892_000007:[]
+011261_000017:[]
+017347_000007:[6, 8]
+007298_000026:[]
+002967_000010:[4, 9]
+010624_000022:[4, 13]
+012105_000002:[13]
+020133_000023:[1, 3]
+011616_000020:[]
+004510_000014:[0]
+015135_000021:[4, 11]
+007649_000036:[5, 13]
+018307_000036:[]
+021429_000001:[]
+003452_000038:[]
+018524_000023:[]
+022117_000026:[]
+009014_000005:[17]
+008785_000028:[]
+020551_000036:[]
+007988_000024:[1, 11, 17]
+015484_000003:[0]
+006784_000021:[4, 5, 15]
+022434_000020:[]
+006447_000027:[19]
+011246_000007:[]
+008073_000002:[]
+011419_000039:[]
+012671_000000:[]
+001530_000003:[2, 6, 18]
+016262_000032:[0, 7, 12, 13]
+006543_000021:[7, 17]
+024937_000020:[]
+000723_000002:[0, 1, 6]
+001284_000038:[7]
+020154_000039:[]
+005316_000030:[4, 13]
+008809_000008:[4]
+000424_000015:[]
+017178_000037:[11, 16]
+003291_000037:[]
+009415_000024:[]
+000441_000035:[]
+003822_000023:[3, 15]
+008652_000005:[]
+003300_000028:[]
+019346_000021:[3]
+017015_000037:[]
+001741_000023:[17]
+015796_000006:[0, 1, 4, 7, 13]
+013344_000039:[9]
+013948_000028:[]
+000601_000028:[16]
+015342_000028:[]
+017032_000025:[]
+014143_000016:[8]
+014421_000009:[]
+015728_000039:[]
+009294_000011:[]
+014667_000006:[7, 14, 15]
+001662_000003:[]
+010873_000039:[2, 6, 12, 18]
+021897_000029:[]
+021619_000005:[]
+000474_000022:[]
+016246_000014:[]
+000762_000029:[]
+014891_000015:[]
+008433_000020:[]
+018394_000027:[]
+015200_000032:[]
+002388_000039:[0]
+007900_000006:[]
+012849_000012:[]
+015352_000003:[15]
+017706_000022:[]
+002388_000016:[15, 16]
+023529_000000:[6]
+007976_000031:[11, 12]
+000227_000011:[]
+019917_000036:[10]
+016091_000034:[]
+024117_000001:[3]
+014561_000014:[]
+014619_000033:[]
+006668_000005:[1]
+012641_000028:[2]
+020888_000031:[0, 2, 9]
+011722_000000:[14]
+008822_000027:[]
+008500_000009:[]
+021503_000014:[]
+024523_000020:[2]
+024358_000035:[]
+003107_000017:[9]
+002315_000001:[8]
+008563_000013:[]
+005708_000014:[3, 6, 8, 9]
+006847_000021:[2]
+004447_000027:[]
+010003_000020:[]
+015317_000010:[]
+001220_000033:[6]
+002228_000008:[]
+017306_000009:[]
+000224_000026:[3]
+002982_000028:[]
+022905_000018:[4, 7]
+005346_000008:[0, 1, 2, 12, 14, 16]
+011238_000004:[19]
+020260_000018:[1]
+010816_000033:[]
+016780_000012:[18]
+022084_000000:[5, 8]
+016201_000003:[]
+013142_000025:[]
+019834_000030:[]
+001910_000015:[]
+002419_000031:[17]
+019213_000018:[]
+012786_000007:[]
+020658_000027:[1, 6, 8, 9, 12, 14, 15, 17]
+014518_000019:[0, 3, 18]
+021328_000011:[]
+019333_000010:[9]
+010537_000017:[]
+022718_000026:[]
+022177_000006:[]
+014009_000004:[]
+014324_000037:[]
+004991_000005:[10]
+008904_000035:[]
+014461_000014:[3, 8]
+016542_000007:[6, 12, 13]
+008730_000001:[]
+005668_000002:[]
+005756_000000:[14, 17]
+002920_000011:[10]
+003730_000034:[]
+021999_000037:[]
+008080_000017:[5]
+011022_000002:[7]
+017444_000014:[]
+014525_000017:[]
+005924_000032:[6, 9, 10, 16]
+018979_000025:[]
+021401_000014:[17]
+005167_000006:[]
+011242_000007:[]
+015494_000005:[]
+006008_000036:[]
+021290_000033:[]
+008710_000000:[4]
+021300_000036:[]
+015054_000021:[6]
+017953_000036:[12, 19]
+007197_000017:[]
+022884_000030:[]
+017720_000027:[]
+000091_000010:[]
+018943_000016:[]
+013083_000011:[]
+018386_000022:[]
+017621_000016:[]
+006493_000031:[4, 8]
+021006_000020:[2, 4, 10]
+004544_000014:[3]
+020778_000002:[]
+022436_000032:[]
+015069_000026:[]
+016774_000026:[2, 3, 4, 7, 9, 11, 17, 18]
+017282_000026:[18]
+020447_000034:[16]
+022980_000026:[]
+004219_000033:[]
+005734_000002:[]
+013276_000004:[]
+021305_000021:[8, 9]
+010017_000002:[0, 2, 3, 4, 15, 17]
+005366_000023:[]
+020856_000026:[]
+024467_000014:[0]
+001456_000034:[3, 4, 5, 6, 8, 10, 14, 15, 16, 19]
+009435_000021:[]
+009235_000033:[0, 1, 4, 8, 9, 10, 11, 12, 19]
+010866_000017:[]
+005232_000038:[14]
+022987_000014:[10, 12]
+007429_000025:[]
+018163_000006:[]
+015318_000027:[12]
+007706_000003:[]
+002326_000007:[15]
+019066_000030:[]
+006675_000005:[]
+017948_000027:[]
+024640_000002:[]
+020220_000031:[]
+011072_000012:[]
+020146_000008:[]
+011638_000031:[]
+006228_000039:[]
+011589_000006:[2, 5, 8, 10, 17]
+024316_000003:[6]
+023929_000037:[11]
+004071_000010:[]
+006215_000029:[]
+014149_000002:[]
+015937_000009:[]
+003941_000018:[2, 10]
+003963_000035:[10]
+021919_000031:[9, 13]
+014539_000021:[0]
+024176_000021:[]
+020050_000000:[13]
+007501_000001:[]
+015961_000019:[5]
+012338_000036:[12]
+001958_000026:[4]
+023956_000026:[0]
+002333_000038:[19]
+004931_000016:[]
+002391_000034:[]
+004334_000019:[]
+015054_000000:[]
+016630_000007:[]
+004324_000011:[]
+022798_000006:[5]
+019475_000015:[]
+001414_000003:[]
+003601_000028:[0, 9, 14]
+008379_000003:[14]
+012037_000018:[]
+012301_000003:[13]
+012165_000011:[]
+010470_000031:[]
+014358_000009:[]
+016614_000013:[]
+008089_000009:[]
+005116_000034:[]
+024442_000036:[1, 11, 16]
+004081_000012:[]
+003826_000013:[]
+002003_000029:[]
+011466_000037:[0]
+005565_000003:[]
+011807_000004:[]
+009735_000004:[2]
+009804_000020:[]
+023647_000026:[3]
+000159_000036:[]
+018293_000034:[]
+003634_000006:[16]
+005950_000021:[]
+002694_000011:[8]
+021734_000024:[]
+023742_000025:[]
+019380_000013:[10, 19]
+021216_000027:[]
+007085_000019:[10, 15]
+012120_000018:[6]
+002235_000010:[]
+017841_000027:[0]
+005285_000032:[2]
+023518_000026:[]
+018457_000010:[9, 12, 16]
+022241_000026:[]
+004204_000031:[0, 2, 4, 10, 14, 15]
+013579_000009:[1, 8, 9, 15]
+006345_000016:[13, 18]
+013569_000035:[11, 19]
+010354_000000:[]
+020348_000024:[4, 9, 19]
+014228_000029:[6, 13]
+002995_000001:[]
+007949_000023:[9, 16]
+009947_000011:[]
+002207_000022:[]
+003072_000037:[]
+009836_000031:[17, 18, 19]
+009943_000025:[]
+005501_000015:[]
+006753_000017:[]
+015450_000018:[3, 5, 10]
+000145_000004:[]
+022310_000024:[3, 5, 6, 7, 8, 12, 16]
+021023_000015:[]
+005087_000022:[15]
+024281_000002:[2]
+017557_000038:[]
+016827_000016:[2, 8, 9]
+010375_000006:[]
+015384_000012:[]
+000081_000023:[]
+012313_000029:[]
+015904_000005:[2, 3, 4, 18]
+015335_000037:[]
+023534_000028:[13]
+006940_000003:[]
+012869_000024:[]
+011280_000003:[]
+000071_000021:[]
+005242_000012:[]
+010663_000012:[9, 11]
+019791_000029:[13, 14, 18]
+018841_000010:[]
+002332_000018:[]
+015870_000030:[]
+016508_000017:[5, 6, 10, 17, 18, 19]
+001580_000003:[]
+006793_000022:[0, 11]
+003190_000014:[]
+003293_000016:[2, 7, 8, 13, 14, 19]
+004303_000014:[]
+001180_000036:[]
+001328_000035:[]
+023641_000014:[]
+023757_000003:[]
+005686_000020:[9]
+022429_000005:[]
+017210_000010:[9, 18]
+009936_000026:[]
+007938_000001:[5, 14]
+015371_000034:[]
+006577_000008:[]
+014494_000024:[]
+002496_000011:[3, 10, 12, 13, 15, 18, 19]
+000462_000013:[]
+001164_000015:[0, 7, 18]
+011154_000035:[]
+012244_000039:[]
+007219_000002:[4]
+018947_000002:[6]
+006098_000009:[15]
+004599_000019:[]
+006908_000023:[]
+016547_000021:[9, 10, 17]
+012693_000033:[]
+016787_000033:[]
+008909_000016:[]
+000468_000017:[7]
+014790_000012:[5]
+018260_000028:[]
+022451_000018:[4, 9]
+012635_000019:[1]
+002555_000024:[3, 5]
+009485_000037:[5]
+004873_000014:[]
+015282_000033:[]
+024174_000018:[4]
+014897_000024:[]
+017450_000018:[]
+005193_000014:[2]
+017909_000003:[18]
+012960_000031:[]
+011282_000017:[8]
+001450_000038:[]
+014796_000006:[]
+014365_000018:[]
+005408_000005:[8]
+017627_000036:[4, 7, 12, 14]
+023934_000004:[4, 7]
+023721_000001:[]
+005829_000020:[]
+019107_000016:[]
+005747_000039:[]
+004922_000007:[7]
+011420_000016:[8]
+010710_000033:[]
+017148_000034:[]
+023421_000015:[9, 13]
+018122_000009:[1, 5, 6, 19]
+017240_000026:[]
+017153_000026:[]
+016811_000006:[0, 17]
+006691_000035:[]
+016105_000015:[]
+018987_000010:[]
+018678_000018:[]
+005904_000026:[7, 13]
+005545_000033:[6]
+018696_000005:[]
+015994_000039:[17]
+018677_000001:[]
+015072_000039:[]
+010098_000009:[13]
+007123_000015:[17]
+019081_000001:[]
+003047_000037:[]
+015131_000028:[9, 17]
+004061_000001:[]
+024233_000009:[]
+017701_000032:[]
+018131_000010:[12]
+016276_000014:[10]
+008523_000004:[]
+014806_000018:[]
+012882_000002:[6, 9]
+022989_000021:[]
+017964_000011:[16]
+004724_000000:[]
+010970_000028:[]
+001769_000006:[]
+021849_000038:[]
+011998_000029:[1]
+011795_000033:[0, 7, 14]
+006186_000015:[]
+001359_000028:[]
+021771_000009:[0, 5, 6, 8]
+007894_000039:[]
+007347_000024:[1, 2, 9, 10, 15]
+015047_000020:[]
+004642_000024:[2]
+008682_000039:[]
+007042_000039:[1, 2, 15]
+000820_000034:[13, 16]
+011815_000003:[4, 11]
+008330_000023:[]
+006538_000020:[6]
+009678_000027:[18]
+020907_000009:[]
+018310_000035:[]
+012278_000018:[1, 19]
+006471_000033:[]
+013185_000024:[]
+005144_000000:[7, 9, 16]
+014633_000001:[]
+019386_000002:[2]
+020886_000037:[]
+011874_000008:[]
+004264_000020:[]
+022897_000033:[7, 13, 16]
+013402_000015:[]
+006967_000012:[2, 8]
+010035_000012:[4, 7, 10]
+008819_000034:[8]
+024683_000031:[]
+011521_000020:[17]
+008219_000006:[]
+015064_000016:[4]
+020420_000005:[]
+017455_000016:[9, 15, 19]
+021489_000011:[0, 2, 4, 14, 19]
+012902_000025:[]
+014884_000015:[12]
+024155_000008:[3, 19]
+020520_000006:[1, 3, 8, 9, 14, 17]
+007234_000030:[]
+006929_000011:[]
+014571_000022:[]
+011298_000018:[15]
+000786_000013:[]
+024637_000017:[]
+011774_000027:[4]
+009409_000002:[]
+012717_000005:[3, 5, 19]
+023750_000038:[]
+007334_000029:[12]
+004111_000011:[]
+014802_000013:[4]
+023213_000009:[]
+006288_000018:[4]
+011562_000021:[]
+018135_000005:[7, 9]
+015296_000027:[]
+015558_000014:[17]
+023490_000032:[]
+018976_000002:[]
+000770_000019:[19]
+009288_000017:[7]
+013744_000039:[2]
+013761_000014:[7, 9, 19]
+004254_000039:[]
+003457_000019:[4, 18]
+010860_000038:[]
+019028_000002:[2, 5, 10, 17]
+004786_000037:[]
+021672_000018:[11]
+009412_000016:[]
+010722_000024:[]
+016787_000032:[]
+002761_000035:[6]
+024700_000004:[]
+014657_000021:[3, 11, 18, 19]
+015498_000009:[]
+023579_000021:[11]
+004598_000000:[5, 7, 8]
+008223_000039:[2, 18]
+020011_000011:[]
+010981_000024:[]
+024357_000030:[0, 7]
+012900_000009:[]
+023949_000033:[]
+001666_000024:[15]
+012534_000035:[5, 19]
+003955_000034:[13]
+018053_000005:[]
+007892_000039:[]
+012408_000015:[]
+023869_000004:[18]
+005619_000026:[]
+010606_000006:[2, 4, 5]
+002919_000034:[4, 19]
+021547_000001:[]
+024692_000004:[1, 7]
+003205_000031:[1]
+016350_000006:[7]
+018593_000033:[15]
+011471_000020:[13]
+011194_000017:[]
+002436_000032:[]
+001803_000035:[0, 2, 4, 5, 8, 16, 19]
+019223_000013:[]
+005825_000018:[]
+005227_000029:[7]
+017524_000022:[1, 5]
+018819_000014:[]
+018713_000034:[5]
+013706_000004:[]
+004930_000011:[]
+005611_000027:[]
+005696_000006:[5, 7, 8, 15]
+023838_000001:[2, 14]
+008185_000003:[6]
+024472_000031:[]
+024299_000003:[5, 19]
+024641_000025:[]
+010730_000039:[]
+006063_000029:[11, 17]
+019208_000038:[]
+005001_000016:[15]
+010146_000035:[]
+011010_000005:[]
+001213_000022:[14]
+010768_000000:[]
+012895_000014:[]
+010144_000019:[]
+020770_000007:[]
+015375_000004:[]
+020486_000015:[0, 11]
+008536_000008:[]
+019835_000010:[4, 12, 13]
+017773_000032:[]
+020843_000000:[19]
+024891_000030:[7]
+016334_000013:[0, 4]
+010950_000020:[0, 2, 4, 6, 9, 14]
+000620_000002:[]
+018396_000036:[]
+010061_000011:[]
+008381_000027:[]
+000380_000014:[]
+008503_000022:[11, 16]
+011249_000005:[]
+010252_000011:[0, 5, 7]
+022831_000025:[]
+014743_000025:[0, 8, 19]
+015116_000039:[]
+011895_000005:[]
+006920_000029:[]
+007956_000028:[16]
+001750_000039:[]
+019300_000007:[]
+018716_000019:[]
+004850_000016:[]
+023301_000022:[9, 17]
+011994_000018:[9]
+024979_000035:[]
+006595_000027:[]
+018821_000034:[]
+009457_000030:[]
+004765_000019:[]
+007209_000025:[]
+014872_000004:[]
+008250_000037:[8]
+013575_000017:[2]
+020810_000017:[2, 12]
+013365_000022:[]
+023982_000022:[0, 5, 7, 8, 10, 12, 15, 16, 17]
+008519_000016:[]
+001939_000009:[]
+015912_000030:[]
+008708_000011:[6]
+020230_000020:[4, 5, 7, 19]
+003920_000007:[1, 7]
+012246_000017:[]
+015585_000015:[14]
+024569_000010:[]
+010571_000002:[]
+000511_000029:[16]
+019828_000032:[]
+020864_000022:[10]
+017851_000018:[12, 15]
+006170_000029:[]
+006276_000019:[2, 5, 12]
+014434_000038:[7, 9, 14]
+001984_000025:[6]
+007042_000000:[]
+006565_000004:[]
+016549_000029:[]
+015224_000019:[5, 6, 16]
+001549_000007:[]
+019744_000002:[7]
+019337_000037:[2]
+009332_000026:[]
+017509_000039:[4]
+009170_000016:[14]
+001465_000028:[2, 5]
+009216_000004:[0, 6, 11, 16]
+019316_000034:[]
+015820_000026:[4, 9, 12]
+020134_000025:[17]
+008263_000028:[]
+013757_000000:[4, 6]
+003678_000020:[16]
+001799_000035:[]
+022948_000012:[]
+022382_000032:[]
+002298_000039:[]
+003130_000037:[1, 4, 10, 19]
+008014_000007:[3, 7, 15, 17, 19]
+000670_000036:[]
+008254_000032:[]
+021585_000017:[]
+016475_000000:[]
+002206_000020:[10]
+005325_000018:[]
+012315_000026:[]
+002864_000039:[]
+010164_000002:[5, 11, 12]
+003058_000013:[]
+001880_000037:[0]
+009044_000020:[7]
+010685_000027:[19]
+013788_000005:[]
+005429_000006:[15]
+003130_000036:[1, 4, 9, 12, 13, 19]
+015756_000020:[12]
+007520_000010:[12]
+008309_000012:[]
+002408_000027:[]
+009723_000012:[0, 7, 8]
+024373_000038:[]
+001889_000039:[18]
+001619_000003:[1, 2, 9, 11]
+015304_000004:[]
+010300_000006:[14]
+002122_000004:[]
+019679_000005:[]
+022805_000017:[]
+001985_000028:[]
+020671_000004:[18]
+019799_000007:[0, 2, 5, 8, 14, 16, 17, 18]
+000685_000000:[]
+015790_000025:[]
+021362_000000:[0, 11, 18]
+020523_000036:[]
+005676_000008:[]
+022770_000024:[]
+000691_000018:[]
+016778_000018:[]
+018890_000020:[1, 4, 5, 17]
+009820_000004:[1]
+000308_000022:[]
+001463_000001:[5]
+005965_000013:[]
+018444_000014:[]
+021622_000003:[]
+003661_000020:[]
+015556_000037:[4, 13, 17]
+000933_000008:[]
+007554_000010:[]
+018252_000035:[]
+002757_000026:[5, 15]
+022643_000002:[]
+022788_000024:[]
+012822_000004:[]
+020570_000032:[]
+015025_000004:[]
+007067_000009:[]
+009243_000008:[]
+001356_000014:[3, 6, 8, 13, 17]
+010515_000031:[1, 3, 4, 6, 7]
+004096_000012:[]
+007087_000001:[]
+021723_000027:[13]
+003945_000002:[]
+017008_000029:[]
+008771_000003:[17]
+016322_000027:[]
+017576_000035:[]
+014079_000000:[12, 18]
+022994_000035:[]
+005362_000012:[5, 10, 13]
+004013_000036:[1, 4, 6, 7, 9, 15, 16]
+016339_000029:[8]
+019967_000013:[19]
+007030_000024:[]
+008730_000037:[]
+009691_000018:[5, 6, 9, 11, 19]
+021970_000029:[]
+018101_000010:[4, 7, 13]
+010624_000014:[]
+024244_000020:[]
+017117_000020:[0, 3, 15]
+020899_000012:[13, 14]
+003675_000037:[]
+010277_000024:[2]
+005326_000002:[]
+002361_000023:[4, 9, 17, 19]
+016371_000016:[]
+006854_000032:[1, 4]
+020021_000038:[]
+019418_000004:[]
+017362_000018:[]
+011639_000017:[]
+020639_000018:[5]
+015151_000026:[2, 5, 9, 10, 11, 12, 17, 19]
+015358_000038:[]
+024061_000035:[16]
+002348_000019:[]
+005135_000006:[6, 7, 12]
+017734_000001:[]
+022044_000025:[12]
+007806_000000:[]
+013765_000011:[2]
+000865_000012:[1, 19]
+001517_000028:[11, 12, 13, 17, 19]
+011724_000009:[]
+017757_000036:[]
+002900_000013:[]
+024962_000006:[]
+012059_000024:[]
+005729_000016:[7, 9, 13]
+000096_000012:[2, 15, 18]
+012017_000034:[18]
+013145_000014:[13]
+004302_000021:[]
+007339_000023:[]
+009984_000014:[]
+012521_000004:[]
+017246_000017:[0, 2, 3, 10, 14, 18]
+018708_000025:[]
+016622_000034:[]
+010761_000004:[1, 3, 12, 17]
+000348_000003:[]
+024776_000020:[0, 2, 4, 6, 10, 13, 15, 16, 18]
+018260_000030:[]
+015469_000027:[]
+013742_000037:[]
+022728_000028:[0, 6, 7, 12, 17, 19]
+021812_000039:[0, 9]
+017553_000005:[15]
+021631_000001:[15, 17]
+017994_000017:[]
+001707_000015:[]
+018229_000038:[]
+020128_000015:[]
+011225_000014:[]
+017331_000033:[]
+023521_000025:[3, 11]
+022657_000035:[]
+015443_000002:[5]
+020385_000028:[2, 11, 12, 19]
+012421_000023:[10]
+004403_000030:[]
+015361_000028:[]
+002202_000027:[2]
+019046_000001:[]
+012681_000004:[2]
+022912_000002:[11]
+000028_000006:[8]
+009329_000026:[5]
+023308_000019:[5, 6]
+012857_000023:[3]
+014058_000019:[]
+012656_000039:[]
+012127_000036:[]
+003174_000032:[]
+007434_000002:[5]
+005815_000001:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000737_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000737_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..02ddf091631fc24a7f1b1ebda985ee1339a4c999
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000737_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+013641_000001:[]
+024045_000015:[3]
+021504_000016:[]
+005409_000039:[8, 17]
+002102_000006:[2, 3, 5, 17]
+003049_000036:[]
+006634_000027:[]
+002447_000028:[]
+010995_000019:[]
+004256_000030:[]
+010959_000016:[]
+019800_000001:[]
+020326_000009:[7, 14]
+012090_000007:[15]
+001654_000032:[]
+021016_000010:[19]
+021517_000026:[14]
+006598_000026:[]
+013274_000011:[]
+018340_000018:[]
+008403_000010:[1, 18]
+024320_000004:[]
+002652_000006:[10, 16]
+013930_000024:[]
+002119_000032:[]
+000903_000019:[]
+012723_000033:[]
+005413_000020:[7]
+006885_000026:[]
+013737_000014:[4, 13]
+018813_000031:[]
+004456_000014:[]
+013899_000035:[]
+017772_000030:[]
+002938_000000:[14]
+006487_000038:[]
+019776_000028:[1, 3, 6, 9, 10, 19]
+013481_000015:[15]
+001979_000012:[]
+021047_000000:[]
+003248_000008:[]
+023348_000021:[18]
+011894_000023:[15]
+018609_000035:[]
+007134_000032:[]
+023897_000036:[1]
+011639_000025:[11]
+008164_000018:[1, 3, 6]
+018964_000039:[]
+004554_000034:[]
+004992_000002:[14]
+003025_000012:[]
+003162_000025:[]
+019358_000005:[3]
+010867_000019:[]
+022785_000023:[]
+016758_000037:[]
+009680_000030:[]
+000827_000038:[0, 13, 14]
+000189_000003:[]
+020013_000005:[1, 2, 4, 8]
+001349_000033:[8]
+000988_000007:[]
+001703_000019:[]
+002303_000030:[18]
+016943_000034:[]
+004839_000003:[]
+015767_000028:[7]
+013616_000028:[]
+003059_000034:[2, 12]
+009525_000034:[]
+008706_000032:[]
+005623_000034:[2, 6]
+009801_000020:[]
+008364_000015:[]
+017365_000002:[]
+015513_000003:[]
+013631_000031:[]
+008122_000005:[]
+011923_000011:[9, 16]
+019826_000031:[2, 12, 15]
+005379_000008:[]
+015217_000033:[3, 5, 11, 12]
+007270_000031:[1]
+005050_000015:[5]
+022167_000017:[]
+016753_000025:[1]
+015509_000006:[18]
+018461_000010:[18]
+012911_000037:[]
+010006_000037:[1]
+002723_000012:[]
+014752_000012:[]
+007245_000038:[]
+007698_000002:[]
+019373_000011:[]
+004501_000038:[]
+010719_000034:[]
+011235_000008:[0, 5, 17, 18]
+005973_000026:[14]
+014675_000024:[]
+009831_000029:[0]
+014700_000001:[]
+000423_000015:[]
+024581_000027:[]
+013946_000022:[2, 8, 9, 10, 11, 12, 14, 15, 16]
+014465_000035:[4, 8, 14, 17]
+015075_000023:[0, 1, 5, 12, 13, 16, 18, 19]
+024274_000029:[0, 9]
+011177_000014:[9, 12, 16]
+001057_000038:[]
+011366_000006:[]
+007558_000008:[3, 18]
+012596_000013:[2, 3, 8, 15, 18]
+019733_000003:[]
+000423_000034:[]
+013710_000013:[]
+001151_000001:[]
+000112_000010:[0, 7, 16]
+020673_000029:[]
+015516_000034:[]
+001509_000018:[1, 9, 10]
+014772_000018:[1, 5]
+021658_000009:[]
+019155_000019:[]
+006307_000003:[5, 15]
+020612_000032:[]
+024290_000028:[]
+012435_000026:[]
+006309_000004:[8]
+016963_000034:[10, 15]
+012000_000009:[11, 15, 18]
+022895_000028:[]
+019866_000017:[19]
+000395_000000:[]
+012500_000037:[]
+022940_000010:[17]
+022374_000015:[]
+004159_000023:[]
+011433_000022:[1, 6, 12]
+019990_000021:[]
+006378_000027:[]
+009345_000016:[]
+020367_000021:[6, 8]
+020905_000023:[]
+015985_000032:[]
+007480_000008:[10, 17, 19]
+009951_000038:[]
+018892_000021:[0, 2, 3, 5, 6, 9, 10, 11, 14, 15, 17, 18, 19]
+023033_000001:[]
+012399_000029:[]
+015358_000009:[]
+010475_000011:[]
+017343_000021:[]
+001202_000022:[17]
+007436_000002:[]
+006545_000006:[2, 10, 17, 19]
+019141_000010:[]
+008697_000030:[5, 14]
+024175_000029:[]
+021036_000014:[]
+013523_000027:[]
+012668_000001:[]
+018482_000005:[]
+015268_000028:[18]
+017189_000012:[]
+010692_000003:[]
+023305_000005:[]
+003802_000030:[]
+016050_000002:[0, 9, 11, 15]
+000914_000035:[6, 7, 10]
+021510_000009:[]
+018791_000000:[0, 1, 8, 14, 19]
+013697_000039:[]
+019581_000011:[]
+004609_000008:[0, 2, 15]
+002319_000031:[2, 17]
+004868_000013:[]
+013078_000005:[0, 19]
+007078_000017:[17]
+014066_000011:[]
+006202_000023:[18, 19]
+018928_000024:[]
+021475_000004:[]
+015726_000029:[]
+000523_000030:[14]
+003952_000007:[3]
+014967_000001:[]
+002495_000010:[15]
+017294_000022:[]
+002400_000032:[2, 12]
+018061_000017:[]
+005521_000014:[1, 3, 5, 9]
+007438_000006:[]
+003856_000025:[]
+004891_000017:[]
+003034_000024:[6]
+012183_000011:[]
+022098_000015:[]
+011042_000017:[16]
+016435_000039:[3]
+000380_000008:[]
+002441_000039:[19]
+003932_000029:[]
+000121_000037:[6, 13, 17, 19]
+022158_000002:[6, 7]
+018344_000026:[18]
+023358_000031:[]
+002232_000032:[1, 15]
+011191_000015:[5]
+022643_000006:[]
+011550_000022:[]
+013235_000035:[]
+017283_000011:[]
+019442_000031:[]
+010672_000015:[]
+019597_000037:[]
+014358_000027:[5]
+024178_000025:[19]
+024492_000005:[]
+009029_000038:[]
+008181_000036:[8]
+008104_000036:[]
+012971_000035:[7, 12]
+002849_000017:[1, 3, 15, 19]
+022558_000033:[2, 9, 19]
+014122_000008:[]
+023038_000032:[]
+005496_000014:[0, 5, 7, 18]
+016179_000000:[]
+019958_000003:[]
+020579_000035:[]
+016187_000010:[]
+001096_000032:[]
+004530_000014:[8]
+015769_000031:[4, 11, 13]
+019894_000034:[]
+014020_000012:[3, 9, 14]
+008546_000027:[]
+024544_000005:[]
+001606_000010:[]
+021994_000031:[10]
+014668_000031:[]
+018625_000008:[2]
+013434_000021:[]
+013577_000006:[]
+007319_000022:[]
+008141_000017:[0, 1, 2, 11, 12]
+013810_000005:[]
+014913_000029:[]
+017512_000020:[9, 10]
+005836_000028:[]
+007108_000011:[]
+021090_000026:[]
+017159_000039:[]
+005121_000002:[]
+009593_000028:[19]
+020918_000011:[11]
+019070_000023:[]
+019528_000002:[13]
+017563_000038:[]
+002848_000019:[1, 3, 6, 10, 14, 15, 16, 17]
+004296_000007:[1, 3, 9, 12]
+005601_000015:[7]
+004163_000002:[]
+016647_000028:[]
+010418_000005:[]
+006363_000010:[]
+007585_000018:[]
+007172_000008:[0]
+018755_000019:[11, 15, 17, 18]
+017222_000006:[11]
+011337_000020:[2, 6, 14]
+007963_000034:[0, 1, 8, 9, 19]
+023466_000029:[4, 9, 11, 15, 16]
+004773_000025:[]
+020125_000003:[18]
+010113_000032:[]
+007926_000008:[]
+001409_000017:[]
+005850_000015:[9, 10, 17, 19]
+012843_000036:[]
+010219_000030:[14, 17]
+014405_000000:[]
+005197_000034:[]
+017330_000038:[10]
+003209_000005:[]
+017933_000019:[]
+003528_000011:[]
+013807_000031:[]
+019693_000005:[8]
+010001_000016:[]
+018058_000004:[]
+021692_000039:[13]
+011188_000015:[11]
+017701_000028:[]
+017522_000022:[16, 17]
+020066_000017:[]
+022960_000006:[0, 5, 8]
+016532_000007:[]
+020607_000021:[1, 3, 5, 6, 7, 9, 10, 11, 16, 18]
+006364_000003:[]
+000658_000026:[9]
+013456_000028:[]
+012065_000014:[]
+024720_000039:[]
+010527_000028:[1, 3]
+007219_000024:[8, 12]
+000395_000006:[]
+010961_000018:[]
+017132_000027:[]
+012300_000004:[]
+014861_000021:[1, 2, 5, 13, 17]
+015635_000032:[8]
+000545_000020:[1, 7, 8, 18]
+006871_000011:[]
+003539_000019:[]
+004001_000032:[6]
+024772_000020:[]
+003110_000019:[]
+012217_000003:[]
+009181_000038:[12]
+012461_000024:[0]
+002253_000014:[6]
+013956_000003:[]
+000578_000010:[]
+023859_000032:[]
+006887_000010:[]
+018890_000033:[]
+022500_000012:[]
+002261_000021:[4, 5, 17]
+024114_000011:[]
+013092_000026:[]
+004418_000036:[0, 2]
+008007_000004:[]
+002554_000010:[14]
+002218_000026:[3, 8, 11, 18]
+015493_000024:[]
+000336_000028:[]
+018659_000007:[12]
+024971_000003:[0, 3, 4, 8, 12, 13]
+003199_000023:[]
+022604_000015:[]
+016574_000026:[]
+023901_000026:[]
+004482_000017:[]
+010383_000032:[5, 11, 19]
+016962_000027:[]
+013580_000019:[]
+022539_000001:[2]
+021137_000039:[]
+000502_000027:[16]
+016323_000023:[18]
+021818_000037:[5]
+018881_000038:[]
+021326_000011:[]
+010430_000019:[]
+001065_000038:[]
+019578_000036:[]
+011481_000008:[8, 9]
+001958_000006:[]
+018797_000038:[4]
+001455_000011:[0]
+018639_000025:[]
+013769_000014:[]
+006674_000007:[4, 17]
+016123_000023:[]
+018989_000004:[]
+017990_000019:[]
+000203_000010:[]
+012402_000012:[8]
+007432_000024:[]
+023891_000035:[3]
+010450_000015:[3]
+012952_000037:[0, 3, 4, 5, 9, 15, 19]
+017755_000037:[18]
+023869_000018:[9, 11, 14]
+021785_000029:[14]
+012852_000018:[]
+000181_000018:[]
+012848_000022:[1]
+018271_000010:[1]
+023850_000005:[7]
+011417_000029:[]
+022627_000011:[2, 4, 8]
+019960_000002:[]
+000916_000032:[]
+014182_000027:[2]
+004966_000009:[0]
+009767_000014:[]
+002126_000029:[]
+007418_000015:[]
+005693_000018:[4]
+008105_000017:[1]
+006925_000011:[]
+018786_000001:[11]
+008934_000025:[]
+012207_000002:[14]
+000318_000025:[]
+000989_000026:[]
+019878_000021:[]
+009528_000013:[4, 14, 16]
+007847_000029:[]
+018309_000038:[]
+007199_000029:[]
+010265_000029:[]
+022574_000002:[4, 6, 9, 10, 11, 12, 15, 16, 18, 19]
+003102_000019:[]
+013766_000004:[3, 5]
+016109_000004:[]
+011977_000008:[]
+000831_000018:[]
+005454_000015:[0, 2, 4, 7, 15]
+013496_000011:[]
+020874_000003:[5]
+010412_000010:[]
+021198_000007:[]
+010435_000021:[]
+011584_000014:[4]
+017989_000036:[]
+016139_000034:[15, 17, 19]
+006116_000029:[6]
+005969_000035:[]
+006500_000028:[]
+003628_000010:[5]
+015048_000002:[11]
+001398_000002:[]
+014745_000026:[]
+009536_000021:[6]
+019323_000020:[]
+024687_000009:[1, 4]
+002509_000016:[]
+003954_000023:[]
+003142_000030:[5, 6]
+019673_000002:[]
+022618_000025:[]
+000998_000010:[]
+006300_000039:[]
+003754_000011:[]
+005315_000004:[]
+023911_000013:[0, 1, 2, 4, 13, 15, 17, 19]
+020249_000002:[]
+016512_000036:[4, 19]
+002865_000001:[2]
+007923_000005:[]
+008218_000019:[]
+000233_000009:[]
+001127_000004:[]
+001791_000022:[18]
+013802_000024:[]
+017268_000010:[]
+014023_000000:[5]
+014773_000005:[]
+003690_000033:[]
+015306_000007:[8]
+009290_000028:[]
+022234_000016:[]
+013225_000021:[]
+018968_000005:[]
+021193_000008:[]
+004057_000015:[]
+000424_000018:[]
+017934_000026:[14]
+011590_000024:[]
+014697_000029:[]
+011589_000036:[]
+016365_000001:[6, 16]
+003636_000006:[]
+007643_000015:[0, 15]
+015330_000007:[10]
+022820_000010:[]
+019028_000005:[]
+017484_000034:[]
+022307_000022:[7]
+005337_000010:[]
+015498_000011:[]
+004158_000030:[0]
+011141_000030:[]
+015736_000021:[10, 14, 18]
+017160_000000:[0, 5, 6, 8, 11]
+004685_000026:[]
+003784_000015:[7]
+020395_000005:[]
+024602_000021:[2, 9, 16]
+011618_000024:[]
+002981_000039:[1, 8, 15]
+013362_000027:[3]
+004255_000014:[]
+019690_000030:[]
+000797_000000:[]
+018854_000025:[]
+001330_000035:[]
+002307_000033:[1, 10, 16]
+004236_000032:[]
+004342_000031:[3, 8, 12]
+010100_000029:[]
+001696_000000:[]
+010645_000015:[4, 17]
+006889_000023:[]
+011207_000001:[12]
+017866_000029:[]
+019576_000016:[1, 5, 15]
+010875_000001:[]
+016067_000025:[]
+002948_000034:[2, 8, 13]
+000283_000013:[]
+007678_000027:[]
+023289_000036:[]
+008461_000000:[11]
+002378_000008:[]
+017943_000002:[2, 14, 17, 18]
+022618_000005:[]
+014107_000025:[]
+019399_000001:[]
+021784_000028:[1, 4, 7, 12, 19]
+009367_000037:[]
+013186_000029:[1]
+023989_000035:[16, 18]
+020875_000036:[]
+003509_000028:[1]
+018085_000019:[]
+001709_000023:[]
+010800_000024:[5, 16]
+024444_000033:[]
+006741_000025:[]
+023616_000026:[15]
+000587_000035:[]
+006311_000020:[2, 3, 7, 9, 18]
+009824_000023:[]
+003909_000022:[4, 14]
+015780_000034:[]
+010513_000026:[]
+000282_000037:[]
+004390_000023:[]
+000611_000035:[13, 14, 17]
+017323_000015:[]
+004605_000036:[0, 1, 8, 9, 15]
+004635_000033:[5]
+004099_000009:[1]
+002104_000002:[]
+014470_000003:[]
+002733_000038:[]
+001094_000033:[]
+018141_000018:[]
+020814_000004:[10]
+024449_000037:[]
+005854_000008:[]
+016675_000024:[3, 6, 7, 8, 11, 13, 16]
+002003_000024:[]
+016960_000001:[]
+003169_000021:[]
+020585_000013:[4, 6]
+016035_000013:[1]
+013948_000021:[]
+002556_000003:[5, 10]
+013265_000020:[6, 11]
+006949_000013:[]
+005093_000038:[]
+015945_000023:[]
+006542_000011:[]
+014971_000031:[3]
+024743_000021:[16]
+012368_000003:[1, 8, 12, 17]
+023818_000025:[]
+021093_000016:[]
+008775_000032:[]
+024836_000015:[0, 2, 3, 10, 11]
+019619_000014:[]
+007302_000038:[]
+024715_000037:[]
+006446_000027:[]
+003354_000030:[]
+007928_000037:[]
+014621_000005:[2, 7, 11, 12, 13, 15]
+003603_000036:[0, 5, 17]
+007017_000018:[]
+009121_000020:[14, 19]
+000596_000019:[]
+000268_000004:[]
+019962_000019:[]
+012055_000022:[]
+014296_000007:[]
+002822_000001:[1, 2, 9, 12]
+005998_000011:[]
+005864_000012:[]
+018878_000038:[]
+010038_000000:[1, 7, 12, 17]
+023314_000000:[]
+012674_000007:[2, 10, 14]
+024976_000033:[]
+009942_000035:[6, 19]
+011896_000031:[]
+003229_000036:[]
+004868_000006:[]
+014096_000012:[]
+005358_000035:[11]
+011102_000002:[]
+017815_000033:[9, 10, 18]
+020125_000009:[]
+006746_000000:[7]
+001912_000001:[7]
+002828_000024:[]
+009637_000016:[8]
+005878_000038:[]
+001028_000001:[]
+008931_000010:[0]
+003242_000025:[]
+000773_000016:[5]
+015542_000017:[]
+007205_000011:[13]
+002990_000028:[17]
+006053_000037:[]
+004163_000018:[]
+022426_000036:[]
+012995_000001:[]
+003436_000027:[]
+011503_000038:[]
+021911_000029:[]
+013151_000021:[]
+024209_000001:[]
+012172_000033:[]
+010948_000001:[9, 17]
+008116_000014:[12]
+008471_000028:[2, 9, 18]
+023798_000020:[]
+022433_000019:[]
+006500_000000:[]
+008374_000037:[]
+000128_000032:[]
+020550_000000:[]
+003719_000000:[]
+012699_000026:[]
+001269_000004:[]
+007677_000014:[]
+023081_000000:[1, 19]
+020638_000015:[]
+019258_000031:[8, 9, 12, 14]
+013211_000004:[17]
+004131_000024:[]
+007515_000001:[12]
+010605_000000:[1, 13, 14]
+004750_000023:[3]
+022533_000023:[]
+003185_000006:[]
+016178_000003:[0, 7, 8, 10, 12]
+007273_000037:[13]
+002934_000013:[]
+023469_000005:[]
+011339_000008:[8, 19]
+008972_000024:[5]
+013329_000028:[9]
+019668_000035:[0, 4]
+006740_000035:[]
+017029_000000:[0, 4]
+018185_000011:[]
+009097_000036:[1, 4, 6, 13]
+002456_000008:[]
+024645_000028:[]
+005632_000010:[]
+021098_000033:[1, 3, 17]
+013185_000032:[8]
+006400_000006:[]
+016113_000024:[]
+016895_000014:[4]
+010275_000036:[]
+005252_000022:[]
+005446_000008:[]
+010516_000000:[8]
+003864_000015:[]
+002866_000017:[]
+013268_000025:[3]
+023325_000022:[5, 6, 9, 13, 19]
+013225_000024:[6, 7, 9, 11, 12, 14, 16, 19]
+023520_000034:[9, 16, 19]
+005447_000013:[8]
+014207_000024:[14]
+018640_000037:[]
+002233_000009:[5, 7, 13, 14]
+004459_000004:[10, 15]
+005691_000026:[5, 11]
+004934_000018:[11]
+012444_000021:[]
+018211_000013:[10]
+014027_000015:[18, 19]
+007330_000010:[]
+006165_000020:[0, 5, 16, 17, 19]
+023537_000002:[]
+003874_000001:[1, 16]
+013381_000011:[1, 12, 16, 19]
+023640_000019:[]
+003339_000022:[0, 5]
+021088_000009:[]
+000453_000011:[]
+011887_000033:[9]
+010797_000015:[]
+009904_000030:[]
+009068_000036:[0, 1, 4, 13, 14]
+022700_000036:[]
+005843_000004:[0]
+016636_000017:[]
+021044_000016:[]
+001435_000001:[8]
+004295_000034:[]
+018989_000018:[]
+004191_000005:[0, 7]
+001462_000031:[0, 6]
+017192_000006:[]
+003296_000005:[16]
+009990_000028:[]
+005107_000025:[3, 16]
+021233_000010:[]
+008427_000027:[19]
+001232_000012:[2]
+023496_000038:[]
+024671_000027:[15]
+004945_000032:[6, 19]
+001261_000004:[6]
+021813_000009:[]
+009212_000024:[]
+016525_000018:[6, 10, 14]
+017940_000034:[]
+023797_000012:[]
+007599_000024:[2, 3, 5, 10]
+018065_000032:[]
+005171_000003:[10]
+007206_000033:[10, 12]
+009256_000018:[]
+013132_000031:[19]
+020959_000038:[]
+021669_000032:[0, 1, 5, 10, 15]
+020733_000014:[]
+001362_000009:[]
+007368_000000:[0]
+013614_000026:[]
+008204_000037:[]
+024339_000022:[]
+017754_000036:[]
+020104_000020:[2, 5, 10, 18]
+004220_000035:[]
+017671_000032:[]
+015658_000012:[8]
+019171_000002:[]
+022870_000006:[9]
+001615_000015:[]
+019691_000025:[3, 5, 7, 10, 12, 14, 19]
+003001_000023:[3]
+007328_000033:[4, 6]
+000810_000030:[1, 2, 5, 10, 11, 13, 14, 17]
+016970_000020:[]
+006033_000039:[]
+004534_000017:[3, 6]
+015681_000032:[]
+014776_000030:[3, 14, 18]
+004492_000002:[]
+005144_000007:[13]
+015691_000033:[]
+009743_000002:[18]
+018091_000037:[13]
+021212_000028:[4]
+010262_000006:[]
+022530_000034:[]
+021260_000022:[17]
+015356_000002:[]
+019093_000000:[]
+022720_000018:[]
+001748_000032:[11]
+021446_000037:[]
+010557_000006:[0]
+020151_000013:[5, 9]
+001295_000020:[8]
+008714_000014:[4]
+020498_000000:[3, 8, 10, 19]
+013292_000036:[]
+019096_000031:[]
+001474_000016:[]
+018960_000012:[]
+007954_000033:[]
+005869_000003:[]
+012365_000030:[12]
+001530_000032:[13]
+024687_000005:[]
+003953_000007:[]
+024259_000030:[3, 10]
+021842_000035:[]
+005040_000000:[6]
+015280_000036:[]
+000829_000013:[]
+024134_000039:[]
+014073_000036:[10]
+023538_000033:[]
+009090_000032:[]
+023848_000021:[]
+018775_000031:[]
+002495_000028:[]
+020679_000001:[18]
+001027_000010:[]
+004037_000025:[6, 7]
+009302_000000:[11]
+016754_000018:[]
+013583_000034:[]
+003377_000003:[12, 16]
+003898_000031:[10]
+024376_000021:[]
+003231_000029:[4, 17]
+017105_000010:[11]
+006367_000024:[15, 18]
+003183_000038:[18]
+006515_000034:[12]
+023576_000001:[18]
+011587_000016:[]
+013866_000028:[]
+008750_000031:[11]
+022815_000017:[]
+003687_000032:[]
+014945_000017:[]
+018289_000016:[16]
+024884_000026:[]
+013887_000011:[]
+019286_000039:[6]
+024281_000036:[2, 3]
+010125_000027:[]
+008584_000018:[1, 16]
+001910_000023:[3, 8, 9]
+004814_000013:[]
+004264_000005:[]
+002554_000000:[]
+016231_000017:[]
+005595_000010:[3, 11]
+009705_000016:[]
+001962_000016:[11, 19]
+013498_000025:[]
+023195_000032:[2, 5, 15, 19]
+017190_000020:[]
+007368_000025:[0]
+002025_000009:[12, 15]
+010051_000012:[]
+005662_000036:[]
+017115_000000:[]
+000206_000012:[]
+012698_000030:[]
+021010_000018:[]
+023661_000030:[]
+016664_000025:[11]
+016991_000008:[12]
+010033_000019:[]
+010750_000032:[]
+014628_000008:[15]
+009002_000020:[]
+019877_000002:[17]
+006902_000000:[]
+021587_000023:[]
+019434_000023:[]
+007987_000020:[]
+012728_000018:[0]
+004157_000006:[]
+011424_000020:[]
+006645_000031:[]
+018391_000010:[]
+012407_000016:[]
+017276_000007:[8]
+015087_000006:[0, 2, 4, 6, 7, 12, 13, 14, 16, 19]
+011386_000008:[3, 4, 5, 6, 9, 12]
+006735_000013:[4, 6, 16]
+002892_000025:[5]
+024684_000000:[]
+016534_000016:[0, 6, 11]
+021263_000022:[]
+023158_000007:[3, 12]
+003681_000039:[]
+011499_000015:[]
+011078_000009:[]
+015213_000002:[0]
+014774_000032:[6, 7, 8, 11, 16]
+022460_000006:[6]
+004987_000035:[]
+024110_000015:[]
+013053_000021:[2, 12]
+003049_000033:[]
+005476_000019:[]
+007648_000036:[]
+019905_000011:[]
+020637_000036:[8]
+014847_000013:[14, 18]
+007008_000026:[]
+019689_000031:[4, 5, 10, 11, 12]
+010879_000018:[]
+013373_000027:[]
+008827_000020:[18]
+010795_000012:[]
+017619_000019:[6]
+012791_000038:[]
+015068_000013:[17]
+005590_000011:[14]
+014013_000025:[2]
+023578_000030:[6, 14]
+009514_000013:[18]
+023310_000023:[]
+011621_000007:[]
+003468_000029:[3]
+013160_000010:[]
+013387_000024:[]
+002710_000033:[]
+018550_000001:[]
+006107_000005:[15]
+012273_000030:[]
+001561_000029:[]
+000878_000001:[]
+024235_000033:[1, 4, 6, 17, 19]
+007318_000037:[]
+012964_000027:[]
+022697_000013:[]
+005457_000030:[]
+009034_000007:[9, 10]
+020456_000036:[]
+020935_000005:[2, 19]
+013200_000011:[0, 14, 18]
+017798_000006:[]
+018038_000038:[14, 19]
+024584_000034:[]
+023322_000033:[11]
+013780_000000:[6, 10]
+018493_000015:[12, 13]
+003854_000030:[2, 4, 9, 16, 18]
+004565_000010:[]
+021393_000025:[]
+015016_000018:[]
+004392_000014:[10]
+018224_000009:[0]
+024099_000035:[0, 9, 14, 15, 17]
+020259_000018:[]
+020521_000002:[12]
+015326_000030:[]
+001745_000000:[13]
+012038_000017:[5]
+007604_000006:[6, 8, 17]
+022690_000006:[6, 11, 15]
+016433_000010:[2, 14, 15]
+021540_000004:[]
+011782_000039:[14]
+019482_000009:[]
+018686_000016:[]
+023436_000010:[]
+008442_000011:[13]
+023931_000034:[]
+003866_000037:[11]
+003300_000026:[]
+010888_000007:[]
+020550_000006:[]
+003797_000006:[]
+020321_000023:[3, 9]
+019993_000003:[]
+005632_000006:[19]
+007639_000003:[0, 3]
+001657_000026:[2]
+008434_000028:[4, 5, 6, 8, 16]
+022141_000017:[7]
+017933_000026:[]
+015153_000034:[8]
+021383_000028:[]
+006649_000010:[]
+008318_000001:[1, 4]
+001433_000038:[]
+014578_000028:[]
+024815_000005:[]
+011010_000002:[]
+002072_000002:[]
+014402_000012:[]
+006699_000036:[3, 7, 9, 17]
+014970_000030:[14]
+001448_000013:[]
+011928_000039:[]
+013869_000009:[13]
+001098_000024:[]
+022544_000031:[]
+022155_000020:[1, 14]
+002717_000012:[]
+001291_000037:[]
+021790_000018:[]
+002709_000034:[0, 1, 2, 5, 7, 10]
+021230_000000:[15]
+012189_000000:[15]
+024189_000033:[]
+019183_000023:[14]
+009730_000035:[]
+021045_000012:[]
+001431_000037:[]
+002719_000012:[]
+022647_000038:[1, 8, 15, 17]
+008484_000000:[]
+009743_000003:[]
+009586_000037:[19]
+002507_000023:[]
+013162_000031:[]
+008585_000012:[7]
+022254_000021:[]
+007551_000027:[]
+001763_000017:[]
+011307_000036:[]
+015596_000039:[8, 16]
+024159_000011:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000746_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000746_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4cc693c34b700ad0ec36d42b29be103c1da3e3c0
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000746_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+004109_000023:[11, 15]
+024258_000013:[1, 8]
+015800_000021:[]
+005658_000009:[11]
+003876_000037:[]
+022630_000019:[5, 12]
+021310_000019:[]
+004953_000003:[]
+015875_000017:[1, 10, 15, 16]
+003485_000033:[]
+013473_000001:[4, 5, 16]
+001430_000016:[]
+000599_000016:[5, 6, 18, 19]
+021720_000000:[]
+004470_000029:[11, 19]
+021846_000031:[2, 4, 5, 6, 7, 8, 11, 17, 18, 19]
+005099_000019:[]
+016855_000001:[19]
+003381_000019:[]
+020425_000033:[7]
+012043_000011:[7, 9, 10, 11]
+005547_000030:[1, 14]
+022692_000008:[1, 13]
+022625_000017:[6]
+003399_000017:[10]
+003534_000013:[]
+018804_000037:[]
+007006_000039:[0, 3, 7, 8, 9, 16, 19]
+016978_000003:[13]
+009824_000009:[]
+021928_000022:[]
+024349_000005:[15]
+015665_000023:[]
+005451_000029:[]
+002974_000010:[8]
+007145_000038:[]
+003315_000011:[]
+013767_000033:[]
+017893_000006:[3, 19]
+006543_000025:[0, 1, 5, 7, 12, 18, 19]
+010366_000005:[]
+020134_000038:[]
+010635_000035:[]
+003126_000016:[8]
+013714_000017:[12, 18]
+005129_000017:[7, 10]
+000324_000036:[]
+002416_000021:[]
+017422_000006:[]
+016758_000013:[4]
+000029_000024:[]
+002568_000038:[0, 6, 14, 15, 16]
+008458_000024:[11]
+022178_000019:[17]
+000531_000032:[]
+009627_000015:[]
+017705_000022:[]
+003884_000038:[]
+010854_000023:[5, 17]
+017945_000023:[]
+005802_000002:[]
+010268_000027:[]
+004619_000029:[]
+011086_000002:[]
+006817_000025:[]
+015554_000011:[2, 3, 15]
+017423_000002:[14, 16]
+007957_000034:[]
+024304_000021:[3, 11, 14]
+017677_000005:[6]
+004208_000030:[]
+012210_000034:[6]
+014615_000020:[]
+002120_000019:[]
+006057_000038:[]
+013745_000028:[12]
+010462_000018:[5, 10, 12]
+013564_000022:[0, 18]
+015919_000024:[]
+006885_000033:[]
+007400_000039:[15, 16]
+003760_000026:[]
+017008_000020:[]
+024576_000001:[15]
+023958_000019:[9]
+001320_000023:[]
+010020_000009:[0, 1, 3]
+021238_000019:[]
+005624_000005:[]
+016863_000036:[0, 8, 9, 18]
+011013_000039:[]
+018968_000022:[3, 9, 16]
+003918_000001:[10, 17]
+009501_000025:[11, 17]
+008812_000030:[8]
+010446_000037:[18, 19]
+016818_000038:[]
+005273_000034:[]
+002291_000023:[]
+014146_000000:[]
+014854_000017:[]
+016743_000020:[]
+016931_000032:[]
+019378_000006:[0, 12]
+018394_000003:[10]
+021946_000024:[]
+023127_000002:[0, 11, 12, 15]
+017566_000032:[]
+013336_000000:[0]
+018632_000020:[7]
+011201_000026:[]
+003154_000033:[]
+001130_000037:[16, 18]
+002997_000023:[16]
+024633_000001:[4]
+003237_000007:[]
+011654_000034:[]
+017183_000039:[]
+000879_000015:[11, 14, 18]
+018135_000027:[12]
+015774_000014:[6]
+022164_000004:[0, 1, 2, 3, 4, 6, 18]
+004904_000025:[]
+023031_000020:[5]
+021394_000029:[]
+020618_000031:[0, 7, 18]
+022025_000011:[]
+024182_000020:[]
+004576_000036:[]
+007435_000019:[]
+005874_000015:[]
+013908_000038:[]
+007425_000006:[5, 7]
+005786_000011:[7, 9, 10, 15]
+023672_000001:[]
+016047_000026:[]
+001420_000029:[10]
+006759_000005:[8]
+017474_000027:[]
+002343_000001:[]
+007195_000012:[0, 3, 5, 12, 15]
+013685_000006:[6, 16]
+012670_000004:[]
+015430_000029:[]
+018591_000021:[]
+015707_000015:[1, 6, 12]
+018105_000013:[]
+018213_000024:[]
+017297_000003:[]
+012794_000004:[7]
+006519_000008:[0, 1, 3, 4, 6, 9, 11, 12, 13, 14]
+020789_000001:[]
+011804_000011:[]
+020615_000004:[]
+014658_000016:[]
+016291_000012:[]
+001018_000007:[13]
+020285_000010:[]
+005346_000002:[]
+020302_000015:[]
+017494_000033:[]
+022823_000034:[]
+022241_000007:[]
+013595_000012:[4, 14, 16, 19]
+009466_000006:[]
+019875_000013:[13, 14]
+021108_000033:[]
+013571_000027:[16, 17, 18]
+017594_000029:[]
+003713_000031:[]
+016545_000004:[7]
+004556_000017:[15, 17]
+021530_000032:[]
+019182_000012:[]
+024780_000029:[]
+011587_000010:[]
+002273_000035:[]
+008515_000002:[]
+023167_000016:[]
+003382_000033:[19]
+021267_000033:[9, 10]
+018415_000037:[]
+015124_000007:[]
+019282_000013:[1, 10]
+006597_000013:[1, 2]
+018345_000030:[15]
+020239_000020:[11, 17]
+018905_000037:[7]
+013678_000033:[]
+013294_000039:[]
+009035_000024:[]
+003852_000007:[0, 3, 11, 15]
+012070_000019:[]
+016631_000019:[]
+017630_000033:[14, 17]
+023514_000021:[]
+009964_000020:[]
+000640_000018:[]
+002691_000009:[14]
+009504_000003:[]
+004214_000011:[2]
+018642_000020:[]
+010459_000019:[19]
+022225_000000:[4, 13]
+016339_000009:[2]
+005382_000006:[]
+001179_000002:[9]
+007469_000004:[0, 1, 10, 17]
+001240_000003:[]
+008103_000007:[6, 7, 11]
+014193_000035:[5]
+015113_000026:[]
+000512_000021:[5, 6, 16]
+023592_000035:[]
+013032_000017:[15]
+009813_000030:[]
+003491_000020:[]
+005005_000007:[]
+007846_000028:[]
+016083_000022:[]
+006796_000013:[]
+009377_000036:[13, 15]
+016134_000019:[]
+001255_000014:[17]
+001118_000029:[]
+019528_000013:[3]
+005295_000024:[3, 6, 12, 13]
+012613_000028:[5, 14]
+008990_000039:[]
+007385_000006:[]
+001733_000030:[7, 11]
+005028_000031:[]
+009303_000003:[]
+014954_000015:[17]
+012516_000015:[]
+016088_000033:[]
+018363_000000:[0]
+000536_000018:[7, 14]
+001531_000025:[1]
+002155_000016:[1, 17]
+003525_000033:[]
+020044_000012:[]
+012404_000008:[]
+024666_000023:[14, 18]
+011768_000031:[0, 1, 2, 8, 10, 11, 12]
+024046_000014:[]
+015849_000035:[]
+019318_000007:[]
+000259_000039:[]
+010542_000036:[]
+017100_000027:[]
+003765_000036:[4, 18]
+017294_000034:[]
+014871_000006:[14, 16]
+017137_000016:[]
+005369_000013:[]
+006870_000006:[4, 10, 18]
+015434_000026:[0]
+023447_000015:[6, 7]
+013863_000017:[]
+000645_000000:[]
+015934_000036:[]
+010023_000025:[4, 8, 11]
+005260_000034:[]
+018808_000026:[13]
+023065_000034:[2]
+022693_000011:[]
+012656_000010:[2]
+018600_000031:[11, 12]
+015300_000001:[]
+021519_000018:[]
+007819_000025:[0]
+016766_000009:[3, 4, 5, 8, 13, 14, 15, 17, 18, 19]
+008705_000028:[]
+019159_000030:[]
+009654_000009:[]
+003853_000022:[]
+001716_000021:[]
+000576_000039:[]
+002629_000024:[]
+005012_000027:[]
+024740_000028:[]
+021068_000036:[16, 17]
+017896_000022:[]
+013043_000030:[3, 11, 18]
+001661_000013:[]
+017779_000031:[]
+017436_000029:[]
+015606_000027:[]
+008739_000022:[]
+012251_000029:[]
+012365_000037:[12]
+024644_000008:[]
+011628_000017:[]
+016622_000010:[]
+022478_000000:[6]
+008962_000026:[]
+007965_000033:[4]
+018363_000026:[]
+005442_000018:[]
+000595_000037:[]
+018443_000012:[]
+001781_000020:[11, 19]
+022686_000014:[]
+010098_000013:[]
+013352_000013:[]
+000880_000012:[]
+004229_000022:[]
+024681_000001:[]
+016010_000018:[1, 8, 12]
+016508_000004:[4, 6, 10, 17, 18]
+002873_000008:[]
+017329_000035:[]
+000464_000026:[]
+010433_000016:[]
+022381_000001:[9, 10]
+004886_000021:[0, 4, 8, 19]
+006768_000006:[]
+008625_000019:[]
+008634_000020:[15, 16, 17, 18]
+002324_000030:[0, 9, 10]
+000172_000025:[0, 4, 16]
+011031_000033:[5]
+001478_000039:[2]
+011958_000008:[6, 10, 14]
+009619_000023:[1, 7]
+011158_000003:[1, 18]
+024737_000003:[]
+023080_000006:[]
+015068_000028:[0, 4]
+012264_000032:[]
+004757_000019:[12]
+011474_000032:[]
+009481_000029:[]
+013468_000021:[]
+018680_000009:[]
+004958_000016:[19]
+008452_000003:[]
+009680_000003:[]
+023002_000024:[16]
+015223_000022:[6]
+015489_000017:[]
+004227_000039:[18]
+013498_000036:[1, 12, 17]
+020815_000038:[]
+004346_000009:[2, 4]
+005094_000018:[2]
+006459_000013:[4, 9]
+016807_000033:[]
+018151_000030:[]
+000298_000037:[7]
+020024_000001:[5]
+004477_000017:[]
+009827_000034:[2]
+022518_000005:[]
+021221_000008:[1, 4, 9, 10, 12, 18, 19]
+002596_000009:[4, 7, 8, 15]
+009374_000036:[]
+024669_000018:[]
+000702_000031:[]
+011147_000015:[17]
+014767_000029:[8, 12, 13]
+010851_000031:[12]
+004109_000020:[11, 15]
+021939_000039:[1]
+024379_000027:[]
+022161_000027:[]
+012732_000024:[19]
+007739_000011:[]
+006638_000027:[]
+022910_000010:[]
+017047_000038:[1]
+006192_000039:[]
+000699_000007:[0, 4, 16, 19]
+008543_000034:[]
+012616_000034:[17]
+013706_000034:[]
+020655_000027:[]
+019478_000028:[]
+024441_000036:[]
+001961_000024:[4, 6, 8, 12]
+016256_000012:[]
+022486_000023:[]
+013437_000038:[11]
+004494_000001:[]
+005239_000010:[]
+009211_000039:[]
+014740_000030:[]
+014307_000031:[14]
+020210_000023:[2]
+000738_000030:[8, 10]
+000965_000026:[]
+004158_000020:[]
+001852_000013:[12]
+003010_000039:[]
+023390_000026:[12]
+001576_000012:[0, 12, 15]
+010094_000015:[]
+012513_000021:[1]
+021399_000003:[]
+016035_000010:[]
+004147_000025:[4, 6]
+015494_000016:[6, 14]
+019031_000034:[]
+021237_000021:[6, 14, 17]
+007837_000010:[]
+001215_000036:[14, 16]
+018260_000010:[]
+011194_000027:[]
+018992_000039:[]
+009964_000035:[2, 9, 15, 19]
+007256_000019:[]
+011261_000032:[]
+007746_000004:[]
+005388_000033:[]
+001855_000026:[18]
+014426_000023:[]
+001042_000012:[2, 16]
+009996_000031:[]
+018702_000012:[2]
+004973_000023:[6, 17]
+023552_000004:[]
+021523_000039:[]
+004909_000018:[14]
+019635_000013:[]
+020526_000034:[3]
+019337_000019:[]
+022654_000008:[]
+018632_000034:[]
+024301_000014:[4, 5, 14, 15, 19]
+011953_000033:[]
+001085_000013:[8, 19]
+019666_000026:[]
+002956_000020:[]
+001959_000026:[4, 15]
+015449_000010:[4]
+010554_000007:[]
+001120_000017:[]
+005923_000006:[1]
+008381_000029:[]
+003350_000011:[]
+017759_000039:[4, 13]
+018277_000000:[]
+002475_000002:[6]
+002457_000024:[]
+021665_000031:[3]
+010825_000011:[10]
+008657_000010:[]
+010038_000021:[3]
+024628_000022:[]
+004919_000032:[]
+018390_000006:[]
+023403_000001:[18]
+008401_000018:[6, 13, 15, 17, 18]
+002522_000007:[7]
+024433_000004:[]
+010790_000008:[]
+008952_000020:[3, 12, 19]
+013065_000013:[15]
+011727_000015:[]
+024900_000021:[]
+020395_000018:[]
+006153_000012:[]
+001188_000009:[0, 16, 18]
+000231_000021:[]
+013658_000008:[1, 4, 5, 7, 8, 9, 12, 14, 18]
+011298_000008:[13]
+008272_000014:[]
+004769_000020:[]
+019023_000011:[2]
+009257_000011:[]
+021395_000013:[]
+007958_000038:[]
+015871_000013:[12, 18]
+020847_000006:[]
+000509_000025:[]
+002838_000017:[1, 5]
+007269_000024:[]
+018307_000024:[0]
+018576_000001:[17]
+019038_000033:[5]
+019299_000012:[]
+012002_000016:[7, 11]
+010114_000004:[]
+016274_000034:[]
+012881_000025:[]
+008435_000021:[]
+012569_000016:[9, 16]
+000982_000037:[12, 14, 16]
+004117_000031:[]
+010882_000004:[3, 18]
+020240_000007:[9, 11]
+012009_000024:[]
+001426_000023:[]
+010832_000038:[16]
+001583_000009:[]
+021415_000001:[18]
+012126_000015:[]
+019030_000022:[]
+001069_000031:[]
+002126_000012:[]
+019678_000031:[1, 16]
+017911_000034:[]
+021112_000024:[11, 14]
+000511_000008:[]
+006260_000022:[]
+019672_000003:[10]
+009517_000017:[0]
+001183_000000:[]
+024722_000033:[2, 4, 6]
+007567_000009:[]
+004281_000000:[0, 1, 3, 10, 19]
+002428_000012:[]
+014527_000006:[15]
+001755_000000:[]
+013978_000024:[]
+015346_000016:[7]
+012763_000014:[]
+004355_000020:[]
+002881_000028:[7, 8, 9]
+007332_000027:[2, 4, 5, 6, 7, 8, 11, 12, 13, 19]
+010324_000001:[0]
+021465_000005:[]
+022408_000028:[0]
+005521_000023:[8, 17]
+006391_000010:[]
+001364_000014:[3, 11, 15]
+022029_000023:[1, 2]
+017788_000002:[15]
+017573_000039:[]
+023067_000024:[]
+021920_000026:[]
+009974_000000:[]
+017954_000023:[0, 1, 8, 9, 17, 18, 19]
+007346_000020:[]
+002300_000018:[8, 10, 14, 19]
+007378_000033:[]
+008614_000033:[]
+004831_000034:[]
+023192_000023:[]
+002041_000029:[8, 18]
+024083_000008:[]
+021057_000017:[]
+006832_000036:[]
+007135_000018:[2, 13, 18]
+013708_000028:[1, 2, 3, 4, 7, 11, 17]
+011384_000007:[3, 12]
+006593_000033:[]
+014720_000034:[]
+001461_000028:[0]
+009584_000009:[5, 11]
+015410_000016:[0, 3, 4, 7, 9, 14, 15]
+016875_000023:[]
+004219_000000:[]
+015017_000006:[5, 17]
+003666_000013:[9, 15, 18]
+009848_000035:[]
+005902_000039:[]
+023868_000039:[]
+005145_000034:[]
+009480_000035:[]
+014835_000014:[2, 14, 15, 18]
+003556_000002:[2, 14]
+012366_000010:[1]
+005411_000007:[]
+017762_000028:[]
+022227_000000:[6]
+012391_000004:[3]
+022881_000013:[]
+010950_000008:[]
+008039_000028:[]
+010456_000009:[3, 19]
+005525_000035:[]
+011424_000013:[2, 6, 8, 12, 14, 15, 17]
+011175_000027:[10]
+024518_000032:[]
+022936_000039:[4, 12]
+021765_000026:[16, 18, 19]
+003754_000006:[0]
+001269_000035:[]
+008246_000001:[0]
+020424_000015:[]
+021024_000001:[]
+018766_000015:[11]
+013429_000036:[]
+023840_000018:[]
+012433_000020:[10]
+009834_000021:[4, 5, 6, 8, 9, 10, 13]
+008883_000032:[7, 11]
+014500_000036:[]
+019985_000039:[1, 7, 17, 18, 19]
+017562_000014:[2]
+019817_000001:[]
+004108_000011:[9]
+014308_000009:[16]
+017042_000027:[]
+019829_000003:[10, 19]
+022499_000027:[]
+009538_000017:[]
+012055_000034:[7]
+020255_000021:[]
+005020_000008:[]
+002012_000019:[5, 17, 18]
+002477_000022:[]
+016000_000036:[]
+003462_000028:[9]
+001169_000014:[]
+005971_000039:[]
+004458_000013:[5, 11, 17]
+022670_000010:[6, 11]
+017747_000016:[0, 4, 5, 9, 11, 14, 15, 18]
+003403_000018:[3, 6, 7, 10, 18]
+019271_000031:[]
+018127_000025:[]
+004104_000016:[5, 7]
+005394_000009:[]
+013305_000001:[]
+009225_000034:[]
+000272_000006:[1, 2, 4, 5, 7, 11, 12, 15, 16, 18, 19]
+017284_000021:[]
+004007_000002:[1, 14, 16]
+004250_000026:[2, 14]
+017703_000017:[2, 5, 9, 11, 17, 18, 19]
+015285_000027:[]
+004372_000030:[]
+014965_000031:[]
+021777_000036:[]
+022903_000006:[0, 6, 10, 17]
+015547_000026:[]
+009839_000014:[13]
+001418_000013:[6]
+009916_000037:[]
+002952_000028:[]
+001286_000026:[1, 6, 8]
+010387_000019:[]
+022218_000018:[2, 3, 16, 19]
+015554_000037:[]
+021260_000002:[17]
+014541_000014:[]
+024480_000010:[10, 17]
+006305_000033:[11]
+021320_000001:[1, 3, 5]
+001490_000011:[4, 13, 14, 15, 16]
+000552_000029:[]
+012307_000001:[14, 18]
+013055_000014:[3, 4, 9, 13, 15, 19]
+002495_000015:[]
+005700_000033:[19]
+002737_000007:[]
+011100_000002:[16]
+012470_000035:[1, 3, 7, 12, 13, 16]
+005491_000016:[11, 14]
+007637_000006:[1, 13, 14, 17, 19]
+001776_000028:[3, 4, 5, 6, 11, 18]
+001930_000038:[]
+024957_000034:[]
+015418_000026:[0]
+006536_000029:[9]
+015612_000002:[]
+009227_000011:[6, 12, 14, 17, 19]
+020535_000004:[17]
+012543_000038:[16]
+017024_000019:[11, 12, 18]
+005195_000037:[9, 15]
+012290_000037:[]
+012342_000009:[]
+011756_000015:[9]
+019825_000012:[]
+005430_000006:[]
+019415_000033:[]
+000702_000026:[0, 11]
+009327_000036:[8]
+011098_000004:[19]
+023318_000006:[0]
+010500_000002:[]
+020087_000011:[]
+023115_000017:[]
+023736_000017:[]
+003158_000022:[]
+022000_000004:[]
+016045_000023:[]
+010392_000013:[]
+008042_000025:[]
+017011_000019:[]
+018140_000002:[]
+001131_000013:[2]
+024934_000026:[]
+014363_000024:[]
+002938_000014:[2, 4, 19]
+010641_000038:[]
+019305_000010:[]
+009940_000033:[]
+003027_000006:[]
+011474_000035:[15]
+001373_000036:[]
+006883_000016:[]
+024129_000024:[3, 10]
+014584_000039:[]
+018238_000030:[8]
+005157_000024:[]
+021187_000033:[]
+013713_000035:[]
+008239_000002:[]
+016017_000018:[18]
+010742_000015:[11, 13, 14, 17]
+008034_000001:[7, 10]
+016020_000006:[14]
+023130_000022:[]
+004576_000010:[3, 4, 6]
+001308_000015:[]
+007210_000003:[]
+013514_000023:[]
+004409_000015:[]
+000532_000031:[]
+020948_000032:[]
+006865_000035:[5]
+006146_000017:[]
+020070_000018:[11]
+008133_000015:[10, 12, 13]
+015294_000035:[]
+019776_000017:[]
+016707_000004:[]
+024967_000036:[]
+005671_000011:[11]
+002697_000002:[]
+002311_000005:[]
+007161_000036:[]
+019221_000033:[0, 6, 17, 18]
+008260_000000:[]
+007989_000013:[]
+003438_000035:[6]
+000901_000006:[]
+003396_000001:[]
+012210_000033:[]
+002645_000000:[]
+008773_000032:[]
+002524_000010:[]
+023071_000035:[]
+020313_000003:[18]
+019997_000004:[]
+011780_000000:[]
+015229_000024:[]
+007377_000019:[18]
+020934_000020:[16]
+003470_000020:[]
+020917_000018:[12]
+016407_000003:[6]
+002630_000012:[]
+001739_000014:[]
+022964_000002:[]
+022865_000016:[6]
+011444_000026:[1]
+018374_000026:[]
+006009_000016:[6]
+011790_000006:[13]
+005494_000016:[16]
+019338_000008:[7, 12, 19]
+005391_000008:[]
+020719_000005:[11]
+001561_000015:[]
+014095_000031:[16]
+003313_000030:[5, 16, 17]
+003864_000026:[0]
+023882_000013:[]
+003706_000015:[5]
+013352_000024:[]
+008809_000024:[1, 4, 5, 19]
+018678_000017:[]
+012644_000019:[]
+016051_000033:[]
+010612_000014:[]
+008204_000007:[]
+022132_000029:[12]
+022518_000031:[1, 12, 19]
+007008_000012:[]
+012913_000031:[0, 7, 11]
+015846_000034:[0, 7, 17]
+023706_000038:[]
+018496_000017:[10]
+024329_000022:[]
+023748_000035:[8]
+005806_000036:[]
+013144_000024:[5, 13, 18]
+014767_000033:[8]
+009470_000004:[]
+005314_000002:[4]
+005284_000009:[]
+022081_000021:[2]
+014796_000014:[]
+010078_000029:[17]
+006141_000021:[]
+013392_000038:[]
+016693_000020:[4, 13]
+001584_000029:[5, 13, 16]
+000422_000023:[2]
+008614_000017:[4, 6, 10, 12]
+012273_000019:[0, 4, 7, 13, 18]
+023025_000019:[]
+024054_000017:[3]
+013604_000032:[0, 4, 15, 18]
+001586_000031:[]
+018708_000009:[]
+022889_000032:[]
+000595_000036:[17]
+002724_000015:[]
+017161_000004:[]
+017305_000030:[15]
+006636_000007:[]
+009870_000032:[]
+005205_000013:[]
+012235_000009:[1]
+015329_000034:[1]
+005695_000015:[2]
+021220_000031:[]
+020158_000005:[5]
+003896_000035:[]
+008130_000029:[2, 4, 5, 6, 8, 10, 12, 13, 14, 15, 16, 19]
+007417_000024:[17]
+006826_000019:[]
+016252_000001:[1, 4, 5, 15, 17]
+011718_000010:[17]
+023790_000021:[4]
+000766_000018:[]
+009848_000001:[]
+010927_000018:[14]
+001753_000022:[]
+018896_000029:[]
+018238_000003:[]
+017067_000036:[]
+023492_000029:[1, 7, 15, 18]
+006521_000032:[]
+005145_000038:[]
+014686_000025:[]
+020311_000030:[13]
+015883_000008:[0, 2, 3, 4, 10, 12, 14, 17, 18]
+020001_000003:[2, 11]
+013602_000014:[]
+023170_000030:[4]
+024491_000015:[8]
+005320_000029:[2, 4, 7, 8, 17, 19]
+013611_000037:[]
+012159_000033:[9, 13]
+017036_000014:[0]
+004291_000019:[]
+021128_000031:[]
+012772_000006:[]
+014020_000035:[1, 14]
+012794_000011:[7, 17]
+008769_000000:[]
+010738_000036:[]
+015719_000004:[]
+024732_000032:[]
+023842_000030:[]
+016300_000030:[]
+005271_000038:[]
+011725_000030:[13]
+003957_000009:[]
+015535_000010:[]
+001896_000009:[7]
+012173_000007:[]
+009304_000023:[]
+003190_000002:[]
+001499_000025:[3]
+008032_000024:[]
+019049_000024:[]
+013367_000017:[]
+009079_000008:[7]
+009473_000032:[18]
+020854_000012:[]
+013980_000013:[13]
+016950_000010:[14]
+003899_000011:[8, 15]
+012502_000027:[]
+022779_000009:[]
+004287_000039:[]
+010779_000014:[]
+011010_000001:[]
+015737_000018:[16]
+013734_000023:[3]
+012744_000022:[13]
+021925_000027:[]
+018691_000028:[6]
+000166_000002:[]
+002635_000019:[]
+001880_000035:[]
+019779_000006:[14]
+010853_000036:[1, 4, 12, 13, 19]
+005315_000010:[]
+023022_000032:[17]
+008430_000037:[1, 2]
+008038_000038:[]
+015447_000008:[]
+004826_000022:[]
+015795_000038:[2, 6, 7, 10, 13, 15]
+000609_000023:[]
+009932_000003:[18]
+005133_000028:[7, 10, 12, 19]
+007318_000001:[10, 19]
+024584_000038:[]
+007788_000038:[]
+016013_000001:[]
+006144_000009:[12]
+016629_000039:[9, 19]
+008412_000007:[8]
+019214_000008:[]
+008625_000034:[4]
+008942_000023:[1, 2, 15]
+007530_000011:[]
+024760_000019:[]
+006523_000026:[]
+022499_000019:[]
+019814_000005:[]
+011361_000020:[]
+017267_000001:[]
+005283_000035:[0, 6, 8]
+003825_000020:[]
+010203_000037:[4, 15]
+014500_000033:[]
+024943_000023:[]
+017527_000009:[]
+013554_000021:[]
+009895_000033:[]
+001647_000032:[]
+011647_000022:[6, 8, 10, 14]
+023484_000013:[]
+023766_000002:[5, 13, 14]
+007141_000004:[4, 9, 10, 18, 19]
+001464_000032:[]
+005128_000027:[]
+003930_000010:[]
+016352_000009:[]
+010446_000026:[]
+005199_000026:[]
+019481_000023:[6, 10]
+016310_000037:[18]
+016887_000001:[]
+021113_000009:[]
+001534_000006:[]
+004412_000008:[4]
+009681_000018:[1, 4]
+014728_000039:[]
+004433_000027:[]
+018112_000017:[13]
+023410_000008:[14, 16]
+004091_000028:[]
+013106_000022:[]
+020566_000009:[]
+023598_000028:[]
+021557_000015:[0, 2, 3, 9, 10, 14]
+009976_000035:[16]
+013576_000025:[16, 17]
+003668_000022:[]
+017944_000028:[]
+012104_000013:[1, 6, 8, 9, 14, 17, 19]
+014202_000007:[0, 2, 4]
+024157_000030:[]
+015133_000002:[]
+016849_000014:[]
+021602_000000:[]
+019080_000009:[0]
+013275_000034:[2, 11]
+018812_000037:[]
+014950_000036:[]
+021922_000004:[2]
+009984_000017:[6, 14]
+022565_000000:[]
+014717_000028:[]
+009373_000033:[]
+010541_000018:[]
+011929_000028:[]
+014575_000010:[]
+014943_000036:[]
+018443_000030:[]
+014079_000023:[]
+021812_000015:[0, 13, 16]
+019558_000024:[0, 3, 12, 16, 19]
+022479_000030:[]
+015531_000037:[12]
+005129_000019:[]
+005811_000017:[4]
+019206_000011:[]
+007152_000037:[]
+013442_000025:[]
+013469_000039:[]
+007437_000008:[1, 5, 6, 14, 18]
+020380_000033:[9]
+016918_000005:[]
+023846_000007:[]
+007685_000013:[2]
+020298_000023:[14]
+021968_000013:[0]
+009614_000010:[]
+005366_000004:[4]
+012478_000003:[1, 2, 13]
+005533_000002:[]
+019491_000003:[0, 4, 11, 12, 13, 15]
+004500_000006:[]
+002743_000035:[]
+023837_000010:[]
+023834_000004:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000775_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000775_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ecd21577a3ae4ce97bb5c202e54e0bee90efb312
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000775_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+009536_000026:[]
+013005_000006:[9]
+000258_000019:[]
+016682_000026:[0, 2, 9]
+014998_000038:[]
+005336_000016:[]
+023134_000035:[]
+018501_000035:[0, 4, 5, 13, 19]
+014363_000004:[]
+018448_000004:[13]
+023505_000023:[2, 5, 10, 11, 12, 14, 15, 16, 17, 19]
+021837_000020:[]
+003888_000031:[4, 10, 12, 17]
+002230_000013:[]
+003356_000034:[6, 19]
+011225_000028:[]
+002130_000006:[]
+006179_000030:[]
+019827_000039:[]
+010872_000011:[]
+017518_000027:[2, 3, 12, 15, 17, 19]
+015455_000015:[0, 2, 7]
+002656_000022:[]
+020066_000018:[3, 5]
+024571_000039:[]
+013361_000020:[0]
+000319_000002:[]
+004524_000026:[]
+009132_000010:[]
+019426_000010:[]
+020670_000030:[7]
+013348_000032:[]
+005353_000027:[3]
+004456_000003:[4, 5]
+000984_000011:[0, 3, 5, 8, 16, 19]
+022968_000015:[5]
+009092_000036:[]
+023289_000010:[]
+011858_000035:[13]
+000306_000012:[]
+015878_000024:[1, 2]
+019255_000024:[10, 15]
+012252_000025:[]
+009179_000033:[]
+009620_000015:[]
+006320_000013:[0]
+017621_000003:[5, 12]
+000478_000026:[]
+004070_000018:[]
+018496_000002:[9, 11]
+020567_000020:[]
+020714_000019:[1]
+010391_000026:[]
+023758_000004:[]
+004040_000030:[]
+004325_000030:[]
+000322_000019:[17]
+009977_000030:[6]
+022019_000025:[1]
+002040_000026:[]
+023877_000026:[1, 4, 15]
+000065_000017:[15]
+011708_000015:[0, 12, 16]
+015570_000037:[16]
+020617_000033:[12]
+003975_000038:[2, 6, 9, 12, 18, 19]
+006875_000029:[19]
+006892_000030:[]
+003864_000008:[6]
+003706_000020:[6]
+003737_000006:[1]
+015861_000027:[]
+009237_000010:[]
+000475_000013:[1, 2, 6, 8, 11]
+002273_000007:[]
+010996_000028:[]
+024563_000037:[]
+019452_000038:[19]
+011150_000003:[3]
+000719_000011:[]
+017634_000028:[4]
+007957_000007:[5, 8, 12]
+010433_000018:[]
+000746_000006:[]
+017090_000008:[4]
+018140_000026:[]
+019795_000020:[]
+010391_000000:[12]
+021116_000016:[]
+003519_000038:[1, 2]
+000656_000017:[]
+000438_000037:[]
+005033_000035:[0, 17]
+023895_000030:[7, 14, 19]
+021511_000031:[11]
+014510_000000:[3, 7]
+006750_000034:[]
+010716_000008:[]
+003477_000029:[]
+021272_000011:[]
+010067_000003:[]
+016338_000027:[8]
+006156_000014:[2, 7, 10]
+016452_000028:[7]
+017550_000037:[]
+013400_000030:[]
+016883_000032:[]
+023572_000024:[11]
+008578_000037:[]
+024051_000012:[]
+016208_000003:[3, 9, 10]
+014524_000019:[]
+004510_000016:[0, 2, 6]
+008795_000022:[]
+010680_000006:[]
+002284_000001:[]
+013948_000030:[]
+019215_000012:[]
+006115_000021:[]
+010979_000030:[]
+012923_000030:[0, 5]
+019564_000001:[]
+004224_000023:[3, 11]
+013009_000037:[]
+003419_000022:[]
+022871_000018:[]
+017246_000028:[6]
+013336_000032:[]
+003687_000010:[]
+016977_000002:[16]
+018756_000038:[0, 14, 15, 18]
+021298_000039:[]
+012496_000031:[]
+003303_000015:[]
+011375_000026:[]
+022297_000015:[]
+004196_000026:[]
+015049_000015:[]
+014687_000006:[]
+006099_000018:[1, 5, 10]
+007330_000007:[5, 14, 17]
+021751_000007:[]
+017671_000037:[]
+013742_000033:[0, 9, 14, 15]
+017918_000024:[0, 8]
+013565_000004:[10]
+010112_000034:[]
+013753_000036:[]
+022790_000002:[1, 3, 8, 15, 17, 19]
+017181_000001:[]
+024590_000003:[8]
+005475_000001:[]
+011771_000032:[3, 7]
+022517_000034:[5, 11]
+001865_000012:[3, 4, 7]
+008906_000035:[]
+022862_000035:[1]
+009555_000027:[13]
+006574_000026:[3, 7]
+014830_000015:[12]
+012982_000032:[]
+013963_000031:[0, 12, 19]
+008535_000004:[3, 7, 15]
+015340_000013:[17]
+011334_000038:[12, 14, 15]
+017485_000030:[4]
+001902_000010:[1]
+017557_000034:[10]
+000070_000033:[]
+009847_000022:[]
+012385_000002:[]
+013504_000018:[]
+021478_000039:[]
+020466_000028:[]
+001528_000012:[]
+024686_000019:[0, 7, 9, 10, 14, 16, 17]
+011979_000005:[13]
+010856_000002:[0]
+018298_000024:[]
+000757_000009:[]
+009709_000024:[1, 12]
+024455_000010:[]
+023025_000036:[2, 4, 13, 17]
+002676_000036:[]
+008969_000015:[1]
+018409_000015:[]
+005621_000015:[9]
+012453_000017:[]
+019569_000018:[3, 5, 7, 10, 14]
+019661_000009:[]
+001799_000009:[]
+023041_000009:[]
+012384_000028:[]
+002069_000020:[]
+004917_000025:[]
+022296_000028:[]
+003686_000006:[]
+020656_000012:[0, 3, 5, 7, 8, 10]
+021783_000018:[]
+014276_000009:[]
+012739_000012:[]
+007729_000023:[]
+019168_000008:[]
+017038_000031:[]
+002393_000000:[]
+014622_000035:[5]
+011410_000019:[7, 11, 19]
+007885_000009:[]
+003268_000039:[]
+004863_000008:[]
+008422_000016:[]
+009087_000019:[]
+003959_000010:[]
+015693_000005:[15]
+011817_000020:[]
+004662_000015:[]
+016742_000035:[]
+006164_000013:[3, 4, 9, 10]
+004344_000005:[1, 4, 11, 16]
+001468_000004:[]
+015391_000024:[]
+018084_000024:[]
+021732_000007:[]
+017822_000027:[8]
+011530_000006:[18]
+012686_000005:[2, 4, 6, 8, 12]
+003224_000032:[]
+011008_000030:[]
+017904_000038:[]
+024981_000034:[8]
+000989_000036:[7]
+016473_000012:[]
+024686_000003:[0, 2, 4, 9, 10, 14, 17, 19]
+002894_000034:[]
+001688_000038:[5]
+002680_000035:[]
+017719_000020:[0]
+018746_000018:[]
+005015_000023:[0, 2, 4, 5, 7, 11, 12, 15]
+023814_000019:[]
+015391_000019:[1, 5, 12]
+007459_000004:[17]
+024008_000009:[]
+006454_000031:[]
+024328_000025:[]
+011464_000004:[]
+000378_000004:[]
+021065_000010:[]
+014313_000001:[4]
+005210_000028:[]
+020302_000009:[]
+007585_000026:[]
+008205_000035:[]
+002180_000037:[]
+019799_000031:[3, 5, 8, 17, 18]
+007767_000005:[]
+003168_000022:[]
+024787_000015:[]
+023369_000032:[]
+014334_000019:[]
+014633_000020:[6]
+010575_000028:[]
+015109_000032:[]
+022974_000013:[]
+023397_000038:[1, 3, 6, 11, 12, 13, 16]
+001459_000022:[]
+017995_000012:[]
+024092_000021:[2, 17]
+016232_000015:[]
+014646_000020:[1, 4, 5, 7]
+002459_000037:[5, 13]
+001324_000017:[0, 6, 18]
+007922_000008:[]
+008093_000016:[]
+019482_000029:[1, 4, 6, 7, 17, 19]
+010053_000031:[13]
+024757_000021:[]
+018470_000020:[6, 10]
+010096_000012:[8]
+018726_000028:[15]
+016668_000009:[]
+000895_000011:[]
+004718_000026:[12]
+023945_000018:[]
+019710_000015:[]
+002009_000000:[]
+018584_000017:[]
+007269_000005:[0, 17]
+016798_000038:[0, 1, 13]
+013789_000028:[1]
+009857_000030:[0, 10, 18]
+010488_000036:[]
+010591_000029:[3, 7, 18]
+005936_000007:[19]
+021594_000015:[]
+007913_000035:[11]
+018357_000012:[]
+000187_000018:[0, 2, 5, 14, 17]
+022131_000008:[2]
+018571_000022:[]
+002176_000018:[8]
+006159_000013:[]
+009099_000006:[14, 18]
+003370_000028:[7]
+023494_000029:[]
+000294_000001:[]
+011759_000000:[]
+010031_000019:[13, 15]
+009286_000009:[14]
+019576_000003:[11]
+009541_000028:[]
+019931_000031:[]
+006321_000024:[1, 18, 19]
+012150_000026:[0, 5]
+020464_000039:[8]
+008403_000034:[]
+003368_000031:[]
+021840_000017:[13]
+012324_000022:[]
+010580_000017:[3, 8, 10, 12]
+005362_000015:[6, 10]
+013503_000024:[9]
+022501_000006:[]
+021712_000022:[]
+015827_000016:[9, 11]
+019520_000000:[]
+016702_000016:[4, 5, 16, 18]
+023609_000038:[16]
+000928_000005:[]
+010776_000011:[]
+010425_000017:[]
+017250_000035:[3]
+008425_000012:[]
+013125_000019:[4, 7, 13, 14]
+008128_000034:[]
+005239_000028:[0, 1]
+004304_000022:[1]
+006413_000027:[19]
+003346_000017:[]
+012222_000004:[9]
+005584_000011:[]
+011682_000039:[]
+014800_000003:[]
+016079_000009:[]
+020014_000025:[]
+004840_000026:[7, 14]
+004702_000017:[]
+020591_000025:[0]
+022822_000028:[7]
+017103_000024:[]
+011175_000030:[3, 5, 11]
+022681_000009:[7]
+016543_000007:[]
+008747_000030:[]
+007076_000005:[]
+004489_000015:[]
+006849_000018:[0, 10, 13, 15]
+015537_000013:[16]
+023922_000015:[]
+017412_000012:[]
+000988_000019:[]
+014218_000007:[11, 12]
+020613_000017:[]
+016844_000024:[]
+001830_000024:[]
+018244_000024:[]
+003231_000031:[4, 13, 17]
+005467_000036:[]
+023854_000004:[]
+001548_000019:[5, 6, 19]
+012701_000029:[]
+021786_000004:[]
+018208_000026:[4, 7]
+022746_000038:[13]
+024639_000015:[]
+019891_000015:[4]
+002110_000027:[]
+023422_000018:[17]
+001902_000027:[]
+012353_000032:[]
+019870_000000:[]
+022502_000017:[]
+020781_000002:[13]
+017777_000031:[2, 16, 17]
+006972_000020:[10]
+004805_000023:[]
+019471_000030:[6, 9, 16]
+009210_000038:[10]
+014553_000023:[]
+001844_000019:[]
+011660_000020:[]
+022850_000024:[]
+014489_000014:[1, 2, 17]
+013531_000035:[9, 11]
+019829_000030:[]
+014547_000013:[]
+006848_000039:[2, 10, 14, 15]
+002920_000005:[]
+024927_000019:[]
+008719_000020:[13, 17]
+007350_000038:[2, 3, 10]
+022369_000010:[12]
+012453_000013:[]
+007058_000001:[7]
+004390_000015:[]
+009271_000001:[]
+000240_000002:[]
+023909_000006:[11, 16]
+010135_000034:[]
+012626_000015:[]
+009156_000039:[]
+022054_000024:[]
+008264_000027:[4, 10]
+005175_000019:[]
+020238_000031:[]
+005550_000037:[5]
+000090_000025:[0, 1, 3, 4, 15, 16]
+009630_000024:[]
+000119_000003:[]
+021927_000001:[3, 9, 10]
+008829_000005:[]
+022767_000027:[12]
+015135_000038:[2, 4, 7, 8, 9, 10, 11, 15, 16, 17]
+012865_000028:[]
+000244_000016:[15]
+020207_000024:[]
+000712_000029:[]
+003928_000015:[2, 3, 5, 7, 8, 10, 17, 19]
+004059_000008:[]
+023877_000007:[]
+020124_000024:[]
+017947_000012:[]
+022484_000033:[13]
+019238_000026:[]
+008339_000024:[]
+022110_000011:[]
+008646_000018:[]
+024369_000030:[]
+006534_000009:[]
+004497_000000:[3]
+002462_000034:[0]
+020894_000031:[4, 10]
+003936_000027:[]
+001879_000022:[]
+011970_000018:[]
+017524_000038:[]
+009988_000036:[1, 2]
+024910_000008:[]
+011687_000005:[6]
+007592_000010:[0, 4]
+006529_000006:[]
+003316_000023:[]
+001216_000008:[]
+019746_000003:[]
+016155_000003:[]
+000150_000024:[5, 12, 16, 17]
+008640_000004:[]
+019389_000027:[14]
+000871_000027:[]
+013397_000008:[13]
+012479_000033:[16, 17]
+017762_000026:[11]
+008497_000008:[9]
+023740_000001:[2, 12, 16]
+015583_000014:[]
+023898_000018:[]
+018058_000032:[2, 11, 17]
+020148_000017:[]
+017176_000016:[]
+005859_000029:[]
+013923_000016:[]
+016462_000023:[]
+003736_000008:[]
+009769_000022:[]
+021246_000009:[3, 8]
+019655_000039:[]
+002986_000001:[]
+010869_000029:[5]
+023208_000014:[8]
+010956_000003:[1]
+009981_000021:[4]
+023490_000027:[]
+015837_000004:[]
+007334_000005:[5, 12]
+000855_000004:[]
+017720_000008:[]
+018248_000036:[2]
+008723_000006:[4, 9]
+007177_000019:[]
+010341_000000:[1]
+022063_000023:[]
+003365_000019:[14, 15]
+004390_000026:[]
+024981_000005:[]
+011015_000017:[13]
+018458_000010:[]
+022419_000010:[]
+012843_000018:[]
+020238_000028:[0, 13]
+014050_000034:[]
+011142_000027:[5, 14]
+003014_000035:[]
+004684_000019:[]
+002548_000019:[]
+006313_000004:[2]
+015908_000011:[19]
+018333_000027:[14]
+015491_000008:[12]
+012034_000027:[]
+010840_000012:[]
+014919_000023:[]
+024013_000028:[12]
+012179_000016:[0, 2, 7, 16, 18, 19]
+009828_000002:[9]
+001650_000005:[]
+007383_000032:[0, 4, 6, 7, 10, 11, 14, 16]
+008103_000037:[0, 1, 6, 7]
+020884_000033:[9]
+000347_000020:[]
+006877_000017:[]
+020098_000004:[]
+022947_000018:[17]
+017444_000000:[]
+024332_000013:[4]
+021795_000026:[]
+005610_000013:[4]
+000268_000034:[]
+007501_000038:[1, 14]
+003027_000030:[]
+021108_000015:[]
+024124_000029:[]
+001493_000006:[6, 15]
+004927_000018:[]
+005864_000032:[2, 10]
+002688_000010:[0]
+008071_000008:[7]
+003466_000004:[]
+016689_000039:[]
+009373_000034:[]
+019742_000012:[13]
+017632_000035:[]
+001778_000006:[]
+018258_000038:[0, 2, 5, 11, 17]
+023957_000005:[]
+024755_000026:[]
+023010_000005:[]
+008419_000039:[13]
+018316_000010:[]
+014975_000026:[12]
+011047_000003:[4, 12, 14]
+007097_000014:[2, 4, 6, 10, 14, 15, 16]
+011936_000019:[7]
+000983_000008:[1, 2, 5, 10, 12, 14, 16, 19]
+013660_000021:[]
+009281_000008:[]
+007477_000013:[16]
+024089_000011:[]
+019184_000004:[]
+018613_000027:[]
+004326_000024:[]
+004619_000004:[]
+003815_000011:[14]
+021991_000006:[]
+002066_000010:[]
+002648_000031:[15]
+007528_000008:[]
+021286_000036:[]
+019645_000009:[]
+010211_000001:[]
+014686_000004:[]
+023683_000012:[3, 16]
+005236_000001:[3]
+012358_000039:[8]
+020569_000011:[]
+009682_000019:[2, 5, 17]
+013977_000021:[6, 7, 19]
+013910_000014:[2]
+000044_000035:[15]
+011077_000008:[]
+021194_000013:[9]
+001835_000014:[4, 12, 14]
+004140_000035:[]
+024852_000013:[1, 7]
+020213_000035:[]
+013186_000008:[]
+001076_000027:[]
+020946_000023:[]
+023710_000006:[]
+015314_000037:[]
+007728_000037:[]
+016040_000020:[]
+012869_000015:[]
+007599_000033:[2, 3]
+002070_000032:[]
+003208_000031:[]
+013387_000022:[]
+017703_000018:[]
+017688_000019:[]
+018958_000015:[]
+016239_000035:[]
+023911_000035:[]
+014212_000037:[9]
+007852_000024:[]
+018279_000028:[]
+002119_000025:[0, 12]
+005554_000028:[0, 1, 6, 8, 9, 15, 17]
+019531_000001:[]
+017047_000035:[10]
+019799_000033:[13]
+022436_000025:[]
+020608_000007:[]
+024667_000038:[10, 12, 17]
+015284_000005:[]
+000692_000033:[5]
+024491_000022:[0, 9]
+020400_000024:[17]
+019423_000039:[2]
+012426_000026:[]
+015442_000030:[]
+011196_000017:[]
+010411_000024:[]
+004891_000015:[]
+007974_000035:[]
+019680_000027:[]
+001621_000016:[2]
+017515_000000:[]
+015590_000018:[]
+016723_000028:[18]
+014150_000003:[19]
+005143_000038:[]
+018296_000003:[2, 7, 9]
+006080_000030:[1, 2, 5, 7, 10, 11, 19]
+019881_000009:[3, 4, 14]
+013094_000011:[]
+008121_000024:[]
+016716_000021:[]
+004130_000006:[6]
+015687_000038:[]
+014052_000010:[]
+005378_000014:[]
+018854_000022:[]
+012450_000010:[2, 11, 12, 17, 18, 19]
+020803_000039:[]
+007897_000026:[]
+019686_000039:[]
+016912_000024:[2, 3, 5, 6, 8, 14]
+002479_000026:[]
+018058_000029:[5, 11, 12, 15]
+012635_000008:[0, 3, 4, 5, 6, 12, 13, 18]
+018797_000012:[]
+010475_000027:[]
+010180_000032:[]
+011275_000027:[8]
+013596_000019:[]
+023189_000030:[12]
+015458_000016:[1, 4, 5, 6, 10, 11, 13, 16, 17, 19]
+014786_000010:[0, 17]
+013935_000029:[14]
+001325_000028:[]
+003160_000037:[]
+011331_000020:[14]
+019827_000015:[3]
+013883_000009:[]
+020251_000021:[]
+001551_000034:[]
+006374_000038:[18]
+016456_000021:[3, 14]
+019064_000032:[]
+008383_000017:[0, 9]
+013030_000039:[]
+013533_000004:[]
+012159_000023:[5, 18]
+010949_000022:[]
+010803_000004:[2, 13, 14, 15]
+005921_000039:[3, 12]
+016693_000007:[]
+011021_000009:[]
+013230_000030:[]
+023124_000034:[]
+013794_000019:[10, 12, 19]
+014678_000000:[]
+019145_000015:[]
+022194_000009:[]
+002975_000035:[13]
+014268_000022:[3, 5, 8, 10, 17, 19]
+021032_000030:[]
+019037_000012:[]
+014183_000025:[17]
+016983_000026:[]
+017069_000032:[14]
+019094_000039:[2]
+022153_000000:[5]
+004832_000009:[3]
+021818_000018:[]
+002015_000030:[]
+019135_000008:[2, 15]
+010007_000025:[]
+008125_000005:[5]
+013778_000005:[7]
+009023_000000:[1, 18]
+019216_000008:[]
+009139_000023:[12, 18]
+005876_000035:[]
+020757_000032:[]
+020503_000017:[]
+006236_000035:[8]
+005717_000019:[3, 5]
+007889_000039:[]
+003512_000010:[2]
+011462_000026:[]
+014372_000009:[0]
+002620_000013:[]
+013550_000032:[15]
+001026_000027:[]
+019938_000037:[18]
+008091_000022:[]
+015378_000008:[]
+005236_000008:[]
+012436_000015:[]
+013541_000027:[]
+002521_000018:[]
+000726_000006:[]
+022059_000035:[5]
+007488_000026:[]
+024775_000001:[]
+018814_000002:[]
+020875_000015:[0, 10, 15]
+020508_000011:[]
+016056_000030:[0, 7]
+016007_000027:[]
+019619_000025:[7]
+002831_000009:[]
+022041_000019:[]
+003073_000013:[8, 9, 10, 14]
+018096_000012:[]
+010176_000023:[1]
+015072_000027:[]
+023505_000036:[10, 11, 14]
+016127_000026:[18]
+011560_000036:[]
+002132_000032:[]
+004105_000024:[]
+016119_000009:[]
+010454_000016:[4]
+024990_000008:[]
+013742_000002:[]
+010996_000014:[7]
+004734_000029:[0, 1, 5, 13]
+022459_000031:[]
+009563_000034:[]
+009887_000036:[]
+024953_000038:[1, 3, 4, 5, 10, 11, 17]
+006211_000010:[]
+020611_000029:[6, 14]
+022509_000005:[15]
+024435_000036:[]
+001712_000017:[12]
+007465_000000:[11, 12]
+016099_000031:[]
+017248_000009:[7, 15]
+015798_000023:[]
+008725_000031:[0, 12]
+018416_000025:[]
+012139_000011:[]
+023642_000005:[1, 13]
+024873_000031:[]
+003945_000037:[5, 11]
+007929_000014:[]
+016250_000029:[2]
+014433_000018:[2, 6]
+023411_000017:[10, 17]
+024659_000020:[]
+002314_000035:[19]
+022910_000039:[]
+011357_000015:[]
+016618_000023:[]
+002135_000003:[]
+004978_000007:[]
+008358_000021:[3, 7]
+006059_000037:[11, 17]
+013015_000026:[]
+003553_000033:[]
+000970_000023:[11]
+001977_000023:[0, 1]
+005265_000016:[1, 14]
+009471_000030:[]
+009884_000021:[]
+020317_000023:[]
+010570_000011:[11]
+013608_000001:[]
+020552_000035:[18]
+012451_000035:[]
+015002_000017:[]
+008309_000016:[]
+023330_000013:[15]
+015339_000034:[]
+023568_000038:[]
+000205_000009:[16]
+008842_000020:[]
+013373_000000:[]
+021628_000014:[10]
+022850_000006:[9]
+010568_000020:[6, 9, 13]
+001661_000004:[]
+022079_000006:[]
+017110_000028:[]
+012007_000037:[]
+004631_000008:[]
+020815_000009:[]
+009718_000030:[0, 1, 2, 10, 11]
+023461_000019:[2, 10, 18]
+001819_000009:[2, 15]
+000944_000013:[]
+021982_000004:[]
+021589_000024:[]
+007167_000005:[]
+011229_000033:[7]
+012358_000038:[]
+010005_000020:[]
+009872_000028:[6, 12]
+015621_000035:[]
+023205_000018:[]
+024233_000004:[6]
+009952_000010:[]
+000500_000029:[]
+008813_000003:[]
+009332_000003:[]
+019959_000015:[]
+022170_000028:[]
+022704_000014:[8]
+007853_000036:[3, 4, 9, 13, 19]
+004033_000033:[]
+023347_000003:[]
+019980_000038:[]
+016123_000031:[]
+019312_000001:[0, 12]
+021907_000036:[]
+023489_000017:[]
+017293_000025:[]
+016689_000032:[]
+013616_000026:[]
+022144_000013:[4]
+001825_000039:[18]
+008483_000026:[]
+007656_000032:[]
+015466_000024:[]
+014713_000014:[9]
+017619_000008:[]
+006290_000033:[0, 1, 3, 6, 10, 11, 12, 13, 17]
+006983_000027:[]
+003122_000002:[4]
+003425_000002:[]
+015593_000033:[5]
+012502_000035:[]
+023977_000038:[]
+006364_000009:[10]
+005813_000034:[]
+015023_000003:[5]
+014535_000008:[12]
+009867_000008:[]
+006465_000007:[3, 7, 13, 15, 16]
+014400_000009:[8]
+010760_000006:[]
+015554_000008:[]
+008504_000006:[]
+018901_000018:[]
+001378_000005:[4]
+022566_000038:[0]
+022193_000012:[]
+010012_000038:[]
+007961_000006:[3, 10, 13, 17]
+008001_000034:[1, 17]
+008255_000020:[]
+014273_000008:[]
+018225_000016:[4]
+019967_000002:[]
+009415_000039:[]
+017762_000039:[]
+021806_000010:[]
+008174_000025:[17]
+013267_000038:[]
+014830_000039:[]
+009362_000039:[]
+000060_000011:[0, 8, 9]
+013549_000025:[]
+015421_000032:[7]
+018143_000018:[]
+003516_000001:[]
+017785_000005:[]
+010953_000002:[]
+023773_000015:[5]
+000552_000027:[]
+002641_000004:[1]
+024127_000004:[]
+020699_000016:[]
+005616_000003:[]
+001314_000028:[]
+010528_000030:[5, 8]
+014790_000008:[3]
+011681_000035:[]
+016803_000036:[]
+021501_000016:[1, 4, 10, 12, 15, 17, 18]
+012103_000019:[2, 4, 7, 10, 17, 18]
+024107_000019:[11]
+019812_000000:[18]
+010880_000021:[]
+018524_000026:[]
+020548_000036:[]
+017139_000013:[]
+015113_000029:[]
+011346_000010:[]
+007876_000004:[]
+004298_000017:[]
+004174_000006:[1, 3]
+018678_000031:[]
+004632_000025:[3, 10, 15]
+007273_000014:[9, 13, 15, 17]
+022297_000026:[]
+006038_000014:[]
+013205_000002:[]
+002581_000002:[2]
+000426_000029:[]
+002645_000006:[6]
+023814_000013:[3]
+019308_000027:[]
+012973_000022:[10, 13, 14]
+000993_000010:[]
+018290_000006:[2]
+002705_000012:[]
+003442_000007:[]
+003820_000017:[]
+023823_000035:[]
+008528_000024:[]
+006150_000004:[]
+012201_000013:[]
+011770_000026:[4, 19]
+014447_000029:[14]
+003182_000016:[17]
+014875_000005:[0, 2, 9, 14, 15]
+005527_000011:[]
+005220_000010:[]
+006471_000020:[]
+001546_000029:[]
+012149_000002:[]
+016421_000033:[]
+010007_000032:[]
+009789_000018:[]
+004309_000005:[]
+018114_000024:[]
+014932_000017:[]
+014173_000039:[]
+007732_000015:[9]
+002959_000004:[0, 1, 3, 10, 13, 16, 18]
+003157_000031:[2]
+022029_000020:[]
+014337_000003:[]
+011373_000037:[5]
+012089_000011:[]
+002455_000034:[4, 5]
+004936_000034:[9]
+016866_000035:[1]
+003034_000035:[]
+006588_000003:[]
+014637_000028:[]
+017720_000012:[]
+017046_000003:[]
+013880_000006:[4]
+000405_000001:[11, 19]
+007721_000009:[]
+021562_000018:[]
+018543_000007:[]
+021108_000020:[]
+013706_000037:[]
+011538_000024:[]
+023555_000033:[]
+010733_000029:[]
+020608_000019:[11, 14]
+014949_000016:[]
+017206_000016:[18]
+022946_000018:[]
+017183_000036:[]
+007689_000012:[]
+021083_000039:[]
+012694_000006:[]
+011215_000016:[]
+013404_000018:[]
+013808_000011:[2]
+000361_000011:[]
+008225_000012:[13]
+021197_000011:[2]
+012100_000000:[]
+011118_000014:[]
+014337_000037:[4]
+010540_000024:[]
+006385_000008:[4, 14, 15, 18]
+013870_000016:[]
+009048_000036:[2, 4, 8, 9, 10, 11, 15]
+012306_000006:[]
+015041_000023:[]
+023940_000030:[2]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000786_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000786_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5407aec0202ce7b48193e9fca610b37241644bb3
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000786_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+019352_000009:[]
+001097_000011:[]
+022463_000024:[2]
+012626_000012:[]
+002187_000037:[]
+006533_000001:[]
+002532_000029:[]
+016057_000015:[7, 13, 14, 19]
+007299_000017:[]
+012851_000037:[]
+005223_000024:[]
+002461_000012:[]
+019678_000028:[0]
+000784_000039:[1, 8, 17, 18]
+010574_000034:[8]
+012893_000025:[]
+014811_000010:[]
+021534_000023:[]
+011925_000004:[8]
+000553_000038:[]
+022293_000023:[0, 2, 6, 11, 18]
+000734_000006:[0, 2, 17]
+006640_000019:[]
+020420_000011:[]
+019704_000036:[5]
+002407_000039:[1]
+019032_000010:[0, 15]
+006990_000010:[]
+016773_000035:[4, 9, 11, 14, 15]
+023726_000009:[]
+004169_000020:[]
+012285_000022:[]
+019996_000008:[]
+008276_000034:[6]
+002196_000018:[]
+017377_000025:[]
+022952_000035:[]
+013924_000028:[]
+005995_000019:[]
+012287_000015:[0, 7, 13, 14, 16, 18, 19]
+022475_000031:[4]
+007998_000031:[2, 8, 13, 15, 19]
+019167_000028:[]
+017884_000003:[6, 8]
+023605_000037:[]
+023580_000000:[9]
+019368_000014:[3, 9, 11, 12]
+015032_000007:[]
+010871_000029:[]
+011597_000019:[]
+018851_000031:[5, 11, 15]
+014196_000036:[]
+013977_000037:[]
+006786_000020:[0]
+014506_000009:[]
+002598_000001:[7]
+000363_000006:[]
+024798_000012:[]
+017679_000006:[]
+020062_000009:[1, 3, 19]
+012566_000029:[]
+018067_000033:[]
+022168_000001:[]
+022438_000033:[]
+012692_000023:[8]
+010262_000017:[]
+012458_000008:[]
+017099_000030:[1, 9, 10]
+019560_000003:[]
+023637_000020:[]
+010878_000002:[]
+006226_000031:[]
+010664_000025:[8]
+011027_000009:[]
+017142_000018:[14]
+015482_000024:[]
+016298_000010:[3]
+010233_000016:[]
+009356_000034:[]
+017313_000026:[]
+017694_000020:[5, 12, 18]
+004675_000013:[2]
+007478_000030:[]
+006906_000030:[]
+018340_000000:[1, 7]
+015728_000025:[2, 5]
+007244_000018:[0, 1, 11]
+019484_000018:[]
+019469_000031:[]
+019846_000014:[]
+011330_000029:[19]
+018735_000030:[2, 6, 12, 13]
+019344_000034:[]
+012634_000011:[1, 3, 5, 6, 12, 19]
+017358_000016:[]
+021478_000008:[]
+004434_000003:[2, 10, 17]
+007701_000007:[]
+008521_000029:[]
+007131_000033:[]
+012127_000012:[]
+003471_000018:[14]
+005757_000007:[]
+020840_000010:[]
+008517_000012:[]
+009156_000012:[]
+008136_000017:[3, 8]
+006371_000015:[3, 14]
+007730_000007:[2]
+012782_000014:[4]
+008923_000006:[0, 2]
+012212_000007:[]
+010812_000028:[]
+005861_000012:[9, 13]
+010284_000001:[0, 13]
+002637_000035:[]
+007586_000020:[7, 11, 13]
+000477_000007:[1, 10, 13, 14, 15]
+017444_000020:[11]
+014852_000010:[5]
+007090_000013:[]
+007184_000035:[2, 13, 14, 16]
+004008_000038:[5]
+019613_000010:[0, 3, 13, 17]
+017738_000022:[4, 6, 16, 19]
+000781_000021:[5]
+000903_000027:[15]
+000120_000029:[]
+014913_000012:[]
+004881_000003:[1, 3, 17]
+012281_000010:[14]
+022983_000005:[]
+014141_000028:[]
+020038_000020:[]
+006026_000032:[]
+023155_000009:[0, 2, 5, 16, 17]
+024439_000003:[]
+019211_000031:[]
+023558_000000:[]
+021665_000000:[]
+004893_000000:[]
+000698_000029:[18]
+024112_000012:[]
+010286_000018:[]
+014358_000029:[2, 9, 18, 19]
+018666_000031:[5, 13]
+016148_000025:[]
+001960_000034:[]
+002156_000024:[8]
+016923_000031:[7, 19]
+007517_000000:[3]
+021329_000000:[]
+005807_000004:[5]
+017383_000008:[]
+008635_000029:[16]
+018950_000010:[]
+022378_000033:[]
+022215_000035:[]
+021444_000001:[]
+007736_000008:[]
+022621_000036:[9, 16]
+011998_000032:[]
+001841_000002:[]
+024729_000009:[12]
+016919_000020:[]
+006656_000005:[]
+002622_000002:[]
+013162_000036:[]
+008413_000018:[7]
+003853_000015:[]
+015751_000037:[14, 15, 16]
+000337_000010:[]
+011435_000032:[6, 8, 14, 15]
+010333_000033:[8]
+005991_000000:[]
+013803_000038:[5, 12, 17]
+011252_000034:[]
+007178_000003:[]
+020043_000020:[]
+011211_000013:[3, 8]
+016577_000007:[]
+007765_000011:[]
+000117_000021:[]
+005736_000002:[]
+020092_000024:[]
+013773_000033:[]
+013726_000003:[]
+016397_000004:[]
+021519_000035:[]
+015213_000026:[]
+013368_000022:[]
+019552_000014:[6, 10]
+007467_000001:[0, 6, 8, 9, 11, 12, 13, 16, 18, 19]
+002729_000032:[1]
+011838_000018:[]
+008173_000009:[]
+017914_000007:[3]
+005095_000004:[2, 14]
+023231_000039:[1, 4, 8, 9, 15]
+007571_000002:[0, 1, 7, 9, 13, 14, 15, 16]
+008732_000007:[12, 14]
+015719_000032:[9, 11, 17]
+009017_000034:[]
+014641_000017:[4, 5]
+000192_000038:[]
+015921_000009:[]
+001630_000019:[0, 3, 8]
+020486_000006:[]
+024074_000014:[6]
+014801_000001:[]
+011725_000026:[]
+011291_000008:[]
+015404_000039:[]
+018630_000004:[]
+023079_000004:[]
+003815_000033:[]
+011277_000006:[]
+001933_000035:[]
+024596_000036:[]
+011739_000002:[]
+014328_000028:[]
+006332_000033:[12]
+012218_000012:[]
+017651_000022:[3, 11, 14]
+018166_000031:[]
+004374_000033:[14]
+008895_000019:[10]
+015711_000025:[]
+023184_000024:[]
+011104_000015:[7, 16]
+000619_000015:[]
+016983_000034:[2]
+004555_000027:[]
+009450_000014:[]
+021217_000000:[3, 13]
+000603_000027:[]
+022718_000014:[]
+013570_000019:[]
+002605_000013:[14]
+020305_000006:[1, 8, 19]
+005363_000027:[]
+016208_000007:[10, 11]
+008356_000025:[]
+000857_000018:[5]
+011529_000032:[]
+006665_000038:[]
+018453_000025:[]
+012792_000022:[]
+022090_000018:[10, 16, 17, 18]
+004193_000024:[9]
+020594_000020:[]
+011620_000039:[8]
+015408_000025:[]
+020992_000027:[2, 6, 12, 14]
+019976_000000:[4, 6, 11, 13]
+005814_000006:[]
+016306_000000:[6]
+023118_000021:[]
+000796_000021:[3, 12, 14, 17, 19]
+011382_000022:[0, 1, 2, 7, 15, 16, 19]
+002109_000033:[]
+024273_000033:[]
+002444_000003:[]
+010084_000038:[1, 3, 6, 8, 11, 13, 16]
+002875_000006:[14]
+005022_000018:[]
+015414_000033:[12]
+006540_000007:[]
+020561_000005:[3]
+019338_000035:[1, 14, 18]
+001934_000021:[]
+014665_000020:[7]
+013723_000016:[0, 8, 11, 14]
+015239_000025:[]
+015949_000014:[1, 2]
+001041_000023:[]
+009373_000001:[]
+008236_000001:[]
+009823_000020:[]
+024204_000008:[]
+002422_000015:[5]
+021413_000013:[]
+009973_000004:[7, 11, 18]
+013565_000020:[]
+006411_000024:[10, 11, 12, 19]
+005928_000006:[]
+022784_000026:[]
+000482_000033:[]
+001560_000036:[]
+005313_000037:[]
+001978_000011:[]
+014439_000037:[10]
+017634_000031:[]
+015858_000038:[1]
+015417_000002:[17, 19]
+018450_000009:[]
+011751_000036:[]
+013823_000034:[18]
+022307_000025:[3, 4, 5, 7, 8, 10, 12, 13, 16, 18]
+016640_000039:[8]
+020593_000028:[0]
+009923_000000:[]
+007215_000035:[]
+011119_000017:[]
+016825_000013:[0, 1, 4, 5, 6, 7, 8, 15, 18]
+006173_000039:[]
+012398_000026:[]
+004192_000020:[3, 4]
+002686_000002:[0, 3, 5, 9, 12]
+005176_000024:[]
+004090_000003:[15]
+004427_000020:[8, 12]
+006950_000010:[]
+024356_000014:[14]
+020067_000009:[]
+010163_000016:[1, 7]
+024371_000003:[3, 6, 10]
+016434_000014:[]
+024924_000031:[]
+000236_000039:[14, 16]
+014443_000036:[18]
+001111_000003:[5, 11, 16, 19]
+006704_000030:[]
+015914_000019:[]
+005137_000019:[]
+019352_000017:[]
+017001_000004:[1, 18]
+022887_000006:[]
+015797_000006:[14]
+023654_000024:[11, 14, 16, 18]
+022241_000014:[]
+014039_000016:[]
+016050_000004:[0, 9, 14, 15]
+008215_000005:[18]
+010141_000029:[7]
+001770_000022:[]
+020372_000005:[13]
+010095_000022:[]
+019818_000039:[]
+010494_000029:[18]
+007621_000011:[]
+001863_000021:[]
+007998_000035:[0, 18]
+010112_000020:[0]
+001756_000015:[1, 5, 17]
+017618_000036:[0, 3, 6, 8, 12, 15, 16, 17]
+023586_000017:[]
+004653_000027:[]
+022314_000020:[9]
+020309_000015:[]
+001615_000018:[]
+021670_000027:[]
+011997_000022:[]
+015896_000036:[19]
+001768_000012:[]
+013485_000033:[]
+018011_000022:[]
+007742_000038:[]
+009256_000000:[8]
+013859_000013:[]
+011725_000004:[13, 17]
+003579_000022:[]
+011483_000025:[14]
+015563_000003:[7]
+004971_000016:[0, 2, 4, 5, 11, 15, 16, 18]
+024855_000016:[]
+018470_000028:[]
+022957_000024:[11]
+014030_000023:[5, 17]
+021412_000001:[5, 9, 11, 17]
+002208_000002:[11, 18]
+015575_000004:[18]
+014075_000020:[19]
+008007_000017:[]
+022350_000023:[]
+016284_000000:[]
+012639_000018:[]
+024121_000006:[]
+001619_000004:[1, 9, 11]
+010277_000002:[]
+018649_000008:[0]
+006539_000017:[]
+020911_000015:[4, 12]
+005825_000012:[]
+010659_000031:[]
+007804_000025:[4, 10]
+016249_000037:[]
+022713_000015:[]
+005893_000020:[]
+003681_000013:[]
+002826_000023:[1, 7, 12]
+003709_000021:[]
+009940_000005:[]
+012253_000004:[]
+009550_000004:[]
+024484_000028:[]
+024269_000017:[]
+009998_000003:[]
+022185_000027:[3]
+008917_000014:[]
+008239_000038:[]
+023590_000004:[]
+013062_000031:[]
+024099_000004:[]
+002136_000022:[9, 11, 13, 17]
+021995_000008:[0, 9]
+018750_000029:[12, 15, 16]
+004874_000010:[]
+022593_000016:[3, 5]
+021507_000001:[3, 13]
+019535_000005:[]
+003478_000034:[]
+008702_000015:[]
+010977_000001:[7, 18]
+007456_000016:[0, 8, 9, 18, 19]
+022271_000025:[]
+004962_000014:[19]
+020692_000026:[17]
+002884_000034:[]
+008121_000030:[]
+015705_000034:[]
+017676_000032:[0, 9, 19]
+024843_000014:[4]
+009195_000028:[]
+014874_000029:[2, 15]
+003115_000012:[]
+008778_000008:[17]
+007305_000039:[9]
+016321_000003:[]
+012197_000017:[10]
+013263_000011:[]
+012523_000016:[16, 18]
+001978_000024:[0, 12, 19]
+002263_000024:[]
+009168_000008:[4, 11, 14]
+019117_000036:[4, 5, 15]
+017829_000012:[6, 15]
+022593_000014:[3]
+014452_000022:[]
+007196_000029:[10]
+016777_000032:[]
+019514_000009:[]
+009508_000012:[]
+001703_000016:[]
+012529_000026:[]
+005367_000017:[]
+013193_000007:[]
+009396_000018:[]
+005198_000030:[4]
+008805_000018:[]
+019440_000002:[]
+003291_000029:[1]
+012429_000023:[]
+019727_000027:[8]
+003050_000037:[11]
+009104_000012:[]
+002320_000022:[4, 6, 13, 17]
+023969_000026:[1, 2, 6, 8, 10, 15]
+001483_000033:[]
+016658_000020:[]
+009878_000003:[6, 13, 18]
+003424_000001:[]
+017402_000027:[]
+004085_000001:[]
+012460_000019:[]
+011626_000025:[]
+018659_000021:[]
+012279_000013:[]
+002994_000004:[]
+006168_000004:[]
+009591_000036:[3, 14]
+021199_000018:[14, 17]
+004117_000017:[6, 11, 19]
+006800_000010:[]
+002078_000024:[18]
+000422_000025:[2, 4, 9, 14]
+010644_000030:[16]
+007902_000008:[]
+013944_000004:[]
+016840_000012:[2, 4, 14]
+006049_000032:[2, 10, 15]
+018121_000022:[]
+004661_000035:[]
+011013_000020:[]
+004136_000031:[0, 6, 15]
+005941_000000:[10]
+006679_000035:[10, 12]
+022391_000021:[]
+019901_000000:[13]
+022860_000003:[]
+005319_000006:[]
+017940_000030:[0, 3, 18]
+003805_000008:[]
+012843_000029:[]
+011289_000035:[16]
+012010_000009:[]
+019192_000026:[]
+020539_000019:[6]
+007889_000027:[]
+018387_000035:[3, 8, 12, 18]
+002064_000007:[]
+018564_000010:[16]
+007216_000000:[0, 3, 4, 16, 17, 18]
+022578_000014:[2, 8, 19]
+016371_000025:[4]
+019741_000010:[]
+020134_000027:[]
+013328_000014:[12]
+013665_000015:[16, 19]
+006263_000020:[2, 13, 15]
+020689_000031:[]
+017366_000003:[4, 7]
+024136_000016:[]
+004788_000001:[]
+021015_000017:[5]
+024917_000009:[]
+023731_000006:[8]
+012445_000033:[]
+021331_000038:[]
+023654_000029:[14, 18]
+011698_000005:[]
+003712_000008:[]
+020014_000012:[]
+008939_000011:[]
+023464_000034:[]
+024379_000030:[]
+020314_000023:[9, 13]
+020691_000004:[]
+017563_000000:[18]
+010956_000004:[1, 6]
+023390_000006:[16]
+004469_000019:[8]
+005959_000012:[]
+013606_000013:[]
+015872_000025:[]
+003009_000020:[16]
+001054_000014:[9, 11, 12, 13]
+021822_000036:[]
+005015_000035:[4]
+020739_000001:[]
+005836_000013:[19]
+016574_000021:[]
+013116_000032:[]
+005524_000036:[]
+008592_000027:[]
+007078_000031:[]
+013237_000027:[8, 16]
+011623_000009:[]
+020951_000034:[10]
+009378_000021:[14, 16, 19]
+022317_000001:[]
+002376_000024:[4]
+005568_000025:[]
+005374_000000:[18]
+008422_000025:[0, 1, 2, 16, 17, 18]
+019311_000020:[3, 12]
+001114_000010:[10]
+014373_000039:[18]
+007988_000007:[0, 7, 13, 16]
+018839_000023:[]
+002644_000029:[]
+003494_000021:[]
+015196_000000:[]
+001745_000019:[6, 13]
+022412_000003:[]
+003621_000010:[]
+000905_000008:[18, 19]
+006464_000012:[]
+018371_000024:[14]
+009938_000035:[]
+009806_000010:[]
+005170_000036:[]
+000680_000029:[2, 12]
+011404_000001:[]
+021759_000015:[]
+015099_000019:[3, 4, 15]
+005384_000022:[6, 16, 18]
+006157_000032:[7, 13]
+015721_000015:[]
+012384_000003:[0, 6, 7, 8, 12]
+013216_000028:[7, 15]
+019289_000021:[]
+012065_000011:[]
+004734_000016:[1]
+015934_000023:[]
+011018_000031:[]
+003960_000039:[17]
+016420_000002:[]
+002736_000017:[]
+020041_000027:[]
+015990_000034:[7]
+023429_000017:[]
+015694_000024:[]
+013782_000017:[]
+009574_000019:[]
+002719_000002:[12, 19]
+006325_000019:[]
+005754_000035:[]
+024922_000001:[]
+011042_000008:[]
+017500_000021:[]
+022239_000022:[]
+021066_000026:[]
+015965_000039:[]
+021529_000021:[]
+004174_000034:[1, 3, 4, 14]
+010274_000039:[6]
+016132_000034:[3, 14]
+018430_000018:[0, 14]
+019598_000034:[]
+006329_000033:[]
+021263_000025:[0, 3, 8, 10, 13, 15, 17, 19]
+017977_000003:[]
+016268_000033:[]
+013820_000036:[]
+007413_000027:[]
+020085_000017:[]
+007702_000006:[]
+010611_000013:[8, 9]
+001817_000029:[]
+009439_000008:[]
+008923_000032:[0]
+001014_000033:[16]
+017605_000020:[14, 15, 17]
+014501_000022:[]
+010805_000006:[]
+017325_000015:[]
+019645_000010:[]
+001034_000036:[]
+012582_000039:[]
+012645_000030:[4]
+001528_000004:[]
+003216_000014:[]
+017307_000023:[]
+014418_000000:[]
+001338_000024:[]
+006877_000003:[]
+001719_000011:[]
+024774_000019:[]
+006689_000036:[]
+005336_000019:[]
+015915_000014:[]
+003196_000026:[]
+012284_000039:[]
+009575_000014:[10]
+000857_000028:[]
+015165_000008:[3]
+002948_000025:[]
+009247_000004:[]
+007753_000035:[]
+004461_000014:[]
+003411_000022:[]
+006051_000015:[7, 12]
+002125_000026:[0]
+015416_000005:[3, 11, 17]
+008055_000005:[4, 10, 13, 16, 17, 19]
+006895_000000:[]
+024390_000009:[2, 3, 9]
+011062_000007:[2]
+011898_000030:[6]
+004721_000022:[4]
+020928_000001:[]
+010855_000011:[17]
+024553_000013:[]
+007413_000028:[]
+000899_000029:[7]
+002839_000024:[]
+013344_000023:[]
+022560_000030:[]
+017322_000013:[10]
+013787_000014:[1, 4, 12]
+023870_000000:[]
+000949_000005:[6, 16, 18]
+020241_000031:[]
+011718_000000:[4, 5, 12]
+012408_000031:[11]
+006191_000002:[9]
+004736_000030:[9, 18]
+007494_000030:[19]
+016940_000007:[0]
+010978_000004:[]
+004012_000023:[]
+015533_000018:[6]
+024919_000025:[7, 15]
+021653_000018:[]
+011382_000028:[]
+024923_000017:[9]
+017480_000017:[]
+017408_000009:[]
+021877_000003:[1, 10]
+002525_000034:[]
+019755_000025:[2, 9, 11, 12]
+001706_000002:[]
+020120_000019:[]
+019274_000007:[]
+015534_000039:[12]
+016649_000033:[8]
+023777_000028:[6, 12, 13, 18]
+024424_000002:[]
+009766_000004:[]
+005874_000006:[]
+006466_000032:[7, 13]
+013070_000012:[7]
+006883_000001:[]
+000604_000007:[]
+000894_000006:[]
+024799_000039:[0, 12]
+021216_000002:[]
+023434_000007:[12]
+017156_000027:[]
+000412_000007:[9]
+016523_000034:[]
+002301_000032:[]
+000350_000030:[]
+013167_000008:[]
+022945_000035:[]
+020198_000035:[]
+002876_000011:[]
+020171_000024:[]
+023388_000014:[]
+008633_000014:[13]
+002536_000001:[]
+014498_000003:[11]
+022504_000024:[]
+005280_000028:[15]
+007964_000031:[2, 7, 12, 13, 16, 19]
+010849_000036:[4]
+023811_000009:[]
+024169_000031:[]
+000643_000014:[0]
+013544_000004:[]
+015419_000014:[]
+016173_000034:[13, 16, 18]
+000869_000004:[14]
+001076_000009:[2, 8, 12, 15, 18]
+009592_000002:[9]
+015981_000027:[]
+022966_000037:[]
+021430_000008:[19]
+009339_000002:[]
+006298_000000:[]
+022862_000003:[1]
+014331_000014:[0, 16]
+010253_000027:[17]
+015629_000038:[]
+014327_000019:[1, 3, 5, 7, 9, 10, 14, 19]
+002148_000037:[]
+001683_000015:[3, 14]
+007788_000023:[]
+006692_000038:[0, 15]
+003569_000021:[1]
+016303_000009:[8]
+015103_000007:[0, 1, 5, 7, 12, 15, 19]
+020775_000036:[]
+023098_000000:[0, 15]
+012856_000029:[18]
+006697_000013:[5, 14]
+001668_000010:[]
+019842_000014:[]
+021144_000012:[]
+004718_000007:[]
+002246_000033:[]
+002747_000036:[]
+000196_000017:[13]
+022766_000033:[]
+018673_000013:[]
+007364_000036:[]
+010225_000024:[]
+019096_000035:[]
+012928_000021:[]
+012800_000008:[8]
+006714_000010:[17]
+003223_000033:[]
+013574_000029:[]
+015944_000010:[]
+015296_000019:[]
+024213_000029:[]
+022032_000016:[]
+005605_000031:[3]
+010373_000017:[]
+020877_000019:[]
+020332_000002:[10, 12, 19]
+004325_000032:[]
+024525_000034:[]
+021954_000033:[4]
+007490_000021:[4, 16]
+009389_000031:[]
+006110_000008:[]
+005271_000021:[]
+008507_000001:[3]
+015741_000030:[19]
+013949_000015:[2]
+022041_000007:[11]
+023165_000014:[0, 2, 5, 12, 16, 18, 19]
+000826_000016:[]
+001433_000037:[5, 8, 17]
+004546_000035:[]
+022241_000029:[19]
+000547_000020:[]
+013960_000024:[]
+012781_000006:[6, 10]
+001959_000009:[]
+006675_000028:[9]
+017062_000029:[1]
+024334_000031:[7, 13, 15]
+020711_000034:[]
+012067_000013:[]
+020188_000020:[]
+000728_000011:[]
+001778_000011:[]
+004451_000011:[]
+007047_000001:[5]
+009001_000022:[0, 8]
+019972_000021:[]
+022509_000022:[]
+005869_000006:[]
+004986_000003:[]
+019384_000031:[]
+017216_000000:[]
+021344_000013:[0]
+017720_000006:[]
+009767_000020:[]
+010878_000034:[]
+005557_000018:[]
+004449_000004:[]
+000294_000039:[11, 17]
+001425_000030:[]
+000662_000036:[8, 10, 15]
+022180_000007:[]
+015958_000037:[]
+010813_000001:[]
+003912_000003:[]
+016353_000013:[]
+010200_000004:[4, 9]
+021463_000003:[]
+013514_000003:[]
+022811_000013:[]
+000253_000014:[0, 10, 14, 17]
+018328_000034:[7, 15, 18]
+015294_000009:[5, 9, 17, 18]
+003090_000035:[]
+003004_000009:[]
+019905_000025:[5, 13, 15, 19]
+011456_000017:[]
+024118_000016:[]
+000243_000023:[12, 15, 16]
+010786_000009:[]
+002957_000012:[15]
+003802_000002:[]
+011960_000024:[]
+005757_000030:[]
+014496_000001:[]
+019981_000019:[5]
+015072_000036:[]
+022453_000001:[]
+003397_000023:[]
+013083_000030:[]
+021031_000012:[]
+002012_000012:[5, 18]
+007227_000012:[]
+023561_000039:[]
+021969_000031:[]
+020231_000012:[9]
+002956_000010:[]
+011154_000036:[]
+005712_000024:[]
+002222_000021:[]
+004015_000031:[]
+006902_000022:[5]
+018481_000013:[]
+011335_000032:[17]
+003651_000004:[14]
+012034_000035:[]
+020810_000034:[]
+019794_000027:[]
+018616_000035:[]
+014914_000039:[]
+023881_000012:[]
+024579_000037:[]
+022506_000020:[2, 9, 10, 16]
+023472_000001:[]
+012831_000009:[]
+016350_000029:[2, 7]
+018257_000023:[13]
+003711_000033:[]
+002563_000016:[]
+015085_000015:[]
+001958_000029:[8, 9]
+012199_000025:[]
+014917_000004:[]
+010794_000008:[]
+011264_000020:[]
+005499_000008:[]
+017279_000016:[]
+015220_000014:[2, 17, 18]
+004686_000013:[]
+015121_000004:[]
+013065_000030:[]
+011062_000016:[]
+012628_000014:[]
+001320_000022:[]
+021270_000028:[]
+019669_000029:[1, 2]
+002377_000032:[]
+022147_000008:[3, 15]
+006848_000018:[6, 14, 16, 17]
+011017_000022:[]
+011144_000010:[]
+015616_000000:[14]
+014563_000018:[]
+008431_000015:[]
+012067_000001:[]
+001289_000036:[]
+024252_000033:[]
+001852_000030:[]
+024661_000007:[4]
+011204_000029:[0, 8]
+014099_000016:[]
+005063_000020:[3, 9]
+022314_000025:[9]
+015862_000024:[3]
+013862_000018:[]
+007866_000026:[13]
+001914_000038:[]
+000629_000038:[9]
+006454_000021:[4]
+024373_000005:[]
+021516_000038:[]
+006183_000000:[11, 19]
+021860_000025:[6, 9, 13]
+023196_000004:[19]
+014204_000000:[]
+002308_000016:[]
+012678_000016:[]
+010517_000037:[]
+024688_000014:[1, 18]
+009173_000037:[]
+022835_000035:[]
+002305_000009:[]
+024914_000036:[]
+021704_000031:[]
+011884_000026:[3, 17]
+021768_000017:[]
+001844_000001:[]
+005027_000004:[3, 5, 12, 14, 16]
+000623_000032:[]
+023047_000034:[17]
+011831_000007:[]
+005806_000017:[]
+017368_000011:[]
+005657_000019:[]
+008314_000025:[]
+008279_000035:[]
+001412_000000:[15]
+013146_000022:[17]
+024889_000017:[18]
+021863_000036:[18]
+009151_000005:[]
+006745_000032:[7, 9]
+006764_000013:[]
+024658_000031:[14]
+006055_000031:[]
+023499_000034:[]
+002376_000027:[8]
+007881_000026:[]
+014518_000035:[9, 15, 18]
+005101_000014:[]
+024639_000017:[]
+019594_000012:[]
+007560_000026:[]
+020576_000038:[7]
+021123_000001:[14, 15]
+005928_000005:[]
+017389_000007:[12]
+010915_000000:[]
+019112_000024:[]
+018809_000007:[]
+013989_000026:[]
+006244_000029:[8]
+012305_000038:[]
+017266_000034:[5]
+005260_000039:[]
+008973_000032:[]
+001505_000027:[]
+004174_000015:[14]
+009540_000028:[]
+014962_000012:[]
+002081_000012:[]
+001660_000034:[10, 11, 14]
+012043_000003:[]
+016661_000036:[]
+004381_000014:[]
+007429_000030:[]
+001553_000039:[]
+010527_000012:[1]
+006244_000014:[9, 16]
+008370_000002:[]
+005032_000031:[]
+020489_000031:[]
+021668_000007:[12, 18]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000801_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000801_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..21b524ff0bde622ce8f16307a9be3a33688b0956
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000801_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+018156_000035:[2, 4, 6, 11]
+021835_000006:[]
+021116_000025:[15]
+017817_000034:[]
+018943_000022:[]
+011828_000032:[]
+007638_000016:[5, 9, 14]
+023912_000029:[16]
+009127_000003:[17]
+023377_000010:[17]
+022755_000010:[]
+005031_000007:[0]
+020819_000004:[]
+012266_000038:[0, 1, 4, 5, 6, 7, 13, 15]
+020031_000014:[4, 8, 10, 11, 18]
+000440_000025:[]
+005694_000010:[]
+024444_000012:[]
+007554_000026:[]
+003968_000008:[18]
+020844_000004:[]
+006608_000023:[0, 8]
+018656_000027:[]
+022760_000031:[]
+010131_000029:[]
+002472_000006:[0, 5, 7, 8, 14, 15]
+024764_000024:[]
+023984_000000:[5]
+004139_000008:[3]
+011684_000020:[11, 17]
+015937_000033:[15]
+004519_000034:[1, 4, 7]
+006271_000017:[]
+016612_000007:[6]
+015616_000035:[16]
+005537_000012:[0, 2, 4, 5, 13, 14, 16, 19]
+023472_000002:[]
+010884_000024:[2, 4, 8, 10, 11, 14, 18]
+022725_000032:[0, 4, 9, 13, 14]
+020632_000034:[19]
+009692_000030:[4]
+004715_000015:[1, 9]
+021191_000010:[]
+020010_000031:[]
+021611_000029:[]
+013467_000026:[3]
+021875_000039:[7, 8]
+019257_000001:[]
+024441_000030:[11]
+023528_000004:[]
+006231_000026:[]
+000361_000012:[2, 7, 15]
+012377_000017:[7, 8, 10, 14]
+000174_000031:[19]
+008323_000015:[]
+002980_000021:[]
+020767_000027:[2]
+001085_000032:[3, 19]
+018275_000009:[4, 5, 6, 16]
+012352_000027:[12]
+023044_000028:[]
+008006_000000:[3, 5]
+020877_000024:[18]
+001754_000038:[]
+016159_000010:[5, 8]
+001964_000011:[]
+009831_000035:[0, 8]
+001607_000039:[]
+009514_000019:[]
+018744_000000:[6, 18]
+014800_000026:[]
+009447_000034:[]
+006499_000010:[7]
+000765_000000:[1, 6, 7, 8, 14, 17, 18]
+000367_000007:[1, 2]
+018939_000020:[]
+002464_000021:[2, 3, 5, 12]
+008174_000017:[]
+009958_000023:[]
+006187_000035:[2]
+007120_000004:[]
+023789_000033:[7, 8, 9, 10]
+023244_000031:[8, 16]
+011823_000023:[]
+011027_000026:[]
+004866_000008:[2, 4, 17, 19]
+024212_000035:[0, 9, 14]
+005172_000039:[]
+006458_000026:[]
+010082_000009:[]
+020569_000025:[10]
+015774_000010:[]
+021586_000036:[]
+010440_000031:[]
+022740_000038:[]
+006976_000029:[]
+007507_000020:[]
+011190_000038:[]
+014212_000035:[17]
+020224_000030:[8]
+015949_000036:[]
+010549_000021:[]
+010094_000007:[12]
+006595_000031:[]
+023227_000003:[14]
+018759_000037:[]
+024388_000030:[5]
+013595_000011:[18]
+004938_000038:[]
+002166_000023:[0, 4, 17]
+004070_000026:[]
+021380_000036:[]
+001813_000007:[14]
+024385_000016:[4, 15]
+000461_000028:[3, 4, 15]
+013732_000019:[16]
+004876_000009:[1, 3, 4, 7, 8, 14]
+016760_000022:[]
+000400_000036:[]
+003187_000024:[]
+021501_000005:[2, 3, 9, 10, 12, 17, 18, 19]
+021327_000023:[]
+014804_000022:[]
+005851_000025:[]
+010510_000030:[1]
+005034_000021:[]
+015859_000014:[]
+000616_000036:[]
+008882_000025:[0, 3, 12]
+023328_000009:[]
+009472_000019:[]
+014324_000025:[19]
+021729_000022:[]
+001901_000038:[]
+021496_000013:[2, 6, 16]
+012605_000002:[]
+018504_000004:[15]
+003775_000003:[]
+024681_000012:[18]
+014496_000032:[]
+000266_000010:[6, 19]
+008915_000015:[]
+023053_000033:[]
+023770_000017:[2]
+010557_000029:[0]
+005104_000003:[14]
+006641_000016:[19]
+008052_000008:[10]
+007951_000034:[]
+020056_000037:[]
+023212_000016:[]
+006505_000031:[]
+000581_000034:[]
+017274_000020:[5]
+005618_000026:[14, 19]
+015656_000034:[]
+021830_000033:[5]
+020477_000028:[16]
+017096_000005:[5, 6, 7, 10, 11, 13, 15, 16, 18, 19]
+009119_000017:[4, 15, 17]
+022395_000026:[]
+000186_000024:[]
+006121_000015:[0]
+021601_000010:[]
+022118_000006:[3]
+014038_000012:[11]
+023769_000038:[]
+020518_000020:[]
+023100_000033:[2]
+008234_000034:[11]
+004574_000014:[]
+016855_000026:[]
+017240_000022:[]
+022473_000033:[]
+013668_000019:[]
+007581_000022:[1]
+017216_000016:[13]
+013678_000021:[]
+016411_000027:[]
+018150_000001:[]
+019697_000018:[]
+004528_000038:[]
+002968_000032:[]
+011007_000020:[2, 7, 9, 16, 17]
+010376_000019:[]
+019266_000017:[7, 15]
+013985_000008:[]
+012257_000018:[6]
+009941_000012:[]
+004729_000017:[]
+016579_000001:[8]
+007277_000024:[6, 12, 16, 19]
+006387_000025:[]
+017711_000037:[0, 7]
+002966_000036:[]
+011937_000007:[]
+002718_000008:[9, 10, 12, 15, 18]
+002884_000000:[10, 11, 12]
+011284_000028:[19]
+011339_000028:[]
+019003_000018:[]
+009950_000022:[2, 18, 19]
+024417_000034:[4]
+015243_000018:[]
+019181_000018:[7, 12, 17, 19]
+008340_000034:[6]
+010267_000016:[]
+018820_000030:[1, 19]
+010340_000035:[0, 5]
+024978_000039:[]
+012908_000003:[]
+024881_000027:[0, 2, 4, 5, 9, 14, 19]
+002955_000008:[]
+008082_000036:[13]
+016393_000011:[]
+011229_000025:[7, 12, 19]
+007015_000021:[]
+009276_000010:[16]
+007178_000034:[]
+005101_000009:[]
+003455_000010:[]
+000971_000022:[]
+010756_000031:[]
+002523_000025:[9]
+024827_000006:[]
+002237_000032:[2, 4, 7, 8]
+011851_000038:[9]
+000024_000032:[]
+007220_000017:[]
+018779_000036:[]
+009976_000015:[]
+000395_000030:[]
+003285_000003:[]
+024469_000032:[]
+013996_000020:[3, 9, 15, 17, 19]
+014850_000024:[3]
+024187_000030:[]
+005850_000019:[]
+010192_000016:[]
+006677_000001:[]
+007260_000030:[7]
+007467_000013:[0, 6, 12, 13, 16, 19]
+018354_000039:[4, 14, 17]
+004689_000032:[]
+021814_000009:[]
+000203_000021:[9]
+004738_000000:[3, 5]
+012549_000001:[]
+015452_000004:[]
+009962_000027:[]
+019791_000027:[5]
+013552_000012:[]
+010525_000007:[]
+003058_000027:[]
+024668_000020:[0, 8]
+007560_000016:[6]
+008297_000036:[]
+024991_000029:[]
+024707_000033:[]
+006372_000015:[14]
+007324_000024:[]
+018770_000022:[]
+019449_000028:[]
+018054_000034:[]
+016196_000035:[]
+006022_000001:[]
+008642_000017:[]
+014972_000006:[]
+008340_000023:[]
+009116_000010:[]
+008143_000015:[6]
+004792_000033:[]
+015308_000018:[17]
+001807_000035:[9]
+013034_000037:[5, 17]
+005813_000026:[15]
+013249_000033:[]
+001258_000005:[]
+016731_000034:[]
+015179_000012:[]
+015256_000039:[12]
+001893_000006:[2, 12]
+019007_000029:[]
+021790_000029:[]
+002973_000023:[]
+010942_000025:[5, 8, 16]
+019237_000039:[]
+013364_000027:[5, 11]
+005112_000030:[]
+005834_000018:[19]
+011989_000012:[6]
+011611_000023:[12]
+023637_000017:[19]
+005365_000029:[5, 19]
+006714_000029:[16]
+020403_000027:[0]
+000360_000020:[18]
+007044_000010:[]
+001785_000031:[12]
+009119_000003:[]
+011433_000014:[]
+011058_000004:[]
+024697_000000:[]
+006698_000039:[]
+016545_000032:[]
+020151_000037:[12]
+003905_000025:[]
+008085_000021:[1, 8, 10, 17]
+007502_000035:[0, 15, 18, 19]
+011360_000014:[]
+024972_000009:[15]
+023869_000028:[]
+024771_000037:[]
+008601_000021:[]
+008439_000006:[]
+008097_000030:[0]
+022679_000033:[]
+005012_000036:[1, 14, 18]
+021474_000016:[11]
+017107_000002:[9]
+015129_000008:[]
+001585_000026:[0, 3, 9, 10]
+012926_000005:[]
+008547_000009:[]
+001975_000015:[]
+006148_000039:[]
+015259_000024:[]
+003713_000006:[]
+019172_000038:[]
+007721_000010:[]
+013152_000027:[]
+008747_000013:[]
+007754_000015:[6, 7, 15, 17, 19]
+016346_000030:[]
+015638_000036:[]
+008074_000006:[]
+003843_000014:[5, 12]
+023073_000037:[]
+005274_000034:[]
+007802_000037:[18]
+024825_000030:[]
+014121_000002:[2, 3, 7, 9, 10, 12, 16, 17, 18]
+007404_000017:[]
+020903_000001:[]
+022407_000025:[]
+020560_000005:[]
+013339_000013:[]
+017332_000023:[14, 18]
+023721_000002:[]
+004631_000004:[2, 18]
+003879_000019:[]
+016090_000035:[7, 16]
+007299_000014:[]
+016712_000023:[18]
+011134_000035:[]
+001427_000005:[]
+006824_000012:[]
+006067_000037:[]
+013726_000025:[]
+010043_000025:[]
+012437_000008:[]
+007537_000016:[]
+011306_000007:[]
+017068_000000:[]
+019847_000012:[]
+010607_000004:[]
+023281_000007:[]
+007505_000004:[3]
+014858_000028:[]
+003360_000007:[]
+015188_000024:[2, 3, 7, 8]
+004433_000006:[]
+018247_000032:[2]
+000107_000004:[1, 2, 3, 7, 10, 16]
+021590_000035:[]
+012447_000004:[]
+008347_000030:[13, 16]
+002306_000025:[]
+016920_000034:[7, 12, 13, 19]
+019549_000020:[]
+010816_000026:[]
+020994_000037:[]
+009974_000036:[]
+008479_000015:[0]
+003241_000009:[]
+020300_000025:[]
+010692_000010:[]
+001567_000017:[0, 2, 4, 8, 10, 18]
+020761_000024:[10]
+020632_000000:[17]
+015212_000024:[]
+016440_000009:[]
+024271_000039:[7, 18]
+007348_000002:[]
+008815_000016:[]
+019889_000030:[]
+004725_000016:[]
+013393_000037:[]
+019004_000032:[]
+003496_000016:[]
+022790_000021:[]
+020831_000032:[8]
+019460_000038:[6, 13]
+009682_000010:[]
+013724_000039:[1, 11, 16]
+015442_000006:[13]
+015878_000019:[10, 11]
+020173_000016:[]
+002943_000036:[10]
+019602_000015:[]
+008783_000023:[]
+023219_000012:[14]
+015365_000019:[1, 3, 9, 16]
+019537_000017:[]
+022484_000019:[0, 4, 8]
+020860_000007:[9, 17]
+022498_000015:[]
+014087_000006:[]
+001663_000001:[]
+004839_000021:[13, 17]
+018116_000017:[]
+011134_000034:[2, 4, 11, 19]
+012290_000031:[15]
+014102_000029:[]
+009466_000017:[]
+011000_000011:[1]
+002158_000013:[]
+024826_000000:[1, 19]
+021151_000024:[]
+010830_000014:[]
+016517_000013:[]
+021778_000009:[7]
+015924_000022:[4]
+013279_000001:[]
+018791_000017:[]
+015322_000005:[]
+002813_000033:[18]
+004696_000035:[11]
+014950_000000:[0, 6, 12, 14]
+016150_000022:[]
+019134_000026:[]
+024915_000031:[]
+018165_000034:[]
+013070_000006:[]
+008715_000038:[]
+013376_000034:[1, 3, 19]
+009406_000013:[4]
+004189_000003:[]
+002582_000031:[]
+015853_000023:[6, 17]
+013028_000014:[]
+016926_000023:[1, 17]
+009572_000028:[0]
+010143_000010:[]
+016341_000013:[0, 6]
+024212_000018:[0, 11]
+012089_000038:[8]
+016477_000017:[12]
+013375_000013:[9, 19]
+013665_000024:[1]
+008334_000022:[7, 8]
+004196_000030:[1]
+012344_000010:[7]
+009538_000037:[7]
+024355_000039:[1, 10, 12, 15, 16]
+019279_000014:[]
+015314_000004:[2, 5, 16, 18]
+009880_000027:[3, 10]
+014288_000033:[]
+010809_000008:[]
+023946_000027:[7, 14, 15]
+013717_000033:[]
+004324_000029:[]
+008190_000015:[]
+001214_000008:[]
+024889_000013:[]
+014219_000022:[0, 1, 2, 7, 9, 10, 12, 14, 19]
+003246_000022:[2, 5, 10, 11, 13, 19]
+022128_000013:[]
+023496_000020:[]
+004894_000005:[]
+020858_000015:[]
+023241_000012:[]
+002011_000035:[]
+018064_000030:[]
+002456_000036:[]
+003539_000038:[1]
+013666_000019:[16]
+021482_000027:[10, 14]
+022368_000019:[]
+019977_000030:[3]
+017593_000024:[3]
+021618_000023:[14]
+023523_000030:[]
+020481_000013:[0]
+020922_000017:[]
+024597_000015:[]
+014025_000009:[0]
+005197_000012:[]
+010737_000031:[10, 11, 15, 18]
+018810_000020:[8]
+007460_000008:[3, 4, 5, 8, 11]
+008301_000031:[0, 10, 11, 12, 13]
+017579_000000:[15]
+011529_000008:[]
+024713_000027:[]
+020693_000036:[]
+003701_000003:[1, 4, 12]
+007230_000018:[]
+002633_000033:[]
+004590_000005:[]
+016338_000008:[16]
+022393_000014:[16]
+019238_000038:[4, 5]
+015000_000021:[4, 8]
+015154_000025:[3]
+020250_000022:[]
+004498_000032:[2, 4, 5, 9, 17]
+024705_000039:[]
+013636_000009:[1]
+016445_000016:[]
+022198_000003:[]
+004530_000013:[4, 8]
+007696_000020:[]
+012102_000010:[]
+007109_000023:[0, 4, 18]
+004587_000008:[]
+009908_000003:[2, 18, 19]
+014691_000019:[]
+011545_000024:[7]
+019030_000016:[]
+022174_000004:[]
+014159_000037:[]
+005645_000022:[]
+017783_000034:[0, 19]
+000562_000007:[2, 5, 6, 7, 9, 11, 14]
+013705_000033:[5]
+013120_000008:[]
+017995_000019:[]
+005956_000030:[3]
+024856_000026:[]
+015728_000027:[5, 7, 15]
+010990_000010:[]
+009811_000001:[]
+003039_000014:[4, 7]
+011990_000036:[15]
+006332_000019:[16]
+017017_000017:[]
+004255_000017:[]
+018558_000027:[]
+021194_000023:[10, 11]
+014545_000024:[7]
+016079_000014:[14]
+024204_000009:[]
+004177_000018:[]
+023293_000000:[18]
+016198_000025:[19]
+024543_000019:[]
+000472_000025:[]
+004327_000025:[]
+004496_000007:[]
+002138_000013:[]
+007509_000039:[1, 8, 14, 18]
+021161_000008:[]
+011589_000034:[]
+015664_000032:[]
+021295_000037:[]
+014507_000012:[0, 6, 9, 12]
+015256_000002:[]
+005870_000004:[13]
+017540_000014:[]
+002692_000006:[]
+003895_000031:[6]
+018703_000026:[7]
+000659_000027:[19]
+003820_000023:[]
+010788_000016:[]
+003560_000030:[6]
+012729_000017:[19]
+024262_000021:[]
+017759_000036:[]
+018794_000003:[]
+012236_000005:[]
+008786_000019:[13]
+020400_000032:[17]
+019960_000016:[]
+010631_000011:[]
+004333_000015:[]
+011890_000016:[0, 1, 4, 7, 11, 12, 18, 19]
+011483_000020:[2, 11]
+000244_000035:[12, 14]
+022569_000011:[]
+016411_000032:[]
+006923_000022:[]
+011480_000037:[19]
+014249_000026:[12]
+013680_000034:[]
+002283_000028:[]
+009961_000009:[3]
+022453_000010:[]
+005172_000033:[2, 16]
+018373_000035:[]
+011838_000007:[4]
+003365_000034:[5, 17]
+010496_000016:[5]
+014079_000033:[1, 5, 8, 10, 11, 18]
+016409_000025:[9]
+012473_000014:[]
+021074_000004:[14]
+009200_000002:[]
+023911_000025:[17]
+015677_000004:[]
+014096_000010:[]
+024698_000030:[]
+020541_000036:[3, 13]
+023876_000006:[15]
+005455_000027:[]
+001972_000001:[]
+024855_000024:[2]
+005467_000033:[]
+023724_000036:[]
+021897_000038:[]
+006002_000034:[]
+006708_000018:[]
+018882_000037:[]
+004754_000039:[]
+003891_000020:[]
+024130_000007:[]
+000679_000003:[]
+004578_000019:[]
+022801_000019:[]
+015493_000026:[]
+003719_000021:[]
+022861_000021:[]
+007172_000028:[]
+022493_000014:[]
+021441_000006:[]
+002768_000033:[2, 3, 5, 13]
+013552_000021:[]
+019981_000007:[]
+002563_000000:[]
+022511_000038:[3, 5, 8, 12]
+010935_000028:[2, 3, 5, 7, 13, 14, 18, 19]
+012281_000033:[]
+019237_000007:[]
+000422_000005:[2]
+017273_000038:[]
+008417_000017:[]
+023324_000012:[]
+024624_000010:[0, 2, 11, 14, 15, 16, 19]
+004596_000019:[]
+019890_000019:[]
+015183_000034:[]
+013191_000022:[15]
+019188_000036:[]
+002006_000002:[]
+009754_000003:[2, 19]
+007102_000005:[]
+006738_000008:[]
+021614_000029:[]
+021111_000011:[0]
+012552_000017:[11]
+018388_000020:[5]
+007332_000014:[12, 14]
+003485_000011:[]
+019788_000039:[]
+008201_000023:[]
+008151_000015:[]
+018034_000019:[]
+019318_000037:[]
+013099_000021:[]
+024690_000009:[]
+007038_000028:[]
+003468_000002:[15]
+018861_000015:[17]
+001610_000012:[1, 5, 13]
+012324_000017:[0]
+013122_000016:[]
+003198_000014:[]
+000735_000039:[]
+008289_000000:[]
+024973_000010:[6, 11, 13, 16, 18]
+020955_000031:[10, 13, 15, 18, 19]
+007268_000039:[]
+018298_000009:[]
+018736_000005:[1, 7]
+011870_000028:[5]
+013547_000024:[]
+001599_000016:[]
+005088_000008:[9]
+012497_000016:[]
+022718_000038:[]
+014811_000031:[]
+024373_000001:[]
+019098_000013:[]
+001686_000001:[]
+013919_000006:[11]
+014361_000025:[3]
+014118_000030:[]
+005123_000029:[3, 10]
+007821_000036:[4, 11]
+008090_000020:[14]
+012459_000029:[0, 18]
+013029_000024:[]
+010906_000013:[]
+011900_000000:[]
+021292_000037:[]
+006425_000008:[]
+016766_000016:[4, 5, 8, 10, 11, 13, 14, 16, 18, 19]
+010767_000001:[]
+022528_000013:[]
+005241_000035:[0]
+015090_000032:[]
+009627_000036:[]
+003837_000039:[11]
+014961_000018:[]
+000342_000008:[]
+015665_000010:[15]
+021394_000037:[]
+013064_000032:[]
+017182_000038:[]
+015938_000028:[0]
+004731_000001:[14, 15]
+001245_000035:[0, 7, 8, 10, 13, 16]
+009625_000024:[]
+015994_000024:[15]
+014998_000013:[1, 10, 14, 18, 19]
+002078_000025:[]
+001592_000021:[11]
+024910_000038:[]
+003539_000018:[1, 15]
+015138_000031:[0]
+007724_000002:[19]
+002577_000005:[14]
+001873_000024:[1, 3, 4, 6, 7, 10, 11, 13, 17, 18]
+003231_000007:[2, 4, 9, 11, 17]
+017428_000008:[]
+024596_000001:[]
+021845_000024:[2, 3, 9, 18]
+020160_000025:[3, 17]
+016924_000003:[]
+001690_000034:[]
+003830_000011:[2, 4, 16]
+004217_000023:[11]
+013342_000025:[11, 13]
+009421_000036:[]
+003141_000010:[1, 8, 9, 11, 16, 17]
+004619_000031:[]
+008574_000020:[1, 2, 4, 7, 9, 12, 13, 14, 16]
+005844_000011:[]
+017217_000015:[]
+011850_000003:[]
+002941_000037:[]
+016438_000011:[1, 8, 16]
+005619_000015:[]
+013834_000030:[]
+022141_000001:[]
+024070_000029:[]
+017094_000005:[]
+024696_000028:[]
+015709_000026:[0, 10]
+006278_000012:[4, 10]
+004240_000028:[9]
+014134_000036:[]
+019155_000025:[]
+018220_000019:[]
+022415_000033:[]
+012809_000025:[6]
+013915_000021:[]
+017227_000022:[]
+011509_000031:[]
+013366_000007:[]
+002994_000022:[13]
+004816_000015:[]
+015066_000039:[]
+023695_000039:[]
+002326_000017:[]
+024243_000034:[0, 5]
+020569_000024:[]
+021809_000002:[3, 8, 16, 19]
+000122_000022:[16]
+002148_000024:[17]
+018554_000026:[5]
+008114_000008:[1, 3, 13]
+010186_000021:[]
+004930_000022:[]
+014898_000006:[8, 17]
+005512_000020:[]
+009839_000030:[3]
+023618_000033:[]
+010561_000027:[]
+011683_000007:[11, 14]
+022698_000034:[]
+003830_000025:[3]
+021972_000008:[3, 16]
+006601_000026:[8]
+004983_000010:[]
+005211_000033:[]
+003338_000033:[9]
+024800_000011:[0, 3, 11]
+010860_000014:[2, 9, 12, 13]
+021621_000025:[]
+018456_000037:[2, 6, 19]
+022637_000037:[]
+023328_000015:[]
+000030_000034:[]
+020829_000032:[]
+003012_000008:[14]
+015963_000023:[5, 10, 17]
+019983_000017:[]
+000312_000023:[]
+013687_000036:[15, 17]
+003456_000027:[13, 14]
+022592_000022:[]
+010579_000034:[15]
+003672_000013:[2]
+018209_000005:[0, 11, 16, 19]
+005425_000016:[11]
+010294_000009:[16]
+007774_000023:[]
+001267_000024:[]
+019453_000001:[]
+016301_000014:[]
+007528_000019:[]
+001322_000011:[2, 5, 9, 12, 15, 16, 17]
+015903_000007:[]
+000305_000025:[]
+023234_000015:[]
+001434_000031:[19]
+000855_000025:[]
+005221_000008:[1]
+021695_000024:[]
+013605_000032:[15]
+004978_000012:[7]
+017294_000016:[]
+013611_000008:[]
+005116_000000:[]
+020252_000000:[10]
+011994_000000:[]
+001523_000035:[]
+022287_000021:[]
+014920_000012:[0]
+016298_000035:[11]
+022441_000022:[6, 12]
+009034_000008:[10]
+023112_000016:[]
+022151_000031:[]
+003340_000036:[]
+021983_000007:[]
+014360_000001:[]
+009259_000027:[]
+015641_000027:[0]
+001601_000029:[]
+004390_000004:[8]
+009259_000006:[]
+013874_000027:[]
+002155_000023:[]
+021295_000033:[]
+008213_000014:[5]
+019425_000031:[]
+004249_000005:[]
+014548_000020:[5]
+008680_000012:[]
+006839_000015:[]
+016155_000032:[2, 5, 7, 12, 14]
+023758_000025:[]
+012691_000033:[6]
+020577_000005:[16]
+023452_000014:[]
+022656_000011:[3]
+019528_000006:[]
+008439_000027:[]
+004418_000004:[2, 8]
+021991_000030:[3]
+001718_000007:[2, 10, 11]
+005979_000000:[6]
+018640_000011:[10, 13]
+000003_000009:[6]
+003754_000029:[4, 19]
+010862_000006:[]
+004946_000018:[]
+000177_000023:[]
+003808_000008:[]
+021962_000003:[]
+016739_000009:[]
+013726_000012:[18]
+021979_000017:[]
+005399_000015:[]
+008907_000027:[0]
+004796_000007:[]
+008485_000011:[]
+006251_000025:[]
+022721_000005:[]
+012230_000011:[13]
+003499_000018:[1, 7, 9]
+013670_000031:[]
+006436_000015:[]
+010862_000033:[]
+006827_000010:[]
+016218_000019:[]
+005406_000038:[]
+010260_000024:[]
+002264_000023:[0, 13]
+023868_000000:[]
+020511_000039:[]
+009550_000033:[]
+020358_000023:[9, 14]
+006374_000019:[18]
+013989_000003:[]
+007832_000020:[]
+022793_000024:[8]
+023805_000019:[]
+012710_000013:[6, 8, 18]
+001217_000018:[10]
+020113_000009:[0, 8, 11, 12]
+006943_000008:[]
+006777_000002:[2]
+013557_000021:[]
+018179_000018:[0, 7, 8, 9, 10]
+013765_000002:[]
+018964_000025:[]
+018724_000022:[]
+014909_000007:[]
+013013_000002:[14]
+003673_000007:[]
+008164_000010:[14]
+021611_000007:[12]
+017273_000002:[]
+008038_000005:[14]
+021142_000025:[]
+011270_000019:[3, 16]
+022438_000007:[]
+001901_000003:[4]
+013742_000032:[15]
+019808_000006:[9]
+020382_000013:[10]
+004057_000016:[]
+005833_000017:[4]
+018044_000026:[5, 19]
+009115_000005:[]
+017841_000000:[]
+008252_000033:[]
+003984_000012:[]
+004136_000010:[2]
+006980_000003:[]
+018523_000020:[12]
+010807_000036:[]
+023215_000037:[]
+014879_000008:[]
+002333_000000:[]
+020743_000036:[0]
+016682_000034:[]
+018516_000026:[]
+001688_000029:[]
+018464_000006:[]
+004175_000014:[15]
+020590_000030:[]
+003350_000023:[2]
+021887_000007:[]
+020739_000004:[19]
+023507_000018:[]
+013962_000039:[19]
+005733_000021:[10, 16, 19]
+000848_000023:[]
+012571_000034:[]
+009145_000003:[]
+009510_000026:[]
+002183_000017:[]
+019168_000016:[9, 17]
+004385_000024:[]
+006609_000033:[]
+005433_000035:[1, 2, 18, 19]
+017252_000008:[0, 1, 6, 7, 19]
+006689_000008:[6]
+013400_000004:[]
+013984_000015:[1]
+006125_000020:[]
+005993_000022:[]
+002991_000003:[]
+000408_000036:[3, 12]
+004460_000000:[16]
+004114_000031:[]
+013994_000031:[]
+016399_000013:[15, 16, 18]
+024895_000012:[]
+007860_000022:[]
+017526_000015:[]
+001869_000009:[]
+007891_000001:[10]
+004833_000020:[]
+023065_000029:[10]
+011704_000021:[6, 12, 16]
+001912_000025:[5, 7, 9]
+008011_000035:[9]
+007445_000037:[]
+008231_000039:[]
+020288_000012:[]
+020783_000017:[]
+015409_000028:[]
+014524_000034:[18]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000828_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000828_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a57b7ee5fdc64e91c223709315061461dbdb47aa
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000828_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+001146_000002:[0, 1, 2, 3, 4, 9, 13, 14, 17, 18, 19]
+007046_000011:[]
+015950_000008:[4, 6]
+011557_000030:[]
+015859_000016:[]
+010584_000024:[]
+019156_000038:[13]
+007273_000019:[9]
+011772_000036:[]
+006865_000017:[]
+024321_000035:[1, 2, 10]
+011417_000025:[]
+006480_000013:[]
+020814_000010:[]
+013063_000017:[14]
+002297_000006:[7]
+002510_000024:[10, 11, 13]
+022358_000008:[3]
+010209_000015:[]
+005962_000024:[]
+000541_000003:[6]
+014170_000009:[]
+013586_000038:[5, 14]
+020931_000024:[]
+003071_000029:[]
+005971_000029:[9]
+003428_000003:[]
+018444_000029:[13]
+019871_000035:[4, 11]
+014684_000028:[]
+023020_000031:[]
+011167_000013:[]
+013867_000030:[]
+012456_000032:[]
+015305_000031:[]
+005922_000026:[13]
+002904_000021:[0, 1, 2, 6, 13, 16]
+011040_000038:[]
+014041_000010:[3, 7]
+015518_000036:[11, 15, 16]
+005409_000011:[]
+004665_000009:[10]
+022292_000016:[]
+004711_000039:[]
+003158_000017:[]
+013248_000001:[]
+001958_000032:[8, 10]
+011604_000018:[]
+020508_000037:[9]
+003359_000031:[1, 6]
+021833_000005:[]
+023533_000014:[]
+023160_000017:[]
+002544_000007:[8, 17, 19]
+003171_000015:[]
+018735_000027:[]
+009561_000025:[]
+002051_000001:[]
+004958_000001:[]
+009507_000004:[]
+012981_000016:[]
+001562_000036:[12]
+010767_000039:[]
+007590_000010:[5, 18]
+021851_000033:[]
+023379_000004:[]
+001236_000018:[]
+024053_000024:[11]
+011756_000010:[]
+012049_000025:[1, 2, 3, 11, 13, 17]
+018511_000011:[8]
+021333_000039:[8, 10]
+005284_000035:[]
+016038_000033:[]
+007295_000039:[]
+018313_000033:[]
+024393_000000:[]
+008668_000000:[]
+000562_000035:[]
+009296_000029:[15]
+001533_000016:[]
+005270_000005:[]
+010414_000010:[]
+024403_000019:[]
+009689_000020:[]
+016511_000037:[]
+006365_000022:[]
+018282_000018:[11]
+009223_000000:[]
+010623_000033:[1, 14, 15]
+012499_000001:[]
+007715_000023:[]
+022870_000036:[6]
+008773_000033:[]
+003241_000011:[18]
+021756_000000:[]
+002684_000001:[]
+024748_000017:[]
+004363_000014:[]
+010717_000011:[1, 3]
+015537_000009:[]
+004752_000034:[]
+019995_000037:[1, 10, 11, 12, 14]
+008796_000007:[10, 19]
+016372_000016:[6, 8]
+017819_000028:[]
+008681_000005:[]
+010075_000024:[]
+005184_000013:[]
+011481_000019:[]
+008539_000015:[]
+003875_000023:[]
+020474_000017:[]
+003876_000006:[]
+006924_000007:[]
+016257_000038:[]
+010662_000031:[0, 4]
+011502_000036:[]
+005140_000002:[]
+024209_000003:[9]
+016568_000000:[4, 5, 12]
+001211_000027:[]
+022692_000004:[10, 19]
+008052_000023:[]
+008004_000036:[]
+016150_000013:[]
+024946_000035:[15]
+018126_000006:[]
+023204_000035:[]
+000596_000035:[]
+005931_000025:[]
+007847_000003:[]
+020021_000010:[]
+018953_000033:[5]
+019465_000000:[]
+009649_000007:[]
+010192_000024:[]
+008696_000005:[16]
+014911_000034:[]
+010414_000008:[]
+020536_000036:[]
+016139_000032:[3, 8, 10, 12, 17, 19]
+009715_000025:[]
+017182_000000:[]
+008681_000017:[]
+012926_000009:[]
+000944_000029:[]
+013701_000037:[]
+016318_000029:[]
+009323_000025:[]
+020280_000023:[6]
+019961_000031:[]
+020370_000014:[17]
+007843_000011:[]
+016611_000024:[]
+021085_000036:[16, 17]
+015187_000007:[]
+017199_000008:[1, 4, 5, 7, 9, 17]
+016441_000011:[13]
+007171_000016:[]
+012836_000016:[]
+018529_000016:[7]
+012827_000030:[]
+015942_000000:[1, 4, 6, 15, 19]
+018778_000024:[]
+020369_000010:[]
+009063_000017:[12]
+015752_000002:[]
+002420_000023:[]
+017084_000003:[7]
+011009_000018:[11, 16]
+008943_000012:[]
+013808_000015:[]
+024152_000018:[8]
+005873_000021:[]
+006070_000006:[8]
+024121_000034:[]
+013343_000012:[14]
+016431_000008:[5]
+013293_000022:[11]
+019015_000005:[]
+008757_000023:[6]
+016758_000020:[]
+019344_000014:[]
+011527_000018:[]
+002322_000039:[]
+018850_000023:[]
+000558_000010:[]
+012422_000039:[]
+012153_000014:[]
+007197_000039:[4, 19]
+003161_000033:[]
+011505_000023:[17]
+002322_000037:[1, 8, 12]
+022795_000035:[]
+023711_000027:[]
+020627_000029:[]
+007537_000005:[]
+002658_000017:[3, 17]
+005232_000021:[1, 12]
+009254_000007:[]
+024440_000031:[]
+014816_000021:[2, 16, 17, 18]
+014237_000002:[]
+013421_000003:[4]
+006706_000033:[0]
+018662_000032:[6, 12]
+020703_000005:[]
+010136_000033:[]
+017293_000032:[13, 15]
+020779_000022:[]
+007796_000015:[18]
+021769_000032:[9]
+002671_000013:[]
+006636_000019:[]
+022808_000011:[5]
+018612_000036:[]
+017452_000013:[7, 11, 13]
+006994_000015:[]
+009039_000024:[]
+018894_000015:[10]
+022833_000022:[]
+020322_000024:[]
+012743_000003:[0, 11]
+005915_000005:[19]
+019711_000014:[6]
+002949_000015:[]
+013488_000004:[10, 13]
+020949_000012:[5]
+001042_000034:[]
+005039_000001:[]
+016820_000015:[0, 5, 9, 18, 19]
+019995_000031:[2, 8, 11, 12, 14, 17]
+021099_000028:[5]
+016511_000006:[9]
+005645_000006:[]
+017445_000025:[]
+013950_000037:[2]
+015056_000032:[]
+024774_000024:[10]
+014550_000000:[]
+013875_000031:[0, 5, 17]
+004270_000010:[13, 14, 16]
+000494_000012:[0, 2, 4, 8, 10, 12, 14, 16]
+008632_000008:[14]
+012416_000032:[]
+001077_000030:[11]
+000107_000036:[2, 7]
+019174_000016:[10]
+021424_000024:[]
+009851_000027:[]
+007248_000036:[5, 16]
+016109_000024:[]
+020461_000037:[12]
+013385_000029:[19]
+019358_000006:[3, 16, 18, 19]
+019792_000021:[4, 7, 11, 17]
+003276_000018:[13, 16]
+000745_000032:[]
+002794_000012:[]
+024651_000008:[14, 16]
+007419_000025:[12]
+014042_000039:[]
+019243_000000:[]
+015621_000029:[9]
+009552_000002:[]
+011267_000004:[13]
+001276_000010:[]
+009150_000037:[]
+004305_000022:[]
+001386_000019:[]
+000940_000016:[2, 9]
+007942_000015:[]
+022738_000024:[]
+016027_000020:[3, 19]
+024767_000013:[]
+003165_000025:[]
+002786_000029:[4, 5, 12]
+014276_000036:[]
+023251_000018:[]
+023992_000023:[]
+024733_000004:[]
+004360_000039:[1, 7, 10, 14, 15, 17]
+023709_000035:[]
+006291_000014:[]
+010561_000029:[]
+016846_000031:[]
+003501_000033:[1, 5, 17]
+005667_000001:[]
+014402_000022:[12, 14]
+000899_000004:[4]
+009351_000013:[0, 13, 15, 17]
+018304_000023:[16]
+008013_000039:[]
+007684_000023:[]
+021532_000004:[10, 15]
+009671_000004:[7, 16]
+021160_000021:[]
+012249_000018:[]
+004526_000013:[0]
+002950_000011:[]
+024745_000014:[]
+005969_000005:[]
+003489_000032:[10]
+008797_000016:[]
+008890_000037:[]
+004134_000011:[]
+021394_000025:[4, 9]
+012760_000004:[]
+014297_000015:[]
+010226_000030:[3]
+023025_000005:[]
+023494_000012:[]
+022290_000005:[]
+013694_000013:[]
+014212_000010:[14]
+003863_000036:[7]
+010862_000032:[]
+006543_000031:[7, 17]
+008580_000024:[]
+019157_000007:[12]
+001719_000038:[0, 8, 14]
+001108_000009:[]
+006068_000008:[]
+022534_000010:[5, 14]
+001144_000031:[2]
+023063_000009:[]
+014933_000000:[0, 14, 18]
+011160_000024:[]
+010377_000005:[4, 6]
+022834_000006:[]
+015260_000011:[16]
+005377_000022:[8, 9]
+003537_000026:[18]
+003578_000010:[2, 4, 6, 7, 9, 17, 19]
+000207_000038:[3]
+020960_000001:[]
+018397_000033:[0]
+012905_000030:[]
+022544_000014:[]
+004448_000001:[]
+018425_000019:[]
+016655_000025:[]
+016323_000034:[18]
+022238_000037:[14]
+024788_000020:[1]
+013639_000035:[]
+014614_000017:[17]
+017082_000038:[5, 8, 10, 12, 16, 19]
+005278_000014:[]
+006063_000037:[1, 2, 3]
+012953_000013:[3]
+024096_000020:[12]
+021877_000012:[4]
+004545_000016:[10]
+016503_000028:[0]
+003974_000015:[1, 9]
+006116_000028:[]
+016029_000007:[5]
+024872_000007:[14]
+011582_000002:[]
+002030_000022:[8, 10]
+006014_000034:[16]
+021296_000014:[9]
+010480_000026:[]
+004425_000001:[17]
+018241_000029:[]
+006916_000008:[]
+021929_000010:[1, 10]
+007017_000031:[]
+018912_000026:[]
+004097_000005:[19]
+013596_000024:[11]
+021134_000012:[]
+002357_000013:[4, 7, 9]
+017784_000017:[3, 7, 9, 10, 19]
+023179_000027:[4]
+009577_000005:[]
+017095_000035:[]
+006062_000035:[]
+002318_000008:[]
+023362_000039:[]
+004560_000024:[]
+013053_000022:[2]
+016638_000022:[3]
+012850_000020:[1, 14, 16, 19]
+019146_000006:[0, 11, 15, 16]
+006894_000026:[16]
+007345_000007:[14]
+003376_000010:[7]
+018530_000035:[]
+009363_000002:[]
+020527_000039:[]
+007968_000035:[]
+000971_000018:[11]
+007672_000024:[]
+014477_000035:[]
+023072_000032:[3, 5, 6]
+024010_000026:[19]
+009151_000020:[]
+010230_000016:[1]
+013543_000028:[16]
+009124_000001:[]
+004139_000004:[]
+012594_000002:[]
+007225_000029:[]
+003064_000030:[]
+000419_000011:[12]
+002706_000024:[18]
+011989_000019:[4, 5, 6]
+016656_000022:[1]
+015850_000000:[]
+004623_000017:[]
+021003_000018:[16]
+023208_000001:[]
+018537_000010:[]
+023211_000019:[16]
+004035_000017:[0]
+024582_000013:[1, 5, 6, 11]
+012770_000006:[]
+016738_000003:[12]
+021230_000020:[0, 2, 8, 9, 10, 15, 16]
+017810_000012:[8]
+016617_000012:[10, 13]
+014309_000008:[6, 14, 16]
+004153_000030:[]
+003644_000022:[]
+021505_000035:[]
+023549_000001:[]
+015672_000000:[]
+022696_000039:[]
+010418_000008:[]
+020782_000030:[]
+024754_000019:[]
+014287_000032:[1]
+021345_000004:[]
+017556_000037:[]
+010207_000019:[]
+012194_000023:[]
+009888_000024:[11]
+012549_000006:[]
+010081_000013:[]
+023938_000034:[15]
+019372_000021:[]
+024340_000039:[14]
+008922_000036:[]
+001223_000026:[5]
+015152_000034:[18]
+005249_000009:[]
+014988_000031:[]
+000462_000031:[18]
+008142_000024:[17]
+024650_000016:[14]
+009618_000000:[0]
+017743_000016:[5, 6, 13]
+024045_000019:[]
+012059_000029:[]
+006996_000016:[3, 14]
+016871_000022:[1, 2, 12, 14]
+018999_000006:[]
+024608_000032:[]
+000632_000014:[]
+016483_000031:[]
+023854_000026:[1]
+020381_000039:[]
+015047_000035:[]
+011948_000013:[]
+009556_000010:[]
+009156_000032:[]
+012009_000015:[]
+013090_000017:[]
+001232_000033:[10]
+022026_000020:[13]
+001706_000038:[]
+024105_000019:[11]
+011119_000014:[11]
+024671_000031:[]
+002342_000036:[4, 7]
+013609_000034:[4, 8, 16]
+003656_000008:[]
+022224_000010:[]
+005530_000006:[0, 1, 3, 4, 5, 6, 8, 9, 11, 13, 17, 19]
+018356_000027:[]
+008021_000006:[]
+008434_000012:[4]
+015897_000029:[]
+013529_000023:[0]
+022768_000015:[]
+013332_000007:[5]
+019178_000031:[1, 19]
+021203_000027:[0, 8]
+019531_000018:[4, 17]
+024842_000020:[14]
+022483_000006:[]
+023619_000017:[15, 19]
+005576_000023:[]
+001448_000026:[]
+009932_000026:[]
+001259_000022:[]
+023383_000009:[5]
+016936_000011:[4, 10]
+001981_000007:[]
+001632_000020:[5]
+017885_000033:[16]
+005320_000031:[2, 4, 7, 13]
+007760_000023:[9, 15]
+021396_000006:[]
+002248_000039:[]
+023257_000031:[]
+005767_000017:[2, 9, 13]
+023154_000005:[]
+001635_000002:[]
+000502_000004:[0]
+015152_000035:[]
+017387_000004:[]
+024660_000034:[9, 18]
+023000_000002:[8]
+017929_000035:[16]
+016397_000031:[]
+005100_000006:[10]
+003736_000003:[]
+024324_000029:[]
+024585_000004:[]
+012939_000021:[9]
+000670_000015:[]
+006706_000000:[6]
+013241_000001:[7]
+015619_000014:[]
+021127_000008:[5]
+009514_000028:[3, 11, 18]
+010383_000016:[]
+010173_000017:[]
+002530_000033:[]
+008078_000024:[12, 18]
+004533_000009:[]
+022652_000030:[]
+004286_000005:[]
+022728_000015:[0, 6, 7, 12, 17, 19]
+008198_000031:[]
+006727_000009:[1, 2, 6, 7, 8, 9, 19]
+003587_000029:[0, 1, 2, 3, 6, 9, 13, 17, 19]
+017365_000027:[]
+003980_000032:[6]
+020745_000005:[1, 4, 12, 16]
+018480_000029:[0]
+018788_000010:[0, 1, 2, 3, 10, 13, 19]
+013378_000036:[]
+016574_000035:[]
+012060_000013:[18]
+011419_000024:[]
+010012_000013:[]
+017349_000017:[2]
+021100_000015:[4, 15]
+006318_000019:[3, 4, 11, 12]
+024495_000008:[]
+020944_000006:[5, 7, 11, 15, 18]
+010597_000022:[4, 12]
+023405_000015:[6]
+021756_000014:[16]
+016923_000017:[]
+002566_000007:[]
+013850_000005:[]
+019685_000025:[]
+003073_000030:[]
+011649_000030:[13]
+010986_000012:[16]
+000315_000011:[]
+008339_000033:[7]
+011679_000039:[12]
+017645_000022:[9]
+004350_000010:[2]
+011729_000007:[3, 17]
+024863_000025:[]
+023245_000037:[]
+021461_000003:[6]
+022899_000005:[13]
+004897_000005:[]
+009695_000002:[1]
+009248_000033:[]
+000417_000017:[1, 2, 4, 5, 6, 7, 12, 14, 15]
+007173_000028:[]
+006018_000035:[4, 13]
+012647_000008:[5, 7, 11, 15, 16, 18]
+016186_000022:[13]
+003110_000038:[]
+004316_000003:[1, 2, 18, 19]
+020211_000005:[]
+011207_000023:[4, 10, 12]
+021781_000030:[]
+013070_000008:[2]
+024057_000039:[]
+004635_000030:[]
+015979_000031:[3, 13, 19]
+024265_000036:[19]
+021181_000039:[1]
+022796_000038:[3, 7]
+024436_000016:[8, 14, 18]
+004072_000015:[0, 18]
+017172_000004:[]
+010712_000026:[]
+012955_000013:[1, 8, 17]
+006384_000030:[7, 10, 11, 14, 16, 18]
+011686_000032:[]
+000105_000008:[]
+016257_000003:[]
+001241_000001:[]
+011300_000022:[5]
+013027_000007:[]
+017383_000035:[]
+007350_000003:[]
+016052_000009:[7, 12]
+003998_000026:[]
+015272_000013:[0]
+007805_000022:[8, 9]
+010044_000036:[]
+023156_000001:[]
+007622_000012:[15]
+013597_000021:[]
+019191_000013:[0]
+024283_000015:[9]
+014492_000004:[17]
+010007_000024:[]
+017620_000023:[1, 7, 18]
+017206_000020:[]
+008499_000001:[]
+017032_000029:[]
+011113_000028:[]
+002400_000012:[]
+017954_000020:[1, 17, 18, 19]
+023824_000005:[15]
+008519_000034:[1]
+015284_000028:[]
+007677_000022:[14, 17]
+024258_000019:[3]
+013838_000003:[10, 11, 14]
+013478_000000:[]
+020411_000005:[]
+002721_000035:[2, 6, 7, 8, 9, 15, 16]
+011969_000011:[11]
+000049_000010:[]
+018593_000019:[7]
+023022_000010:[2, 3, 15]
+013883_000003:[]
+014895_000012:[6, 16]
+016386_000025:[]
+000994_000030:[2, 3]
+015348_000039:[]
+004093_000018:[]
+007031_000035:[]
+005549_000026:[0, 13]
+003259_000001:[1, 5]
+021246_000010:[2, 3, 8, 13, 14, 18, 19]
+014570_000001:[17]
+000055_000028:[11, 16]
+020194_000009:[]
+003170_000024:[1, 5, 8, 13, 15, 17]
+001112_000032:[]
+023006_000022:[]
+012035_000033:[]
+017488_000030:[]
+009869_000006:[]
+000969_000039:[5]
+023905_000033:[9]
+021587_000017:[]
+004751_000025:[]
+004728_000039:[2, 7, 10, 14]
+012914_000032:[]
+015897_000021:[1]
+001041_000037:[]
+021551_000023:[7]
+003676_000027:[6]
+001230_000038:[]
+013751_000037:[]
+001040_000032:[]
+009088_000039:[]
+003734_000038:[]
+013922_000031:[]
+010552_000007:[]
+016386_000027:[]
+013586_000031:[]
+023024_000007:[]
+015470_000019:[0, 1, 13, 15]
+018137_000032:[11]
+021575_000003:[]
+024618_000019:[]
+013191_000030:[19]
+017648_000009:[]
+012471_000035:[]
+002986_000025:[5]
+020258_000029:[]
+003869_000033:[]
+005974_000026:[]
+015441_000009:[2, 4, 7]
+010340_000024:[]
+008570_000024:[]
+004626_000001:[3, 11]
+007090_000002:[]
+009974_000037:[]
+021187_000010:[]
+021075_000007:[3, 16]
+014166_000010:[]
+022826_000018:[1, 2, 9, 10, 15, 17]
+007190_000033:[]
+010642_000023:[]
+010031_000013:[5, 7, 13, 14]
+022826_000015:[2, 9, 10]
+023341_000004:[11]
+018590_000025:[]
+009366_000028:[17]
+001676_000006:[0]
+021939_000018:[1]
+010370_000031:[3, 4]
+011601_000000:[0, 3, 4, 6, 7, 8, 9, 11, 14, 16, 19]
+005505_000013:[11]
+018264_000013:[]
+023668_000018:[11, 13]
+016842_000029:[]
+002043_000004:[]
+018718_000003:[]
+009980_000021:[14]
+018749_000004:[]
+020201_000004:[]
+002098_000028:[5, 12]
+016785_000036:[13]
+018026_000011:[2]
+011811_000004:[]
+024250_000000:[2, 7, 12]
+013625_000025:[13, 14]
+023676_000035:[]
+022990_000007:[0, 1, 8, 10, 16]
+024870_000019:[]
+016213_000004:[]
+018857_000034:[]
+024048_000004:[3, 4, 5, 12, 19]
+022968_000029:[]
+002797_000033:[]
+021311_000005:[9]
+008893_000009:[14]
+023524_000009:[2]
+000499_000013:[]
+023025_000021:[2, 5, 6, 10]
+019870_000021:[]
+008827_000011:[]
+022310_000025:[3, 5, 6, 7, 12, 16]
+017670_000023:[]
+008678_000001:[]
+019601_000027:[8, 16]
+012944_000019:[0, 3]
+004824_000006:[]
+013135_000026:[]
+010114_000018:[]
+004697_000024:[0, 3, 12, 18]
+002522_000015:[7, 10, 19]
+016672_000013:[]
+000029_000000:[0]
+004000_000020:[]
+022089_000014:[0, 4]
+023084_000001:[]
+010014_000002:[]
+018320_000009:[]
+004618_000034:[10]
+007910_000036:[]
+001418_000023:[]
+019505_000018:[]
+008886_000035:[9]
+006440_000011:[19]
+018676_000016:[10]
+002172_000014:[14]
+009112_000009:[3, 15, 17]
+018912_000029:[9, 14, 15]
+020701_000000:[19]
+003211_000024:[2, 6]
+004745_000023:[11]
+009596_000021:[1, 17]
+005138_000007:[12]
+018410_000033:[]
+022524_000035:[]
+013114_000000:[]
+012059_000025:[]
+023971_000035:[6]
+008876_000014:[2, 18]
+020538_000015:[]
+016863_000033:[]
+000733_000021:[]
+016918_000024:[]
+017665_000023:[3]
+023861_000017:[19]
+001066_000026:[9, 10, 14]
+002829_000008:[]
+006014_000004:[0, 19]
+013561_000014:[]
+016708_000023:[0, 2, 10, 12, 13, 14, 15, 19]
+011339_000013:[2, 10, 14]
+009856_000024:[3, 15, 17]
+001995_000014:[9, 15]
+017689_000027:[]
+010189_000022:[]
+018353_000039:[]
+020569_000036:[]
+004523_000020:[]
+014181_000017:[3, 8, 15]
+020164_000010:[14]
+021730_000003:[]
+013065_000034:[]
+008444_000003:[]
+011973_000034:[]
+004030_000031:[]
+010687_000035:[]
+002259_000031:[]
+001444_000016:[5, 10, 12, 18]
+002123_000009:[]
+023836_000036:[6]
+023367_000036:[]
+007766_000036:[17, 19]
+023299_000000:[5]
+011616_000028:[]
+018986_000035:[1, 8, 10]
+001463_000038:[3, 5, 13]
+015965_000003:[0, 4]
+008261_000024:[]
+001488_000029:[0, 12, 19]
+006732_000025:[]
+000599_000033:[12]
+003950_000022:[]
+024137_000034:[]
+007119_000036:[]
+000188_000011:[2, 15]
+000328_000035:[6]
+016202_000024:[]
+003013_000039:[13]
+013512_000033:[14]
+024225_000020:[]
+004754_000031:[8, 9]
+006164_000015:[]
+003112_000022:[]
+024148_000032:[]
+022644_000021:[]
+008517_000031:[]
+016221_000031:[]
+007884_000039:[]
+007846_000035:[]
+013911_000025:[3, 10]
+000258_000015:[]
+012690_000016:[]
+024193_000008:[]
+007629_000028:[4, 8, 12, 17]
+022293_000039:[]
+012619_000011:[]
+017035_000029:[13]
+024482_000026:[]
+002561_000031:[]
+009393_000021:[13]
+023128_000039:[]
+011352_000016:[]
+004013_000021:[]
+024341_000011:[14]
+000503_000012:[0, 1, 2, 4, 10, 13, 14, 18]
+000039_000008:[]
+015146_000022:[]
+005886_000031:[]
+020102_000021:[]
+009950_000007:[]
+003494_000025:[]
+006293_000021:[]
+000790_000028:[13]
+016939_000024:[4, 8, 9, 10, 11, 15, 19]
+018265_000006:[]
+017004_000023:[]
+000325_000006:[]
+002850_000027:[3]
+007786_000030:[3, 7, 14, 17]
+010989_000032:[]
+009040_000037:[7, 10]
+002675_000014:[]
+005289_000028:[]
+024042_000012:[]
+014467_000009:[]
+004659_000011:[]
+024136_000000:[]
+019098_000029:[]
+000489_000025:[5]
+017276_000036:[]
+014782_000028:[0]
+007342_000004:[]
+021359_000018:[9]
+011823_000005:[]
+020728_000017:[5]
+007248_000005:[5, 16]
+021872_000016:[]
+010173_000020:[1]
+009102_000024:[]
+003476_000011:[]
+023815_000021:[14]
+017644_000025:[]
+024435_000010:[2, 10, 12, 14, 15]
+017931_000009:[3]
+022275_000006:[]
+009147_000003:[]
+016363_000033:[]
+013686_000005:[]
+017635_000005:[]
+016398_000001:[2]
+002232_000011:[]
+009213_000022:[14]
+024075_000036:[]
+023867_000029:[17]
+011506_000008:[0, 14]
+000314_000026:[]
+007689_000023:[]
+018468_000038:[]
+013842_000021:[]
+005938_000024:[]
+017316_000023:[0, 8, 11, 18]
+021497_000025:[]
+018371_000006:[]
+005354_000013:[12]
+010590_000014:[10, 11, 16]
+016508_000024:[5, 6, 10, 18]
+017349_000014:[]
+018007_000037:[]
+014885_000015:[]
+006092_000028:[]
+017885_000019:[]
+003582_000011:[]
+002307_000027:[]
+019241_000001:[]
+013591_000035:[]
+009573_000004:[]
+006742_000038:[]
+019015_000002:[3, 7, 8, 11, 15, 18]
+007199_000037:[]
+014822_000035:[]
+016771_000023:[]
+002785_000022:[]
+002362_000020:[]
+018453_000021:[]
+018754_000025:[]
+010805_000037:[]
+020359_000007:[]
+018027_000007:[]
+011093_000015:[]
+024707_000013:[]
+006931_000018:[]
+002359_000008:[]
+002024_000039:[]
+001025_000012:[]
+008356_000005:[]
+001805_000011:[1, 3]
+010572_000023:[]
+003167_000030:[]
+002416_000008:[]
+018644_000005:[2, 6, 16]
+017385_000037:[]
+004993_000001:[]
+000726_000025:[]
+016510_000002:[]
+016091_000020:[]
+002769_000014:[2, 4, 8, 18]
+021804_000019:[6, 15]
+010365_000019:[]
+001590_000007:[12]
+014421_000026:[0, 6]
+021638_000015:[]
+008049_000021:[]
+010997_000001:[]
+015354_000000:[]
+023973_000008:[4, 7]
+007951_000004:[0]
+010152_000004:[]
+006066_000035:[]
+006862_000030:[]
+014013_000026:[]
+007220_000027:[]
+016759_000011:[8, 10, 12, 16]
+024626_000003:[]
+017379_000001:[9]
+007608_000034:[9, 10, 14, 15, 16]
+011403_000020:[2, 6]
+001200_000031:[]
+013736_000002:[5, 7, 11]
+010164_000008:[4, 5, 8, 9, 10, 11, 15, 17]
+005308_000005:[]
+005840_000034:[6, 18]
+003503_000034:[14]
+010889_000002:[]
+015477_000035:[17]
+013604_000018:[]
+008310_000025:[]
+009314_000031:[5]
+022618_000007:[]
+015183_000017:[]
+020087_000034:[]
+013148_000037:[]
+009064_000023:[]
+020298_000024:[]
+005133_000034:[9, 10, 19]
+010603_000015:[]
+011414_000003:[]
+017273_000035:[]
+011487_000005:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000832_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000832_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e0d6920902f38581973eb3b935c3ee0c53c2e707
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000832_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+022295_000005:[]
+007332_000024:[4]
+022122_000034:[]
+003527_000036:[18]
+020485_000025:[]
+018815_000034:[19]
+011079_000013:[6, 12]
+004681_000011:[]
+018161_000023:[5]
+015557_000010:[]
+004002_000028:[]
+021290_000008:[15]
+013771_000013:[1]
+017570_000020:[]
+008530_000007:[]
+016950_000009:[]
+022376_000030:[4, 9]
+003485_000029:[12, 17]
+023660_000005:[]
+013086_000012:[]
+015085_000020:[]
+006118_000037:[8]
+016386_000011:[]
+001048_000038:[15]
+020639_000026:[7]
+000240_000031:[]
+013721_000006:[]
+014729_000026:[]
+024834_000013:[15]
+021735_000028:[]
+009039_000013:[5]
+005387_000003:[5, 6, 14]
+017102_000035:[1, 2, 8, 11, 12, 13]
+011234_000022:[]
+002401_000026:[]
+015845_000007:[8]
+022253_000023:[]
+005765_000012:[]
+009908_000031:[4]
+024222_000031:[]
+011244_000005:[10]
+016731_000015:[]
+024608_000009:[4]
+015554_000015:[]
+017093_000037:[]
+011655_000036:[5, 7]
+019709_000019:[16, 17]
+014515_000017:[8, 14, 15]
+010744_000033:[]
+021152_000002:[6]
+004322_000004:[]
+000039_000018:[]
+024718_000039:[19]
+002081_000020:[1]
+006212_000016:[]
+019001_000036:[]
+010579_000017:[2, 4, 7, 11, 19]
+011797_000016:[]
+013626_000025:[4, 7]
+007411_000032:[8]
+017208_000030:[]
+016822_000009:[]
+003364_000010:[]
+007818_000014:[4]
+017834_000030:[12]
+003852_000009:[]
+004312_000038:[15]
+004672_000002:[]
+021300_000012:[]
+023619_000020:[15]
+007807_000005:[]
+003352_000024:[6, 18]
+020775_000027:[]
+020250_000009:[]
+013682_000009:[6]
+021924_000005:[]
+018794_000035:[]
+005531_000034:[]
+013995_000025:[]
+006687_000017:[3, 5, 8, 9, 12, 13, 14, 15]
+020749_000029:[]
+023074_000034:[]
+024998_000005:[13]
+018618_000013:[4, 6, 14]
+022947_000017:[]
+022113_000024:[]
+001396_000006:[1, 2]
+013541_000000:[3]
+008678_000016:[]
+021096_000014:[13]
+015563_000019:[0, 1]
+005571_000027:[]
+004444_000029:[1]
+023801_000024:[0, 7]
+023438_000009:[]
+012569_000022:[3, 9, 17]
+015396_000036:[]
+017233_000000:[]
+013915_000018:[10, 11]
+020019_000037:[5]
+004050_000004:[1, 10]
+019658_000030:[13]
+004532_000013:[17]
+019849_000031:[0, 4]
+007656_000001:[9]
+023684_000004:[]
+014645_000036:[3, 13]
+007286_000008:[6]
+019902_000018:[9]
+013859_000020:[7, 18]
+021116_000033:[6, 10, 15]
+005104_000013:[14]
+002770_000001:[2, 14]
+016736_000035:[]
+002472_000007:[0, 5]
+003096_000039:[]
+005792_000008:[]
+020646_000019:[]
+014797_000039:[]
+019987_000037:[6, 9, 11, 19]
+011510_000005:[]
+003597_000018:[]
+024404_000016:[]
+018911_000030:[0, 18]
+011562_000009:[10, 19]
+023278_000019:[15]
+017695_000021:[]
+022339_000035:[]
+006432_000022:[0, 14]
+001190_000003:[]
+002202_000016:[]
+004467_000008:[5]
+009893_000026:[0, 5, 7]
+023565_000031:[]
+001168_000004:[]
+016431_000019:[0, 11]
+013434_000034:[]
+024106_000020:[14, 16]
+019093_000021:[]
+021381_000022:[]
+023580_000014:[0, 4, 11, 15]
+013225_000008:[11]
+021334_000001:[]
+018902_000018:[]
+003227_000032:[]
+008105_000008:[1, 13, 14]
+012459_000031:[14]
+011296_000010:[]
+024558_000029:[]
+023256_000024:[]
+010908_000021:[]
+004086_000000:[]
+010688_000037:[]
+002084_000007:[0, 7, 8, 16]
+000386_000016:[]
+018871_000027:[9, 15]
+016284_000002:[]
+024762_000024:[3]
+023118_000039:[]
+009366_000014:[]
+005591_000014:[]
+020956_000039:[15, 17]
+021807_000037:[0, 2, 4, 19]
+016838_000025:[19]
+013372_000036:[16]
+023410_000032:[]
+009568_000006:[11]
+013248_000027:[]
+020409_000004:[0, 1, 2, 3, 5, 7, 10, 12, 14, 15, 16, 19]
+014541_000028:[]
+022174_000012:[]
+019943_000025:[]
+000125_000001:[]
+009947_000020:[]
+024686_000030:[]
+000824_000010:[2, 6, 7, 15, 18]
+009176_000022:[14, 15, 17]
+003385_000023:[]
+005419_000039:[8]
+017296_000006:[]
+011591_000037:[11, 17]
+005315_000021:[]
+016040_000018:[19]
+009269_000028:[2]
+024447_000034:[6, 7, 10]
+008449_000030:[5, 12, 14, 15, 17]
+023620_000033:[10]
+019651_000006:[13]
+013511_000019:[7]
+009704_000009:[2]
+020166_000029:[]
+010627_000032:[]
+019897_000023:[]
+004708_000011:[1]
+019917_000015:[9]
+019571_000025:[]
+020828_000015:[]
+007630_000036:[1]
+012975_000028:[8]
+008138_000031:[]
+024318_000019:[]
+015291_000014:[]
+015907_000037:[0, 2, 7, 12, 18]
+013362_000008:[0]
+013645_000016:[]
+022689_000028:[]
+021626_000005:[]
+009058_000036:[]
+024730_000015:[2, 3, 9, 19]
+010866_000019:[]
+013152_000021:[]
+002082_000039:[1, 8, 17]
+003193_000012:[11]
+022607_000020:[]
+018299_000003:[]
+008622_000033:[8]
+020158_000029:[]
+016950_000022:[]
+010295_000003:[]
+021132_000026:[0, 1, 5, 8, 10, 12, 15, 16]
+003518_000004:[]
+011459_000014:[]
+004184_000013:[]
+018472_000029:[4]
+012753_000004:[]
+006760_000014:[]
+023781_000013:[0]
+006714_000014:[10, 13]
+005099_000029:[3]
+002109_000029:[]
+019024_000020:[9, 11, 17]
+004540_000036:[1]
+008429_000008:[1, 14, 19]
+015554_000028:[13]
+008928_000033:[7]
+000694_000025:[]
+007636_000012:[17]
+004471_000023:[2, 3, 6, 7, 10, 11, 12, 15, 19]
+019549_000039:[4, 10]
+010389_000006:[12]
+005578_000009:[]
+018910_000007:[1, 11]
+022109_000009:[]
+019047_000018:[]
+017426_000031:[]
+020557_000007:[2, 6, 9, 10, 17]
+021580_000027:[]
+004380_000005:[]
+013264_000036:[]
+006446_000024:[10, 19]
+004327_000022:[]
+021897_000030:[0]
+013173_000031:[]
+012154_000018:[]
+003771_000021:[]
+002505_000028:[]
+012593_000009:[]
+014378_000005:[8, 12]
+004145_000039:[19]
+021160_000004:[]
+001118_000002:[]
+006168_000021:[]
+000399_000008:[]
+010495_000002:[2, 9]
+012190_000025:[]
+012859_000003:[4, 5, 6, 9, 11, 15, 19]
+013247_000037:[]
+022137_000021:[]
+015115_000007:[]
+004857_000018:[]
+021572_000035:[5, 6, 8, 11, 16]
+024034_000016:[]
+003394_000000:[]
+003995_000017:[]
+011449_000039:[11]
+012996_000005:[]
+018744_000029:[]
+002713_000037:[]
+010669_000007:[13]
+012797_000023:[]
+010316_000006:[10, 18]
+016722_000023:[]
+014414_000014:[1, 2, 11]
+001262_000034:[]
+018075_000013:[]
+008368_000020:[]
+020364_000011:[]
+001498_000029:[]
+020229_000038:[15, 16]
+011548_000030:[2]
+013791_000004:[]
+019890_000001:[]
+005609_000013:[]
+001446_000039:[1, 2, 8, 10, 11, 13, 19]
+007814_000023:[10]
+020529_000028:[]
+023619_000012:[]
+015762_000008:[]
+023557_000030:[]
+003400_000021:[]
+012655_000001:[6]
+012089_000024:[]
+000831_000015:[]
+020530_000014:[10, 13, 18]
+021089_000032:[]
+000768_000008:[]
+011757_000009:[]
+014377_000037:[]
+001056_000014:[]
+016361_000032:[]
+006858_000015:[]
+004910_000038:[15]
+003019_000032:[4, 6]
+009753_000035:[]
+017750_000023:[]
+007869_000030:[]
+014173_000028:[]
+012345_000005:[]
+020875_000026:[]
+024967_000013:[]
+019482_000019:[1]
+023013_000019:[1]
+001479_000025:[]
+010318_000009:[0, 19]
+005677_000021:[]
+021062_000025:[]
+014303_000035:[]
+006581_000012:[1, 8, 10, 11]
+005535_000008:[]
+011409_000019:[]
+003348_000025:[6, 13]
+020140_000022:[1, 2, 5, 7, 9, 14, 16, 17, 18]
+002841_000010:[4]
+002238_000010:[13]
+007702_000021:[3, 12]
+015484_000002:[15, 18]
+019418_000013:[2, 5, 16]
+019444_000020:[2, 5, 11, 17, 18]
+015535_000012:[9]
+015853_000009:[]
+024022_000019:[6, 8, 9, 14, 18, 19]
+007383_000015:[]
+021880_000015:[12]
+010425_000025:[]
+021014_000014:[]
+009962_000021:[]
+008899_000020:[15]
+012786_000008:[10, 16]
+021703_000028:[]
+010396_000021:[17]
+011361_000038:[]
+007853_000010:[]
+010020_000005:[12]
+022634_000003:[]
+003330_000013:[]
+013762_000015:[]
+021291_000018:[6, 14]
+017598_000007:[]
+002070_000004:[]
+003523_000025:[14, 16]
+016241_000021:[]
+021919_000029:[]
+011466_000038:[]
+001050_000015:[10]
+003153_000028:[]
+003305_000025:[]
+006898_000036:[]
+007273_000001:[]
+001580_000013:[]
+022426_000012:[]
+006784_000026:[]
+013192_000024:[]
+022807_000020:[15]
+016804_000012:[]
+014558_000034:[]
+001108_000021:[]
+018404_000028:[]
+020431_000000:[]
+005213_000020:[]
+017997_000023:[7, 9, 18]
+008794_000004:[]
+024410_000028:[]
+007883_000014:[0, 4, 5, 13, 19]
+023278_000037:[]
+010163_000002:[11]
+012986_000023:[]
+021419_000005:[]
+012663_000037:[]
+017070_000038:[]
+007702_000013:[]
+000468_000001:[]
+004278_000004:[7, 9, 12]
+000092_000012:[]
+003602_000017:[]
+012718_000011:[]
+021122_000022:[]
+019991_000018:[1]
+000180_000033:[15]
+007048_000037:[7]
+000496_000023:[3]
+009334_000007:[]
+012067_000036:[]
+013429_000024:[]
+023335_000012:[]
+020806_000038:[]
+008585_000018:[1, 2]
+021419_000036:[]
+009527_000012:[2, 3, 6, 10, 11]
+021423_000009:[]
+001418_000020:[1]
+015908_000026:[1]
+006601_000012:[1, 12, 16]
+017094_000006:[]
+003157_000008:[16]
+002835_000027:[]
+000763_000032:[]
+021544_000013:[0, 10, 14, 15]
+000284_000007:[]
+013038_000017:[]
+016914_000034:[]
+017882_000009:[16]
+012157_000017:[0]
+002946_000002:[]
+004728_000033:[]
+019983_000023:[]
+000260_000011:[]
+010424_000028:[15]
+009233_000000:[]
+009738_000001:[]
+016212_000005:[]
+012244_000004:[1, 17]
+006932_000013:[]
+008609_000007:[]
+001225_000019:[]
+020446_000000:[13]
+017499_000013:[8]
+020757_000027:[]
+000123_000030:[]
+020901_000014:[]
+014969_000019:[]
+015809_000017:[]
+013540_000029:[8]
+024763_000020:[11]
+004831_000011:[]
+022190_000027:[]
+017882_000007:[9, 15]
+007766_000005:[9]
+007640_000007:[]
+001857_000029:[]
+023406_000000:[5, 6]
+001761_000025:[]
+019155_000001:[]
+013257_000031:[13]
+007883_000023:[19]
+017928_000008:[]
+004210_000003:[13]
+016822_000014:[]
+005058_000011:[]
+001870_000033:[0]
+010037_000021:[]
+022073_000023:[1, 7, 10, 11]
+003973_000039:[]
+010201_000031:[3, 10, 12, 13]
+022541_000034:[6]
+013271_000037:[]
+012703_000019:[2, 16]
+017786_000005:[6]
+007850_000016:[8, 10]
+013036_000031:[4]
+019917_000014:[10]
+022035_000002:[]
+005339_000011:[]
+020904_000026:[0, 8, 9, 11, 13, 14, 16, 18]
+006524_000020:[19]
+004475_000005:[]
+011759_000004:[]
+021879_000025:[]
+016064_000003:[]
+000183_000012:[6]
+002811_000022:[7]
+010544_000036:[1, 9, 10, 13]
+010233_000019:[8, 14]
+012753_000003:[]
+019832_000001:[6, 11, 16, 18]
+001367_000008:[]
+015977_000033:[]
+018321_000006:[]
+014925_000009:[]
+015297_000012:[]
+006659_000015:[3, 12, 13]
+008100_000005:[]
+021476_000005:[7, 8, 11]
+011677_000000:[]
+018749_000006:[]
+002437_000019:[]
+020766_000015:[]
+009635_000037:[]
+022911_000028:[]
+017336_000020:[7, 11, 17]
+001509_000013:[7]
+012020_000012:[]
+008632_000039:[11, 14]
+024027_000006:[]
+017434_000032:[]
+012372_000026:[3, 12]
+003358_000028:[]
+015866_000013:[5]
+015028_000033:[2, 4]
+009567_000013:[]
+004844_000031:[5, 7, 8, 9, 12, 15, 17]
+019522_000028:[1]
+002311_000033:[10]
+003666_000025:[9, 15, 18]
+004265_000026:[]
+011854_000027:[1, 6, 10]
+020433_000014:[8]
+021699_000004:[]
+024616_000006:[8]
+004599_000014:[]
+022614_000031:[]
+013267_000024:[]
+019427_000030:[]
+015427_000006:[3, 14, 15]
+009805_000034:[7]
+013224_000038:[7, 17]
+004741_000029:[10]
+018153_000034:[17]
+007533_000009:[]
+022896_000010:[]
+001498_000028:[14]
+016836_000024:[]
+012016_000037:[]
+000470_000006:[]
+024642_000000:[10]
+007454_000019:[]
+020979_000031:[3]
+006235_000036:[]
+022413_000036:[3]
+014174_000001:[]
+024023_000013:[17]
+010965_000000:[]
+016243_000018:[]
+021697_000002:[]
+024956_000025:[5]
+011702_000009:[6]
+012242_000039:[]
+022060_000029:[]
+020635_000037:[]
+017880_000010:[6]
+021884_000024:[]
+023309_000039:[17]
+008916_000017:[5, 6, 11, 12, 15, 19]
+024269_000028:[5]
+001129_000010:[15]
+022808_000030:[]
+015484_000039:[0]
+017996_000001:[6]
+017579_000011:[15]
+024204_000039:[]
+012788_000020:[]
+000763_000004:[0, 1, 8, 12, 16, 17]
+017934_000004:[2, 14]
+001895_000006:[]
+011065_000029:[]
+024170_000032:[]
+010395_000020:[]
+006913_000031:[]
+006698_000037:[]
+001606_000030:[]
+015000_000020:[]
+015925_000033:[]
+001049_000021:[13]
+003073_000007:[8, 14, 17]
+003340_000022:[]
+011145_000038:[14]
+015430_000025:[]
+014145_000026:[15]
+017868_000028:[2, 6, 9]
+012748_000016:[]
+007692_000009:[8]
+024973_000008:[]
+007228_000030:[]
+016917_000039:[0, 7, 8, 14, 15]
+005770_000033:[]
+009402_000033:[1, 8, 14]
+004449_000021:[]
+016619_000007:[]
+008205_000018:[]
+020108_000001:[1, 14]
+002118_000032:[]
+000142_000027:[]
+009670_000002:[]
+016744_000032:[]
+011638_000025:[]
+005444_000009:[8]
+008179_000004:[]
+021472_000017:[]
+003727_000009:[3]
+015667_000015:[]
+001999_000018:[]
+010669_000016:[]
+005974_000014:[]
+001139_000026:[]
+004678_000000:[]
+024299_000007:[4, 5, 6]
+004061_000006:[]
+023817_000003:[0, 5, 16]
+005478_000006:[10]
+010386_000017:[]
+023244_000024:[0, 19]
+009759_000037:[4]
+005166_000003:[]
+011478_000007:[]
+014493_000023:[0, 3, 7, 18]
+019136_000026:[]
+005778_000020:[]
+008694_000031:[18]
+006768_000027:[19]
+011728_000014:[]
+014293_000007:[]
+013795_000031:[4, 17]
+003615_000036:[0]
+011004_000026:[19]
+018747_000016:[17, 19]
+010060_000029:[]
+014707_000012:[]
+004093_000019:[]
+018699_000021:[]
+004557_000005:[]
+014206_000012:[]
+020902_000035:[]
+011885_000027:[]
+004434_000011:[10]
+012652_000000:[]
+003434_000021:[]
+007866_000037:[]
+002224_000012:[]
+003620_000018:[4, 16]
+021353_000001:[2, 11, 15, 18]
+016671_000029:[]
+019821_000009:[6]
+008205_000016:[]
+002369_000036:[8, 11]
+022123_000002:[]
+017742_000039:[]
+001643_000034:[6, 9, 14, 18]
+020937_000001:[]
+006523_000014:[]
+007522_000034:[]
+008667_000038:[]
+009960_000002:[11]
+012867_000028:[]
+007495_000014:[]
+019068_000005:[]
+003446_000020:[]
+022260_000006:[14]
+010117_000008:[]
+013183_000011:[]
+021977_000022:[5, 7, 17, 18]
+022907_000028:[]
+004552_000000:[]
+021966_000004:[13, 15]
+012287_000035:[14, 16]
+000722_000016:[]
+001896_000026:[0, 14, 17, 19]
+007048_000033:[7, 17]
+005547_000023:[1, 10]
+013506_000028:[]
+023252_000003:[]
+008295_000010:[6]
+013023_000002:[19]
+006064_000011:[13]
+000408_000006:[19]
+014939_000006:[]
+024429_000029:[]
+013994_000020:[7]
+022203_000030:[9]
+001562_000012:[1, 3, 10, 15]
+012706_000036:[]
+019613_000037:[3]
+018268_000026:[]
+002982_000039:[6]
+007637_000030:[]
+020826_000035:[]
+017766_000022:[]
+002982_000020:[6, 18]
+001838_000013:[12]
+005128_000038:[]
+022346_000020:[2, 15]
+004596_000033:[17]
+011089_000031:[5, 6, 7]
+012917_000004:[8]
+004201_000007:[]
+005338_000014:[12]
+024551_000025:[1, 6, 12, 14]
+004693_000018:[16]
+001831_000039:[]
+010181_000014:[]
+014614_000022:[1]
+016756_000039:[0, 14, 15, 16]
+000407_000028:[]
+024651_000024:[]
+018888_000021:[13, 14]
+008805_000031:[]
+003852_000027:[]
+012314_000003:[]
+012844_000001:[5, 15, 18]
+012411_000001:[]
+013830_000030:[13]
+004363_000005:[2, 17, 19]
+020642_000034:[]
+015934_000015:[6]
+009580_000000:[6]
+024247_000023:[]
+016712_000016:[16]
+008774_000028:[]
+015686_000030:[11, 12]
+004977_000008:[]
+002501_000004:[]
+010824_000038:[]
+005884_000035:[]
+023880_000009:[]
+006486_000027:[4]
+000386_000024:[]
+001515_000031:[]
+005739_000026:[3]
+012446_000015:[1]
+000277_000013:[4, 18]
+007891_000035:[]
+019169_000031:[]
+010019_000035:[]
+021374_000026:[]
+022414_000001:[5]
+003491_000027:[4]
+019701_000011:[9]
+000796_000034:[5, 12, 19]
+006255_000008:[0]
+017130_000013:[]
+017328_000014:[3]
+022215_000000:[1]
+003791_000009:[]
+006715_000011:[]
+002985_000027:[1, 5, 6, 8, 9, 10, 13, 15]
+021194_000000:[]
+021683_000010:[7]
+007725_000006:[]
+013252_000018:[]
+024023_000000:[17]
+002713_000038:[3]
+015301_000003:[3, 4, 9, 11, 16]
+015738_000004:[]
+022529_000015:[]
+008376_000030:[]
+000327_000016:[]
+021156_000010:[9, 10]
+019347_000002:[]
+002713_000025:[]
+004803_000010:[]
+012488_000010:[]
+000480_000037:[13]
+018992_000002:[]
+010963_000027:[]
+010164_000037:[]
+015657_000038:[]
+016491_000032:[4, 10]
+017607_000037:[1, 2, 3, 9]
+017042_000010:[]
+002686_000011:[]
+013052_000035:[9]
+008997_000023:[1]
+009406_000036:[4, 8, 18]
+008593_000035:[]
+024168_000000:[0]
+018019_000037:[]
+004375_000012:[18]
+024446_000038:[16]
+024617_000034:[]
+020830_000006:[1, 5, 7, 11, 15]
+005061_000029:[14]
+008596_000002:[]
+010665_000025:[]
+009665_000008:[]
+019915_000001:[12]
+006733_000031:[]
+007324_000011:[]
+020717_000008:[12, 15]
+003928_000023:[2, 3, 5, 8]
+005197_000008:[8]
+013136_000036:[10]
+010034_000021:[16]
+018856_000003:[]
+004505_000024:[]
+005853_000028:[5, 8, 12, 13, 14]
+011222_000013:[18]
+015234_000034:[4, 5, 9]
+001452_000006:[]
+003622_000020:[]
+012898_000032:[]
+007873_000033:[]
+010721_000009:[]
+017688_000012:[]
+016221_000019:[]
+008194_000035:[]
+010497_000003:[4, 13, 16]
+009956_000007:[5]
+004688_000008:[6, 18]
+009005_000034:[14, 18]
+004293_000016:[8, 16, 19]
+024411_000026:[15]
+013450_000014:[]
+004006_000012:[]
+003801_000021:[]
+018935_000038:[1]
+006344_000014:[]
+014463_000020:[2]
+013677_000029:[]
+016199_000004:[3]
+003066_000021:[]
+018752_000024:[14]
+002492_000016:[12, 16]
+022860_000022:[]
+016874_000031:[]
+023639_000021:[]
+002121_000011:[]
+005269_000008:[14]
+006783_000017:[]
+001346_000028:[7]
+004793_000038:[]
+011377_000006:[]
+013377_000006:[0]
+011501_000031:[]
+021030_000036:[]
+018230_000003:[]
+019941_000035:[4, 8]
+010250_000035:[]
+006976_000012:[]
+001958_000024:[8, 12, 13]
+010160_000039:[]
+005344_000007:[]
+022832_000022:[]
+004201_000028:[]
+011948_000006:[]
+008227_000004:[1, 4, 6, 7, 10, 11, 16, 19]
+015269_000012:[18]
+014913_000028:[13]
+011757_000017:[]
+017239_000021:[6]
+021215_000023:[]
+024081_000007:[]
+003386_000010:[]
+012660_000017:[1, 3, 5, 7, 15]
+020819_000001:[6]
+008348_000004:[]
+006182_000023:[16, 17]
+016383_000004:[]
+001163_000008:[]
+007620_000003:[]
+021499_000003:[]
+014837_000034:[]
+021323_000030:[]
+024761_000001:[18]
+022366_000017:[]
+020053_000025:[]
+008056_000017:[]
+005976_000007:[]
+023369_000010:[13]
+003230_000018:[]
+023175_000016:[7]
+019438_000039:[]
+017186_000006:[11]
+013215_000039:[]
+002004_000022:[]
+013167_000033:[]
+001991_000030:[]
+009260_000019:[]
+012260_000031:[]
+005569_000019:[5, 17]
+005657_000022:[]
+013090_000034:[3, 5, 6]
+019035_000008:[3, 10]
+021558_000015:[3, 4, 7, 10]
+016755_000002:[2, 9]
+005694_000002:[15]
+006377_000008:[14]
+007931_000003:[]
+011223_000036:[]
+016765_000033:[11]
+010896_000016:[]
+024929_000029:[]
+002185_000034:[3, 18]
+023758_000018:[]
+013115_000034:[]
+016325_000015:[]
+009203_000010:[]
+003941_000014:[7]
+003504_000003:[9]
+003324_000019:[]
+008623_000023:[6]
+021429_000026:[15]
+024850_000031:[7]
+001048_000021:[]
+012313_000018:[]
+013725_000016:[5, 10, 14, 18]
+021440_000023:[18]
+016883_000002:[]
+010589_000037:[5, 11]
+016551_000026:[0, 17]
+000139_000016:[]
+015375_000030:[]
+010243_000027:[]
+019323_000033:[]
+002897_000038:[]
+012826_000038:[]
+008563_000006:[]
+019520_000025:[10]
+004356_000022:[5, 8, 12, 18]
+005818_000011:[]
+002786_000004:[0]
+001378_000021:[3, 5, 15, 19]
+011653_000018:[]
+007827_000019:[]
+024628_000007:[16]
+008787_000015:[]
+003268_000008:[]
+018679_000037:[]
+023863_000021:[]
+001790_000015:[]
+006273_000004:[]
+007353_000016:[]
+016450_000019:[]
+008028_000007:[6, 18]
+004754_000038:[10]
+019414_000037:[5]
+010478_000024:[]
+006479_000001:[9, 16, 18]
+021491_000026:[0, 4, 8, 11, 13, 18, 19]
+002808_000012:[]
+015265_000002:[]
+015948_000014:[]
+007794_000005:[13]
+010939_000036:[]
+022929_000024:[3, 9, 13, 15]
+001131_000015:[5, 15]
+020036_000032:[]
+006991_000010:[18]
+009013_000027:[]
+017729_000034:[1]
+005123_000028:[]
+000040_000011:[6, 7]
+007338_000036:[]
+018613_000035:[]
+000767_000036:[]
+015713_000028:[]
+003650_000008:[1, 3, 11, 13]
+011369_000024:[]
+010384_000015:[]
+002835_000010:[16, 18]
+021997_000015:[]
+014480_000034:[]
+014024_000003:[14]
+024064_000004:[]
+007630_000000:[]
+005162_000012:[4, 11, 13, 14, 19]
+000356_000024:[11]
+020872_000012:[1, 13, 16, 17]
+013976_000024:[]
+003755_000018:[]
+007306_000024:[]
+007590_000019:[18]
+017098_000011:[18]
+000148_000031:[8]
+008885_000000:[]
+017675_000014:[]
+021093_000033:[1, 9, 10]
+024868_000009:[5, 11]
+024377_000015:[12]
+023951_000000:[18, 19]
+010798_000039:[2, 8, 10, 19]
+023402_000028:[15]
+001874_000019:[]
+008775_000010:[]
+024128_000021:[9]
+018015_000026:[]
+015110_000025:[4, 10, 11, 16]
+011298_000029:[13]
+023099_000017:[]
+004706_000037:[10]
+003668_000036:[]
+004383_000017:[]
+021320_000038:[5]
+002354_000031:[0, 2, 3, 7, 14, 15]
+017267_000010:[2, 4, 9]
+005740_000005:[8, 13]
+020249_000003:[]
+014752_000014:[]
+016347_000032:[]
+012856_000017:[18]
+019053_000008:[]
+011108_000039:[]
+019868_000033:[14]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000843_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000843_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7f8b0e4108967da93affaf8ec4ad6013baedb221
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000843_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+014548_000007:[]
+003835_000001:[5, 17]
+008977_000032:[9]
+013982_000021:[]
+014333_000001:[2, 7, 11, 12]
+009408_000033:[]
+021970_000017:[]
+024856_000007:[]
+009665_000013:[]
+010335_000012:[]
+014111_000026:[]
+022274_000035:[]
+007592_000031:[0, 4, 5, 14]
+023998_000005:[11]
+007051_000012:[0, 1, 2, 5, 11, 12, 17]
+018128_000035:[]
+000383_000039:[3]
+022461_000025:[13, 14]
+016161_000010:[]
+006561_000006:[8]
+021858_000036:[]
+010310_000033:[4, 17, 19]
+016416_000032:[0]
+011482_000000:[19]
+003508_000037:[13]
+006394_000029:[]
+004550_000039:[]
+017243_000029:[]
+015197_000003:[]
+003165_000006:[]
+006970_000000:[]
+009898_000025:[]
+007057_000024:[18]
+024970_000006:[]
+009106_000036:[]
+002868_000035:[]
+012240_000012:[]
+017616_000021:[]
+017112_000014:[]
+010818_000022:[17]
+014841_000007:[]
+018971_000019:[7, 10, 12]
+010703_000026:[1, 13, 19]
+001031_000020:[]
+020243_000013:[]
+024977_000026:[]
+004265_000029:[]
+022988_000035:[]
+017282_000001:[12]
+017394_000027:[]
+008005_000013:[]
+007267_000028:[]
+005118_000015:[]
+019349_000021:[]
+012117_000002:[]
+021970_000036:[3]
+007376_000012:[]
+008665_000004:[]
+009237_000037:[]
+004877_000008:[]
+000250_000019:[]
+023163_000026:[]
+000083_000038:[5, 8, 10, 18]
+003901_000037:[4, 9]
+010744_000021:[]
+020688_000033:[19]
+001013_000033:[]
+017471_000018:[]
+008612_000026:[]
+020093_000017:[3, 4]
+021790_000019:[]
+016886_000037:[]
+021109_000009:[]
+015754_000013:[11, 19]
+015098_000018:[14]
+018899_000013:[]
+014056_000017:[]
+022979_000005:[]
+005546_000003:[]
+015000_000000:[3, 5, 11, 17, 19]
+016055_000026:[]
+006217_000026:[2]
+005863_000010:[2, 5, 8, 12]
+019887_000027:[2, 3, 16]
+004913_000011:[13]
+002991_000037:[]
+003073_000027:[8, 13]
+020078_000021:[5, 13]
+021359_000009:[]
+022557_000006:[16]
+018294_000008:[0, 1, 6, 14]
+024253_000032:[6, 12, 14, 16]
+007926_000032:[]
+013053_000004:[2]
+024136_000021:[]
+003278_000033:[3, 13, 19]
+023185_000002:[0, 1, 4, 5, 7, 12, 16, 17]
+007828_000033:[4, 16]
+019541_000029:[]
+008213_000028:[]
+016442_000020:[]
+000475_000006:[]
+006025_000021:[7, 9, 11]
+022030_000008:[6, 7, 13, 16]
+014669_000021:[17]
+009783_000018:[]
+016757_000006:[10]
+008038_000007:[]
+006457_000032:[]
+013091_000013:[]
+020762_000034:[1, 2, 5, 17]
+021081_000034:[]
+000152_000012:[9]
+008545_000017:[]
+018987_000027:[]
+004781_000014:[2, 3]
+003645_000037:[]
+002192_000021:[]
+017543_000013:[17, 19]
+002828_000020:[]
+011368_000034:[]
+019350_000016:[]
+023281_000005:[]
+005545_000025:[]
+010699_000038:[12, 14, 15]
+009437_000013:[]
+001914_000010:[13]
+019596_000011:[11]
+020352_000014:[]
+021951_000025:[]
+002192_000035:[2, 8, 16, 19]
+014244_000022:[0, 1, 4, 5, 17]
+021014_000007:[]
+017116_000029:[]
+006821_000011:[]
+014530_000013:[7]
+000289_000020:[]
+005619_000006:[]
+001428_000015:[0]
+024558_000005:[5]
+011997_000032:[]
+013436_000030:[9]
+024064_000021:[]
+001700_000036:[15]
+001168_000025:[]
+021069_000022:[]
+015741_000010:[10, 19]
+019460_000005:[6]
+011542_000001:[]
+008149_000033:[]
+014016_000030:[]
+022528_000027:[19]
+015976_000010:[]
+006230_000026:[]
+005200_000006:[]
+000596_000023:[]
+012127_000035:[]
+016188_000036:[15]
+006866_000029:[]
+011730_000008:[]
+023249_000007:[]
+011113_000025:[]
+007620_000039:[11, 19]
+013297_000014:[]
+014809_000005:[]
+010268_000013:[]
+000715_000019:[]
+008784_000002:[]
+015089_000026:[]
+016071_000007:[]
+010710_000034:[]
+023098_000036:[]
+020327_000010:[]
+023122_000021:[]
+003207_000009:[]
+010874_000030:[]
+020265_000026:[6]
+010218_000038:[]
+006736_000017:[]
+015540_000026:[]
+020222_000023:[]
+002545_000009:[0, 8, 15]
+015440_000027:[]
+012541_000027:[]
+008725_000022:[8, 9, 12, 16]
+023121_000037:[5]
+018728_000024:[]
+023243_000038:[2]
+020802_000018:[]
+002205_000000:[]
+005053_000031:[]
+014203_000023:[]
+004274_000021:[]
+016201_000030:[]
+013220_000019:[]
+012129_000037:[2, 15]
+014620_000037:[]
+017799_000038:[12]
+012492_000016:[]
+006854_000025:[]
+001772_000015:[]
+004533_000023:[]
+001692_000010:[]
+008854_000014:[]
+016832_000003:[1, 3, 4, 10, 15]
+014138_000039:[5, 12, 13, 18]
+021274_000007:[]
+004077_000005:[10]
+001706_000022:[]
+017842_000032:[3, 6, 7, 19]
+003315_000015:[]
+009505_000013:[10, 14, 16, 18]
+014957_000010:[]
+018588_000019:[]
+018497_000005:[]
+008672_000024:[15]
+020759_000039:[]
+014030_000002:[]
+024541_000034:[]
+013872_000025:[1, 13, 14, 15]
+022264_000009:[]
+010347_000000:[]
+020031_000025:[]
+020622_000010:[]
+015553_000012:[]
+009755_000028:[5, 7, 9, 12, 16, 17]
+012827_000004:[]
+021054_000000:[]
+008145_000017:[]
+024798_000024:[0, 15]
+016592_000006:[]
+019895_000017:[]
+016782_000016:[]
+001485_000034:[12]
+017782_000011:[]
+023383_000034:[]
+011377_000038:[]
+008432_000013:[4, 19]
+020235_000003:[]
+018984_000033:[]
+006996_000019:[2, 3, 8, 12, 14]
+007176_000017:[]
+024969_000016:[5, 12]
+010473_000028:[3]
+001806_000031:[]
+022768_000026:[]
+001353_000008:[16]
+007300_000011:[]
+010533_000023:[]
+011243_000039:[5, 9, 12, 19]
+005223_000014:[]
+017581_000033:[]
+012880_000006:[4, 10]
+022985_000018:[]
+007672_000037:[]
+019641_000012:[]
+001792_000012:[0]
+015476_000028:[0, 9, 11, 12, 16]
+003740_000002:[]
+020557_000001:[]
+002413_000037:[]
+023784_000031:[]
+011290_000030:[]
+021316_000006:[]
+016778_000027:[]
+016601_000007:[17, 19]
+000093_000035:[4]
+001803_000023:[19]
+004704_000018:[]
+014978_000027:[3, 6, 10, 17]
+000636_000009:[1, 8, 17]
+000898_000006:[]
+006576_000008:[]
+013608_000003:[]
+004484_000025:[1, 2, 3, 11, 18]
+015684_000013:[]
+007839_000023:[]
+019256_000013:[5, 9]
+007504_000025:[]
+009520_000026:[13, 17]
+010544_000007:[]
+014802_000028:[6, 10, 14, 17]
+017003_000034:[]
+007258_000007:[]
+002128_000000:[]
+004565_000009:[]
+023824_000006:[0]
+002516_000000:[]
+000284_000032:[]
+014136_000023:[]
+023203_000011:[]
+010091_000002:[13, 19]
+000087_000006:[]
+007134_000037:[]
+024511_000030:[]
+001634_000006:[]
+014070_000023:[3]
+023234_000020:[0, 12]
+008690_000030:[]
+005961_000036:[13]
+024206_000004:[16]
+000012_000020:[]
+020255_000030:[]
+004999_000001:[]
+021417_000008:[]
+011954_000025:[]
+001637_000026:[]
+021650_000015:[]
+014245_000033:[]
+009062_000028:[1, 6, 9, 14, 15, 16]
+009692_000037:[4]
+005973_000004:[13]
+018591_000024:[]
+002174_000007:[]
+012972_000006:[8, 10]
+001658_000028:[9]
+001291_000035:[0, 1, 8, 12, 15, 16, 17]
+020417_000030:[]
+001984_000030:[6, 12]
+008437_000028:[7, 17, 19]
+000277_000012:[14, 18]
+021244_000015:[]
+019141_000025:[]
+015463_000001:[1, 5, 9, 19]
+022896_000019:[]
+022513_000011:[1]
+007820_000036:[12, 18]
+008712_000038:[0]
+020458_000007:[]
+001760_000038:[]
+021476_000018:[]
+008368_000018:[]
+019048_000019:[]
+019105_000028:[]
+012680_000015:[3, 9]
+017233_000015:[19]
+016413_000035:[]
+024730_000006:[11]
+012558_000007:[]
+019655_000023:[]
+020496_000025:[0, 17]
+016386_000029:[]
+023249_000039:[10]
+013511_000011:[6, 15]
+014682_000033:[]
+019017_000026:[]
+021879_000027:[0]
+004284_000014:[16]
+020817_000027:[14]
+006869_000024:[6, 10, 11, 18, 19]
+024148_000007:[1, 10, 12, 13]
+009206_000004:[]
+001307_000013:[]
+015243_000037:[]
+015451_000025:[]
+022785_000003:[]
+022354_000003:[2]
+002077_000038:[]
+020022_000022:[0]
+013545_000032:[9]
+016139_000028:[2, 4, 19]
+014674_000019:[2, 15]
+005784_000023:[]
+005072_000019:[]
+004696_000012:[]
+020540_000030:[9]
+003755_000011:[]
+023717_000037:[]
+006931_000010:[]
+015325_000005:[]
+006245_000038:[]
+023076_000012:[]
+014132_000022:[11]
+023138_000009:[]
+021352_000010:[4, 5, 8, 12]
+002923_000025:[]
+008164_000034:[1, 6, 19]
+023060_000006:[]
+006912_000006:[1, 3]
+009510_000023:[2]
+018778_000029:[]
+018737_000002:[]
+014198_000004:[]
+020540_000021:[]
+003666_000022:[9]
+002308_000027:[]
+007688_000036:[]
+008599_000024:[]
+018830_000031:[2, 7, 9]
+004268_000007:[6]
+009534_000038:[0]
+024844_000008:[6, 8, 14]
+013545_000020:[]
+001802_000025:[]
+012416_000007:[]
+011714_000035:[2, 17]
+012934_000017:[2]
+003316_000010:[]
+007538_000024:[]
+010300_000036:[]
+005786_000015:[7, 19]
+013384_000034:[]
+001785_000003:[]
+020450_000013:[]
+022251_000023:[8]
+011495_000012:[0]
+023357_000021:[]
+001136_000010:[10]
+012750_000023:[]
+000825_000038:[2]
+023408_000033:[]
+002528_000034:[]
+002773_000006:[]
+000166_000037:[]
+009919_000031:[14]
+015977_000003:[11]
+024975_000017:[]
+019098_000034:[]
+011076_000039:[18]
+023013_000031:[]
+005769_000018:[]
+015907_000031:[]
+015101_000015:[9, 16]
+006460_000039:[]
+021110_000022:[19]
+003077_000037:[]
+007440_000035:[]
+004448_000023:[4]
+008671_000007:[]
+002279_000025:[]
+001053_000015:[]
+003500_000032:[]
+000056_000035:[]
+005284_000036:[11, 17]
+023743_000026:[]
+016753_000039:[13, 19]
+011398_000002:[5, 15]
+004836_000019:[]
+001714_000029:[]
+000258_000030:[]
+011380_000037:[]
+006547_000025:[9]
+009969_000007:[]
+014790_000005:[]
+024829_000037:[]
+018235_000029:[]
+015131_000006:[5, 7, 9, 18, 19]
+020211_000010:[]
+009418_000015:[11]
+010679_000029:[]
+002760_000011:[]
+002484_000006:[]
+014969_000024:[]
+023107_000028:[6, 11]
+023889_000013:[]
+017623_000033:[]
+002436_000024:[]
+022806_000032:[]
+017343_000006:[]
+021307_000003:[]
+020790_000037:[8]
+018008_000013:[7, 9, 13]
+021025_000012:[]
+019311_000028:[12, 17]
+021881_000009:[]
+010220_000032:[1, 3]
+001434_000021:[16]
+012867_000013:[6]
+017277_000018:[]
+022898_000029:[8, 9]
+017618_000038:[0, 3, 4, 6, 8, 17, 18]
+010915_000035:[]
+009119_000039:[]
+009510_000001:[]
+023610_000010:[3, 17]
+005167_000036:[16]
+009385_000017:[6]
+002749_000015:[9, 19]
+014366_000009:[]
+007066_000038:[]
+004888_000022:[]
+024315_000027:[6, 11]
+019426_000005:[]
+019457_000038:[2]
+017754_000019:[]
+002341_000034:[0, 4, 7, 18]
+022545_000025:[11]
+012459_000001:[4, 7, 9, 13]
+024509_000006:[]
+003591_000028:[]
+007629_000030:[]
+007955_000015:[]
+008357_000034:[]
+013916_000007:[]
+000085_000009:[]
+004991_000029:[18]
+010120_000014:[17]
+016145_000029:[]
+007591_000002:[15]
+022769_000016:[]
+023107_000034:[6]
+009012_000027:[]
+008910_000007:[]
+012179_000013:[0, 16, 18, 19]
+024578_000024:[]
+019381_000015:[]
+022517_000011:[]
+017951_000029:[12]
+003160_000036:[15]
+003127_000011:[7]
+003547_000008:[]
+006208_000021:[9]
+022479_000020:[7]
+005328_000006:[2, 16]
+002323_000018:[]
+020368_000002:[]
+003789_000019:[1, 5, 6]
+005278_000001:[0]
+007844_000022:[]
+018187_000037:[]
+001684_000022:[]
+001820_000014:[2, 6, 8, 12, 15, 18]
+020659_000031:[]
+024491_000028:[0, 3, 9]
+017695_000000:[]
+016763_000025:[3]
+023041_000031:[]
+004389_000011:[10, 13]
+000616_000010:[]
+008816_000038:[]
+005100_000014:[]
+016966_000013:[0, 7, 9, 13, 14]
+010546_000027:[]
+020370_000007:[]
+009297_000036:[]
+020250_000025:[]
+008795_000037:[]
+012879_000038:[]
+012215_000029:[18]
+005189_000025:[15]
+022791_000018:[]
+017920_000021:[5, 9, 10, 14]
+017713_000020:[]
+015445_000024:[]
+006893_000017:[0, 1, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 17, 19]
+009162_000037:[0, 12]
+009292_000015:[1, 9, 10, 12, 14]
+019803_000001:[8, 18]
+023481_000038:[11]
+001545_000003:[]
+000704_000002:[]
+022664_000025:[4, 12]
+015243_000020:[]
+011958_000025:[]
+004711_000025:[]
+009479_000039:[7, 12]
+000015_000003:[]
+012236_000024:[16]
+001669_000023:[]
+001312_000038:[10, 16]
+010817_000014:[]
+007109_000021:[16]
+006559_000026:[]
+004274_000033:[]
+007835_000007:[]
+017034_000029:[]
+022806_000038:[]
+003665_000033:[10]
+024666_000007:[16]
+012001_000029:[]
+002585_000030:[]
+001408_000006:[2, 16]
+024059_000030:[]
+013446_000026:[2, 15]
+010768_000002:[6]
+013514_000012:[]
+022466_000028:[0]
+005967_000016:[1, 16]
+022937_000029:[]
+003345_000008:[]
+002846_000030:[]
+021439_000025:[0]
+018295_000038:[14]
+023169_000033:[]
+013356_000014:[4, 10, 11]
+013161_000002:[]
+007598_000002:[9, 11]
+024842_000017:[0, 5]
+006629_000005:[]
+018775_000002:[4, 15, 18]
+011055_000010:[]
+006892_000011:[]
+019172_000022:[]
+015667_000007:[5]
+011539_000021:[3, 12, 17, 19]
+009991_000013:[]
+023855_000016:[]
+014160_000001:[9, 15, 19]
+003521_000029:[]
+002299_000029:[]
+000867_000015:[2]
+013912_000023:[]
+008375_000026:[]
+002262_000004:[]
+008498_000015:[]
+002123_000027:[]
+008944_000023:[]
+007414_000031:[]
+006540_000021:[]
+001761_000008:[]
+020731_000027:[]
+016613_000021:[9, 14]
+006369_000010:[1, 7, 11, 13, 18]
+018388_000022:[]
+008162_000025:[]
+013088_000022:[]
+014964_000021:[2, 3, 5, 16]
+012418_000031:[16]
+021113_000003:[5, 7, 16]
+002990_000016:[17]
+004454_000032:[]
+007650_000008:[13, 19]
+011968_000006:[]
+000962_000001:[0]
+015232_000028:[]
+011184_000011:[]
+024502_000005:[]
+007048_000004:[]
+004995_000028:[]
+001787_000037:[]
+023954_000030:[3, 4, 12, 15, 17, 19]
+010040_000006:[9]
+016942_000032:[]
+019769_000034:[9, 10, 17, 18]
+003587_000037:[15, 16, 19]
+012205_000003:[7, 12]
+015036_000015:[]
+011772_000024:[]
+005132_000016:[]
+007142_000023:[]
+018417_000008:[10]
+019271_000006:[]
+018321_000017:[]
+005533_000008:[]
+004366_000032:[]
+020974_000005:[]
+004138_000038:[]
+010470_000016:[]
+009117_000013:[]
+015371_000012:[]
+001700_000035:[0, 13]
+001059_000005:[4, 9, 13]
+017385_000017:[]
+023795_000015:[]
+024565_000002:[2, 5, 9, 10, 11, 12]
+007098_000008:[]
+016480_000034:[]
+013325_000022:[]
+024289_000021:[]
+004018_000036:[0, 11, 17]
+011631_000007:[18]
+000024_000003:[2, 14]
+020803_000001:[]
+017670_000028:[]
+021686_000006:[3, 11, 15]
+005397_000011:[7]
+023128_000029:[]
+001125_000006:[]
+022544_000003:[4, 6]
+021429_000034:[2]
+019833_000009:[4]
+021324_000007:[12]
+017613_000038:[]
+002710_000022:[2]
+015400_000034:[]
+005962_000019:[]
+007270_000023:[]
+024865_000024:[]
+001355_000021:[]
+001236_000017:[]
+008996_000012:[0, 4, 6, 11, 12, 16, 19]
+007537_000025:[2, 12]
+014011_000002:[0, 4, 6, 7, 10, 14, 17, 18]
+021486_000017:[8, 14]
+024853_000014:[4, 5, 6, 10]
+002083_000011:[]
+002052_000013:[7, 17]
+015881_000007:[10]
+013447_000037:[11, 12]
+001308_000018:[]
+006711_000033:[]
+009306_000018:[]
+006481_000013:[]
+021508_000019:[]
+021402_000023:[9]
+015372_000002:[]
+006646_000035:[]
+018008_000004:[7, 9, 14]
+009595_000020:[]
+000468_000030:[]
+013054_000009:[6]
+000848_000021:[]
+015980_000002:[11]
+001866_000017:[]
+019846_000021:[1, 10, 15]
+017662_000017:[2, 6]
+024618_000030:[]
+015177_000016:[1, 8, 10, 11, 16, 17, 18, 19]
+023587_000021:[]
+015223_000027:[3, 13]
+006906_000024:[]
+024967_000001:[]
+009422_000034:[]
+005890_000026:[15]
+013545_000005:[16]
+012498_000030:[]
+021018_000001:[]
+019161_000002:[]
+000433_000031:[]
+001924_000035:[]
+022780_000030:[]
+004337_000032:[5]
+019275_000012:[2, 15]
+012189_000002:[2]
+021000_000034:[14]
+010914_000021:[1, 3]
+006019_000001:[]
+006793_000020:[10]
+002807_000037:[8]
+021100_000025:[3, 6, 11, 12, 15]
+003002_000027:[5, 9, 12, 13, 19]
+000418_000034:[]
+011261_000036:[]
+023246_000006:[10]
+011601_000008:[3, 4, 7, 11, 16, 19]
+013377_000008:[]
+016072_000034:[]
+015850_000030:[]
+004782_000017:[]
+021492_000023:[9]
+017738_000027:[2, 19]
+007887_000022:[0, 4, 13]
+005870_000017:[]
+012205_000012:[]
+000133_000037:[]
+023197_000037:[]
+018716_000028:[7, 16, 17]
+001627_000029:[9]
+007343_000016:[0, 3, 10, 11, 17]
+020348_000019:[16]
+023883_000034:[]
+024379_000000:[]
+001396_000017:[1]
+017373_000004:[3, 7]
+018830_000017:[]
+005830_000034:[]
+020570_000024:[]
+010398_000007:[13]
+002733_000034:[]
+015769_000019:[4, 12]
+015022_000009:[0, 3, 4, 13]
+008560_000019:[]
+013872_000035:[13]
+016345_000024:[]
+000156_000021:[]
+000790_000011:[1]
+018598_000020:[]
+006002_000027:[6]
+014311_000030:[0, 7, 13, 14]
+004514_000010:[16]
+015505_000038:[9, 13]
+024601_000033:[]
+001527_000016:[]
+012393_000013:[]
+022457_000038:[]
+011441_000036:[3]
+013346_000035:[]
+012761_000039:[]
+021260_000019:[]
+010789_000035:[]
+020625_000030:[7, 12, 15]
+002580_000021:[]
+022925_000009:[14, 17]
+010509_000029:[]
+024631_000021:[]
+023553_000014:[3, 4, 10]
+010215_000013:[1, 6, 10, 18]
+005577_000000:[0, 3, 5, 6, 12, 15]
+010564_000024:[13]
+023660_000006:[]
+018230_000015:[]
+002501_000013:[6]
+008279_000027:[]
+008042_000014:[]
+005331_000033:[]
+010736_000021:[]
+008568_000026:[]
+017346_000038:[10, 18]
+005291_000030:[8, 9]
+001000_000024:[1, 16, 19]
+008111_000009:[]
+014781_000038:[13]
+005482_000016:[]
+009411_000016:[]
+017341_000002:[]
+022626_000014:[1, 5, 19]
+008947_000028:[]
+018707_000012:[]
+001311_000020:[]
+022528_000025:[19]
+013532_000035:[4, 11, 13]
+019487_000025:[3]
+017722_000037:[]
+011402_000010:[]
+018444_000027:[]
+018408_000011:[5, 6]
+021036_000011:[]
+007019_000019:[]
+017367_000021:[]
+024843_000003:[]
+024407_000010:[]
+005443_000023:[5]
+001848_000026:[]
+019633_000021:[7]
+004158_000021:[0]
+023128_000020:[]
+017269_000020:[]
+020316_000027:[]
+005482_000011:[]
+017795_000019:[]
+000194_000035:[]
+000062_000020:[18]
+014515_000037:[]
+010984_000002:[]
+018044_000013:[5, 10, 19]
+000178_000035:[6]
+007422_000029:[]
+010771_000029:[]
+018172_000017:[]
+011894_000003:[15]
+001821_000039:[]
+005289_000015:[]
+004349_000020:[]
+006390_000037:[]
+021736_000027:[3, 12]
+019597_000021:[1, 2, 8, 9, 12]
+012806_000035:[]
+011510_000015:[6, 13, 19]
+017191_000030:[]
+007427_000034:[17]
+019944_000000:[]
+003284_000009:[0]
+001572_000024:[]
+001094_000030:[]
+007397_000034:[]
+021584_000025:[]
+010187_000008:[19]
+013939_000021:[]
+020970_000025:[3]
+018720_000006:[5, 6, 11, 14]
+006552_000031:[]
+007194_000015:[]
+003371_000012:[]
+007167_000013:[2, 9, 10, 15, 16]
+011649_000032:[16]
+015607_000021:[13, 18, 19]
+022478_000002:[6, 11]
+011698_000015:[8, 9, 13]
+020694_000002:[]
+004174_000032:[]
+013940_000026:[8]
+013934_000039:[4]
+015619_000034:[0, 6]
+018394_000009:[3, 8, 11, 13, 14, 17, 18, 19]
+003165_000003:[]
+010367_000027:[]
+011058_000017:[6]
+009537_000006:[3, 9, 12]
+021241_000009:[9]
+007443_000003:[4]
+012465_000031:[]
+004230_000022:[6]
+002735_000038:[0]
+012751_000003:[]
+002215_000022:[]
+020615_000000:[3]
+004059_000032:[6]
+009475_000034:[]
+019577_000031:[]
+014668_000027:[]
+009013_000023:[]
+011411_000010:[]
+013458_000021:[2]
+011401_000028:[13]
+024461_000028:[]
+012760_000031:[18]
+016341_000003:[2, 6, 10, 16]
+012370_000031:[3, 9]
+019878_000037:[]
+004244_000039:[9]
+007558_000007:[]
+005121_000029:[]
+007396_000019:[]
+000549_000008:[]
+014835_000019:[]
+014174_000003:[]
+010984_000019:[]
+023518_000020:[]
+013603_000027:[15]
+006872_000006:[]
+016176_000038:[5]
+000831_000030:[16]
+000148_000008:[]
+012238_000021:[]
+001611_000020:[3, 10, 18]
+018828_000005:[]
+022734_000024:[7]
+022828_000026:[]
+017430_000036:[9]
+004400_000033:[]
+021184_000012:[9, 16]
+014023_000004:[5]
+011402_000008:[]
+014476_000038:[]
+000372_000008:[]
+008755_000038:[9, 10, 16, 18, 19]
+007283_000000:[]
+000589_000012:[2, 8, 15, 16]
+016680_000024:[5]
+023663_000029:[1, 2, 3, 4, 8, 10]
+002770_000005:[]
+021350_000035:[]
+004733_000028:[]
+002054_000003:[8]
+023880_000020:[6, 11]
+015576_000004:[1, 4, 13]
+006233_000003:[0]
+023181_000009:[5, 9, 13, 15, 17, 19]
+009893_000008:[1, 2, 15]
+009458_000021:[17]
+013530_000031:[]
+013854_000015:[]
+005818_000009:[]
+005363_000010:[]
+016669_000018:[16]
+000552_000004:[]
+020030_000037:[]
+009982_000032:[]
+015162_000027:[]
+020467_000012:[]
+015038_000018:[7, 9, 10, 19]
+011540_000002:[]
+002594_000025:[4]
+003473_000027:[6, 18]
+006238_000029:[]
+013583_000012:[]
+023558_000018:[]
+010977_000021:[]
+024303_000010:[]
+006479_000039:[2]
+001855_000013:[14, 18]
+015372_000025:[]
+023957_000020:[3, 10, 14, 16]
+015187_000035:[0, 15]
+012811_000035:[]
+013146_000009:[]
+016448_000038:[]
+010754_000007:[2, 7, 8, 13]
+010416_000002:[10, 16]
+022472_000033:[]
+014424_000010:[0, 1, 11, 19]
+000165_000020:[]
+005049_000021:[]
+010489_000006:[]
+001983_000021:[]
+020596_000033:[]
+019159_000010:[]
+018496_000034:[]
+021253_000034:[]
+008265_000007:[]
+000656_000034:[0, 2, 13]
+009406_000012:[2, 4, 12, 14]
+006836_000035:[10, 13]
+008491_000034:[7, 10, 12, 16]
+006638_000015:[]
+012837_000038:[]
+022906_000025:[]
+001705_000010:[1, 3, 18]
+012945_000003:[16]
+002530_000025:[]
+001170_000036:[]
+013492_000009:[12]
+016207_000012:[6]
+005515_000025:[]
+019480_000022:[12]
+007597_000012:[]
+015085_000000:[]
+001779_000015:[]
+021935_000008:[8]
+008805_000036:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000859_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000859_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..39c9807a5f65db09f975a3ae72adecfb9b8f48c1
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000859_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+018333_000011:[]
+017873_000031:[3, 8]
+024845_000038:[]
+018831_000014:[]
+024343_000000:[]
+012185_000034:[]
+008722_000038:[4]
+007135_000008:[]
+012911_000020:[13, 19]
+009572_000000:[16]
+010904_000005:[]
+022447_000022:[0, 11]
+001830_000035:[]
+022251_000017:[8]
+020189_000001:[18]
+022349_000006:[]
+015619_000024:[]
+004953_000014:[]
+019705_000018:[]
+023218_000001:[7]
+003201_000031:[]
+007199_000006:[]
+020235_000006:[]
+014075_000002:[]
+004409_000035:[3]
+002047_000033:[]
+023963_000019:[6]
+006269_000032:[]
+023845_000030:[1]
+022960_000017:[1]
+022525_000002:[2]
+003090_000034:[]
+002008_000038:[13, 16]
+005829_000032:[11]
+005496_000023:[5, 18]
+018047_000025:[]
+018773_000030:[3, 15]
+017296_000005:[9]
+014371_000034:[]
+020375_000000:[0, 1, 5, 10]
+003654_000033:[14]
+024639_000003:[6, 18]
+002063_000030:[0]
+010756_000034:[]
+024990_000023:[]
+007089_000015:[1, 6, 13, 19]
+019015_000024:[]
+024024_000011:[]
+016797_000018:[3, 6]
+001813_000032:[]
+003585_000006:[]
+023965_000001:[17]
+014813_000009:[]
+022896_000022:[]
+004478_000034:[6, 13]
+008582_000001:[9, 13]
+006466_000017:[]
+018416_000024:[]
+007529_000016:[18]
+016391_000037:[]
+023382_000026:[7, 16, 18]
+012431_000007:[4, 19]
+021725_000015:[11, 17, 18]
+003787_000021:[11]
+007216_000012:[4]
+011778_000037:[]
+022777_000033:[3, 9, 12, 17]
+009966_000014:[]
+009418_000026:[13]
+008166_000016:[8]
+011348_000029:[3, 5, 7, 8, 11, 12, 16]
+017401_000008:[]
+001689_000034:[2]
+023433_000018:[]
+018160_000039:[10]
+023309_000002:[]
+024027_000024:[8]
+022258_000027:[0, 2, 4]
+016381_000038:[]
+000002_000033:[]
+010894_000037:[]
+011494_000028:[]
+023761_000024:[]
+009330_000012:[]
+023828_000004:[]
+011053_000017:[13]
+003675_000021:[2, 5, 8, 9, 10, 12, 17, 18]
+004692_000036:[]
+011807_000020:[]
+002222_000036:[]
+015176_000038:[]
+013688_000015:[]
+003375_000017:[]
+017080_000021:[]
+003142_000003:[11]
+006028_000037:[]
+014576_000019:[]
+000919_000009:[6, 14]
+007560_000029:[]
+007346_000026:[]
+010854_000019:[17]
+007937_000014:[0, 1, 2, 5, 11, 12, 14, 15, 17, 18, 19]
+017666_000019:[6]
+005855_000001:[]
+006732_000006:[]
+019771_000024:[15]
+011424_000035:[]
+024280_000033:[]
+009600_000028:[]
+012027_000035:[]
+024574_000004:[8, 18]
+021751_000027:[7]
+012350_000028:[]
+012061_000001:[19]
+014134_000001:[]
+020789_000006:[14, 19]
+008409_000003:[]
+024489_000005:[]
+013783_000013:[1, 5, 12, 14, 19]
+021572_000019:[]
+009220_000039:[]
+017812_000028:[10]
+005567_000030:[]
+006228_000023:[]
+019427_000039:[8]
+004996_000011:[]
+008618_000022:[]
+004539_000002:[2]
+020046_000036:[]
+024385_000022:[7]
+019043_000017:[]
+005800_000006:[11, 18]
+007536_000029:[17]
+001214_000011:[2]
+023823_000015:[]
+015922_000013:[0, 2, 4, 6, 10, 14, 18]
+015447_000007:[]
+022765_000033:[]
+011159_000005:[15]
+016383_000005:[]
+015418_000033:[]
+009226_000020:[]
+022370_000008:[]
+010930_000009:[]
+018101_000039:[0, 4]
+014893_000026:[]
+009594_000032:[]
+000707_000035:[]
+013330_000035:[3]
+003943_000006:[]
+011384_000000:[]
+009030_000010:[]
+022157_000038:[]
+006275_000013:[11]
+019159_000025:[9]
+023918_000006:[]
+021975_000013:[]
+019282_000031:[4]
+002903_000034:[4]
+009454_000038:[]
+003733_000025:[]
+019413_000005:[]
+000384_000030:[]
+009114_000000:[]
+021737_000024:[4, 5, 11]
+023327_000003:[]
+021789_000011:[4, 5, 6, 18]
+005606_000009:[]
+010066_000000:[]
+005723_000034:[]
+015276_000014:[]
+020049_000005:[]
+000067_000032:[2, 15]
+023384_000004:[]
+017231_000035:[0, 11]
+009274_000022:[]
+007410_000007:[17]
+007381_000035:[]
+016768_000002:[0]
+004224_000027:[]
+002662_000006:[12]
+003013_000035:[]
+024265_000034:[]
+015528_000034:[2, 9, 12, 16]
+019983_000005:[]
+004680_000021:[]
+023456_000018:[0]
+005945_000006:[]
+020125_000038:[2, 13, 17]
+001025_000030:[]
+003480_000031:[]
+013370_000002:[]
+015231_000017:[3, 6]
+002144_000017:[]
+010388_000017:[]
+008115_000006:[3, 10]
+016690_000004:[]
+020830_000035:[1, 7, 18]
+008146_000002:[]
+000210_000030:[]
+021401_000000:[]
+024715_000020:[]
+024256_000001:[]
+020967_000007:[7]
+001214_000006:[]
+008563_000030:[]
+007808_000011:[2, 9, 14]
+021376_000033:[]
+000276_000021:[2, 14]
+022424_000019:[0]
+014789_000031:[]
+013469_000031:[15]
+020952_000021:[]
+019127_000037:[]
+010385_000030:[]
+015380_000037:[1, 2, 5, 10, 12, 14, 16]
+013260_000017:[5, 11, 18]
+007413_000004:[0]
+014454_000013:[]
+024442_000013:[]
+002333_000025:[]
+022641_000012:[6, 8, 19]
+006800_000022:[]
+006804_000018:[]
+011892_000009:[15]
+019517_000028:[0, 5]
+000601_000010:[2, 16]
+000088_000001:[]
+019527_000022:[11]
+015074_000003:[]
+008888_000033:[]
+015263_000010:[]
+000644_000012:[]
+002983_000023:[]
+002828_000037:[8, 9, 11]
+022560_000029:[]
+014106_000029:[7, 19]
+006634_000002:[8, 12, 13, 18, 19]
+001606_000022:[]
+016013_000031:[]
+012659_000032:[10]
+023423_000035:[]
+004272_000001:[]
+008977_000030:[]
+004241_000014:[]
+002795_000009:[0, 2, 3, 6, 7, 8, 9, 10, 12, 13, 14, 15, 17]
+015690_000029:[0, 9, 14, 18]
+023466_000006:[7]
+001407_000027:[8]
+021349_000011:[]
+020051_000017:[2, 3, 10, 17]
+012232_000028:[]
+006704_000035:[]
+006567_000016:[10]
+010907_000014:[]
+003594_000016:[0, 5, 6, 17, 18]
+015645_000018:[15]
+016816_000027:[]
+022305_000007:[]
+022809_000011:[3, 5, 9, 10, 14, 16]
+005852_000014:[]
+002643_000024:[0, 3, 9, 10, 15]
+024203_000006:[11, 12, 15]
+017925_000004:[]
+022966_000006:[]
+008838_000037:[]
+008330_000009:[]
+023978_000003:[]
+020213_000007:[]
+018719_000016:[]
+011178_000009:[]
+019695_000008:[2]
+020074_000036:[7, 19]
+020654_000029:[5, 9, 17]
+023212_000035:[1]
+016715_000005:[3, 8, 10, 19]
+002542_000037:[]
+018314_000011:[2, 6, 18]
+023372_000016:[]
+004236_000018:[]
+007087_000028:[]
+022691_000019:[1, 7, 10, 13]
+000840_000025:[19]
+023183_000016:[8, 10]
+012400_000038:[6, 8, 9, 18]
+024313_000020:[]
+007036_000012:[]
+010004_000032:[]
+009120_000030:[]
+009771_000012:[]
+017277_000001:[]
+007258_000030:[]
+010532_000024:[]
+008601_000037:[15]
+000287_000017:[4]
+016772_000004:[6]
+006171_000030:[]
+020386_000024:[16]
+022773_000013:[9, 12]
+001695_000024:[2, 16]
+018822_000032:[]
+017112_000022:[]
+013656_000019:[]
+024510_000031:[]
+015200_000029:[]
+008663_000019:[11]
+016716_000012:[7, 11]
+022848_000019:[9, 14]
+002349_000012:[19]
+000312_000025:[0, 2, 8, 10, 15]
+006113_000016:[0]
+003050_000035:[]
+009542_000033:[11]
+022832_000012:[4, 15]
+000348_000027:[]
+006790_000006:[]
+013829_000005:[]
+018950_000021:[14]
+005226_000025:[4, 14]
+002029_000001:[2, 9, 10, 14]
+008023_000005:[]
+021104_000036:[]
+006460_000008:[]
+021447_000005:[]
+010455_000037:[]
+002068_000010:[]
+019846_000016:[1, 15]
+018793_000035:[5, 9, 17]
+023235_000033:[]
+016605_000033:[]
+005454_000029:[0, 5]
+024649_000039:[8, 11, 17, 19]
+007978_000034:[4, 11]
+018390_000030:[5, 12]
+001226_000024:[14, 18]
+000904_000000:[]
+004454_000039:[]
+008042_000035:[]
+001709_000005:[]
+017431_000035:[]
+021097_000030:[14]
+007453_000000:[]
+010922_000003:[]
+009040_000000:[1, 2, 3, 10, 13]
+011383_000031:[]
+021037_000007:[]
+010367_000014:[]
+016990_000021:[]
+012128_000027:[]
+021331_000024:[2, 18]
+024163_000007:[13]
+007169_000001:[19]
+018920_000004:[]
+000058_000006:[10, 14]
+004809_000013:[12]
+013434_000017:[]
+017477_000034:[2]
+006620_000028:[]
+011603_000008:[]
+015867_000035:[]
+004037_000011:[7]
+004447_000033:[]
+017014_000033:[15]
+006826_000024:[]
+010336_000024:[16]
+007930_000024:[]
+019229_000012:[1, 7, 15]
+019467_000024:[]
+005464_000028:[18]
+020980_000011:[]
+003973_000007:[10, 11, 18]
+019341_000010:[]
+023105_000004:[3]
+002844_000032:[8]
+024633_000026:[]
+016756_000037:[4, 12]
+005142_000020:[16, 17]
+015487_000026:[]
+018007_000039:[]
+015245_000025:[]
+024547_000020:[]
+002532_000027:[1, 5, 7, 8]
+003899_000002:[4, 7]
+007510_000003:[]
+000438_000015:[5]
+000557_000016:[]
+000506_000001:[10]
+024908_000029:[]
+000790_000001:[]
+011985_000029:[17]
+009781_000004:[]
+022722_000023:[6, 13]
+022596_000010:[]
+010197_000008:[]
+018391_000023:[]
+016321_000020:[]
+003354_000021:[18]
+023232_000012:[]
+008741_000006:[0, 10, 13, 17, 19]
+022749_000039:[0]
+011817_000018:[8, 18]
+008535_000033:[]
+019550_000020:[2]
+000992_000020:[]
+006746_000038:[]
+007719_000006:[6]
+011129_000020:[]
+009589_000018:[]
+018460_000021:[]
+023625_000016:[]
+011539_000004:[]
+005901_000002:[]
+005301_000024:[]
+004571_000019:[1, 10]
+020856_000031:[]
+002480_000036:[]
+003350_000037:[2, 4, 12]
+018124_000033:[]
+022719_000018:[9, 10]
+017167_000004:[]
+024987_000027:[5, 14]
+024374_000036:[13]
+019296_000004:[4, 9, 10, 14, 17, 18]
+010331_000005:[11]
+001149_000031:[]
+012475_000025:[]
+013767_000021:[]
+001463_000034:[]
+008491_000020:[]
+009915_000029:[]
+002564_000005:[7]
+019432_000031:[2, 4, 10, 13, 16]
+014581_000032:[0, 4, 15]
+001143_000003:[]
+001470_000017:[]
+019728_000012:[12, 16]
+001344_000023:[15, 16, 19]
+003836_000031:[3, 11, 18]
+009897_000006:[4, 11]
+003045_000005:[7]
+011070_000039:[2, 14]
+015030_000039:[11, 16]
+011726_000016:[]
+000816_000038:[1, 11, 14]
+003456_000008:[]
+001835_000022:[7, 12]
+015972_000016:[5, 9, 15, 18]
+023074_000035:[6, 14]
+003359_000008:[0, 4, 14, 15]
+000320_000035:[8]
+008903_000001:[]
+000053_000025:[]
+018595_000026:[2]
+024790_000026:[0, 7, 10, 11, 12, 14, 15]
+000939_000000:[]
+010198_000005:[2]
+009911_000015:[5, 6, 7, 10, 11, 13, 15, 17]
+020498_000028:[3]
+000905_000003:[18]
+000731_000002:[2, 10]
+020810_000010:[]
+000967_000006:[2, 3, 8, 12, 18]
+006158_000018:[]
+000025_000001:[]
+005627_000034:[]
+009693_000012:[0, 11, 12, 16, 18]
+008465_000015:[]
+005725_000023:[10, 15, 16, 17]
+015781_000028:[]
+012015_000005:[13]
+017265_000006:[3, 15]
+022180_000002:[11, 18]
+014667_000022:[]
+014145_000022:[15]
+002059_000027:[3, 14]
+022531_000032:[]
+014281_000018:[6, 10, 15, 18]
+022951_000020:[5, 9]
+024032_000012:[]
+010619_000034:[]
+003484_000038:[2, 9]
+013468_000016:[]
+017127_000027:[]
+014335_000029:[]
+010720_000036:[4]
+020452_000017:[9]
+012913_000034:[]
+019103_000016:[]
+013945_000024:[]
+023761_000010:[]
+003812_000038:[2]
+013660_000009:[14, 18]
+007137_000015:[1]
+019876_000023:[]
+003057_000018:[]
+017959_000038:[5]
+017612_000000:[]
+011367_000009:[7, 13]
+011036_000012:[]
+009264_000029:[7, 8, 9, 13, 18, 19]
+017821_000015:[]
+004700_000013:[1, 3, 15]
+018432_000005:[]
+023341_000036:[11]
+016171_000019:[12]
+015341_000037:[]
+007506_000027:[10]
+022598_000012:[4]
+008222_000018:[7, 11, 17]
+020118_000025:[]
+024350_000002:[]
+023702_000033:[2, 3, 6, 7, 8, 15]
+024837_000010:[]
+020003_000026:[]
+007922_000038:[]
+007637_000012:[]
+018170_000004:[]
+015600_000006:[]
+010548_000009:[]
+002563_000034:[]
+000054_000011:[5, 19]
+006670_000023:[10]
+022568_000034:[]
+013479_000012:[3, 13]
+013050_000010:[1, 8, 10, 11, 17]
+012188_000019:[]
+001644_000039:[]
+019430_000024:[]
+009224_000000:[7, 12, 14, 18]
+024105_000026:[]
+008749_000004:[]
+003058_000010:[]
+013486_000022:[9]
+009087_000015:[0, 2, 4, 7, 8, 11, 12, 14, 15]
+023297_000004:[]
+016937_000039:[]
+000238_000023:[]
+015495_000036:[]
+021190_000025:[]
+018218_000012:[]
+009360_000018:[9, 18]
+015705_000029:[13, 15, 17]
+002270_000031:[]
+023787_000019:[9, 10, 15]
+022853_000028:[]
+017347_000017:[6, 8]
+002905_000029:[]
+008061_000010:[7, 11, 16]
+018484_000038:[]
+008873_000001:[]
+013472_000030:[]
+012184_000029:[6, 11, 13, 15]
+000383_000019:[2, 3, 5, 12, 14]
+011755_000015:[11]
+022299_000017:[]
+007568_000031:[]
+010450_000014:[]
+002958_000008:[]
+021241_000016:[]
+003560_000002:[]
+008446_000029:[1]
+023527_000021:[2]
+024796_000025:[3, 4]
+003856_000033:[9]
+010057_000039:[]
+023529_000036:[16]
+003217_000037:[]
+014145_000028:[]
+008371_000011:[2, 8, 12, 13, 15, 16]
+004715_000001:[]
+016348_000003:[6]
+020320_000008:[]
+010214_000004:[]
+015038_000025:[]
+021713_000019:[]
+001424_000038:[]
+018730_000023:[]
+002927_000029:[]
+023290_000003:[]
+007717_000031:[]
+017289_000037:[14, 15, 19]
+021659_000003:[3, 4, 12, 13, 17]
+005126_000028:[]
+018624_000033:[]
+013960_000018:[6, 9, 11]
+007924_000026:[]
+007585_000005:[]
+008872_000017:[]
+013508_000011:[]
+020791_000008:[3, 8]
+002999_000023:[]
+014279_000030:[]
+009731_000033:[7, 11, 16]
+015825_000007:[]
+013806_000005:[1]
+017986_000009:[9]
+009488_000033:[]
+021780_000026:[8, 12, 13]
+012756_000034:[]
+007749_000023:[]
+014112_000020:[]
+023300_000037:[1, 2, 3]
+017717_000010:[]
+018743_000008:[0]
+005054_000038:[3, 5, 19]
+010888_000009:[5, 14]
+007863_000002:[]
+002946_000014:[]
+006188_000029:[]
+009534_000007:[]
+023504_000021:[1, 16]
+016992_000001:[2, 5, 14, 19]
+003718_000011:[1, 8, 15]
+012580_000018:[]
+009761_000004:[11]
+017890_000026:[16]
+014897_000025:[0, 13, 15, 16]
+009883_000026:[]
+006951_000015:[3]
+010439_000008:[]
+003445_000024:[]
+020702_000029:[]
+013023_000012:[]
+019996_000007:[]
+019811_000019:[17]
+012628_000032:[1, 10, 16]
+010012_000015:[]
+018215_000008:[]
+005975_000011:[]
+003549_000004:[2, 9]
+020544_000021:[]
+022483_000021:[]
+000821_000020:[]
+001678_000006:[0, 5, 11, 15]
+003243_000008:[]
+005607_000030:[]
+008265_000003:[]
+017443_000022:[]
+015390_000011:[]
+009494_000039:[]
+003136_000038:[]
+013237_000026:[8, 9, 16]
+022660_000017:[0, 1, 2, 4, 9, 10, 11, 14, 15, 16]
+010494_000010:[]
+007175_000014:[]
+023682_000000:[]
+010393_000020:[5, 13]
+006866_000010:[]
+003136_000020:[]
+016616_000035:[9]
+004662_000027:[7]
+002870_000000:[]
+011310_000023:[]
+006304_000024:[]
+012369_000022:[]
+012175_000024:[]
+009888_000022:[]
+007200_000017:[]
+003731_000020:[0, 14, 15]
+004258_000017:[8]
+000079_000022:[3, 13, 18]
+006851_000039:[10]
+014856_000020:[5, 7, 8, 9, 12, 14, 15, 16, 19]
+010084_000011:[]
+021904_000026:[]
+015723_000028:[8]
+016919_000015:[3, 4, 5, 8, 13, 15, 17]
+014648_000032:[]
+008248_000021:[]
+007306_000017:[]
+015213_000039:[]
+018240_000033:[]
+001793_000017:[]
+012514_000013:[]
+017117_000035:[]
+001983_000013:[]
+019582_000038:[11]
+023057_000007:[5]
+018122_000019:[0, 1, 2, 5, 6, 8, 13, 18, 19]
+015356_000005:[]
+010937_000038:[]
+021428_000020:[]
+010560_000038:[18]
+022959_000033:[]
+009858_000027:[19]
+010407_000019:[8, 12]
+010587_000025:[19]
+004987_000025:[]
+024682_000010:[3, 16]
+000274_000017:[]
+008309_000029:[]
+018327_000038:[]
+024920_000015:[]
+001268_000007:[]
+022916_000031:[]
+022935_000020:[0, 1, 4, 5, 11, 14, 16]
+007222_000008:[]
+007696_000007:[2, 4, 6]
+020783_000035:[]
+021476_000009:[8]
+001517_000015:[]
+010489_000007:[]
+015698_000028:[16]
+020614_000030:[0, 6, 9]
+006588_000000:[]
+023472_000031:[]
+014451_000021:[7]
+022462_000017:[]
+013030_000023:[]
+010192_000014:[3, 7]
+015630_000025:[16]
+014866_000038:[0, 4, 15]
+015250_000004:[]
+002377_000030:[]
+010741_000007:[]
+018160_000005:[]
+008770_000000:[]
+010715_000017:[]
+007292_000018:[]
+002005_000030:[]
+006889_000008:[]
+010016_000004:[1, 18]
+022787_000038:[]
+023173_000023:[]
+023029_000018:[17]
+010718_000037:[8]
+001596_000007:[]
+010986_000025:[]
+000440_000015:[]
+006505_000023:[]
+024963_000022:[2]
+004888_000023:[17]
+012994_000020:[7]
+014623_000023:[]
+004473_000021:[4]
+017483_000018:[]
+007283_000024:[]
+024764_000022:[]
+001716_000014:[]
+007753_000020:[]
+024005_000028:[]
+005402_000005:[]
+002634_000005:[]
+012324_000011:[]
+021527_000024:[]
+012154_000009:[]
+001695_000019:[2, 7]
+012635_000006:[]
+000106_000033:[2]
+022706_000036:[4, 7, 13]
+012066_000019:[3, 19]
+013458_000003:[2]
+009570_000030:[]
+000827_000030:[15, 17]
+007470_000000:[]
+006755_000024:[10]
+005949_000031:[]
+012038_000000:[9, 14, 15]
+001505_000024:[]
+004041_000014:[8, 14, 17, 19]
+018002_000022:[]
+013013_000023:[4, 7, 14]
+008971_000006:[12]
+011703_000035:[0, 15, 16]
+015817_000024:[]
+021412_000033:[12]
+019049_000021:[]
+015694_000014:[]
+015166_000002:[]
+002732_000029:[2]
+005311_000027:[10]
+014167_000019:[]
+024919_000001:[11]
+012619_000017:[2]
+022274_000014:[]
+010780_000013:[]
+018537_000035:[]
+007824_000011:[]
+003363_000006:[]
+011967_000001:[]
+015154_000011:[8]
+003261_000033:[]
+013232_000002:[]
+019953_000029:[]
+010770_000017:[]
+015899_000032:[]
+010108_000007:[12, 17]
+023034_000003:[]
+003325_000016:[]
+012402_000004:[2]
+021882_000007:[5, 10]
+022713_000008:[]
+017411_000013:[1, 14, 16]
+023873_000019:[0, 1, 3, 10, 18]
+017801_000029:[]
+017307_000015:[]
+011554_000027:[]
+024926_000003:[17]
+005064_000000:[0, 3, 4, 8, 11, 16]
+005636_000004:[]
+010715_000035:[]
+015244_000034:[]
+018114_000026:[14]
+001093_000015:[2, 5]
+022909_000036:[8]
+007865_000018:[]
+008370_000022:[18]
+014111_000028:[0, 1, 4, 5, 15, 17, 18, 19]
+007202_000024:[]
+001549_000022:[16]
+005669_000009:[]
+020180_000036:[]
+014829_000039:[10]
+002415_000003:[1, 2]
+014268_000012:[17]
+000830_000021:[]
+022417_000008:[]
+008976_000002:[]
+005807_000007:[5]
+011287_000035:[5]
+012244_000017:[]
+023986_000022:[]
+022732_000014:[]
+011279_000033:[13]
+010546_000004:[]
+013102_000021:[0, 2, 4, 6, 8, 10, 16]
+011625_000031:[6, 17, 18]
+019569_000008:[]
+002498_000031:[]
+001139_000015:[3, 6, 12, 18]
+006956_000037:[]
+004352_000015:[]
+023507_000012:[]
+012854_000025:[]
+008097_000017:[5, 16, 19]
+006367_000007:[3, 15]
+006574_000019:[]
+011138_000002:[]
+019080_000010:[9]
+003007_000001:[7]
+004119_000008:[]
+010362_000021:[0, 4, 8, 12]
+016137_000017:[1, 14]
+006071_000033:[]
+017368_000003:[]
+007082_000022:[]
+001663_000027:[]
+021139_000013:[13]
+018730_000027:[5, 11, 12]
+015273_000023:[12]
+005787_000025:[7, 11]
+007134_000031:[16, 17]
+021575_000014:[6]
+004712_000020:[15]
+005006_000034:[]
+013751_000000:[11, 19]
+001425_000025:[]
+012134_000035:[1]
+011636_000014:[5, 14]
+005612_000018:[12]
+021877_000018:[11]
+015753_000009:[1]
+001673_000017:[]
+000224_000008:[]
+017838_000021:[]
+004657_000002:[]
+005399_000019:[13]
+004865_000034:[13]
+011875_000016:[11]
+018672_000026:[]
+018241_000034:[3]
+007317_000038:[9]
+010756_000037:[]
+001902_000011:[]
+007411_000013:[]
+023434_000037:[]
+001826_000038:[6, 8]
+010452_000015:[]
+022024_000036:[]
+004478_000002:[6, 19]
+009463_000023:[8]
+007199_000036:[10]
+023010_000007:[2, 5, 15]
+022837_000005:[]
+013636_000025:[11]
+012515_000014:[3]
+014007_000021:[6, 12, 14]
+013198_000015:[]
+020026_000006:[]
+002288_000021:[]
+011629_000006:[]
+012232_000032:[]
+007192_000022:[]
+004996_000028:[]
+002524_000006:[]
+007677_000033:[]
+002079_000010:[]
+023234_000021:[]
+016012_000035:[]
+022670_000004:[]
+003884_000029:[]
+014705_000025:[19]
+002103_000028:[10, 13]
+013086_000022:[16]
+008254_000011:[]
+016956_000034:[]
+001861_000032:[]
+024015_000016:[]
+020207_000000:[]
+022924_000015:[]
+019253_000026:[]
+000709_000018:[]
+002834_000005:[]
+004061_000035:[]
+004294_000007:[]
+007375_000015:[]
+006615_000028:[3]
+021710_000024:[17]
+011409_000037:[]
+012099_000039:[10]
+010081_000035:[]
+013720_000018:[]
+009117_000037:[]
+010886_000004:[6]
+016727_000016:[]
+008751_000010:[4]
+003177_000019:[]
+023719_000017:[]
+005438_000037:[]
+005820_000037:[4, 12]
+006845_000021:[]
+000055_000024:[2, 5, 11, 13, 17]
+012544_000011:[]
+008029_000024:[]
+014070_000003:[]
+004070_000011:[]
+008745_000023:[]
+011664_000008:[]
+024369_000029:[]
+004661_000021:[]
+010770_000013:[1]
+009106_000028:[]
+019802_000035:[]
+024135_000014:[]
+009300_000030:[8, 15]
+014794_000034:[]
+006889_000003:[8, 17]
+015591_000018:[9]
+018011_000006:[]
+015392_000000:[]
+022384_000023:[]
+001566_000022:[0, 5]
+019870_000004:[]
+007073_000011:[]
+012651_000022:[]
+000566_000027:[]
+013000_000024:[7, 18, 19]
+023495_000011:[]
+022675_000009:[]
+001033_000002:[]
+004875_000005:[19]
+002616_000037:[]
+000410_000034:[]
+011505_000031:[]
+013350_000034:[9]
+002491_000036:[]
+022194_000013:[]
+008861_000029:[8]
+014120_000017:[]
+009520_000033:[]
+019081_000012:[12]
+012904_000001:[1, 2]
+003684_000008:[]
+023650_000039:[0, 4, 8, 18]
+005959_000032:[]
+020090_000014:[]
+022043_000031:[]
+024402_000023:[0, 2, 5, 15, 19]
+022005_000010:[19]
+023508_000013:[]
+012201_000033:[12]
+018387_000009:[8, 17]
+013176_000009:[13]
+024307_000003:[6, 10, 18]
+022015_000017:[]
+021202_000027:[]
+018831_000025:[]
+009679_000028:[]
+011909_000025:[0]
+024335_000005:[]
+009611_000024:[]
+016957_000010:[2]
+022127_000000:[0]
+014447_000030:[3, 6]
+014397_000010:[1, 2, 13]
+017820_000019:[]
+020022_000019:[]
+004289_000011:[]
+005769_000014:[]
+021742_000014:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000870_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000870_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0efdd543ca2b57673dbf368f41023abe8aa7c982
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000870_corrupted_depths.txt
@@ -0,0 +1,500 @@
+004892_000001:[]
+012336_000031:[1, 4, 5, 11, 18, 19]
+002418_000021:[4]
+024192_000024:[]
+022310_000010:[1, 3, 6, 7, 12, 16]
+018500_000008:[]
+014455_000014:[]
+001189_000032:[]
+014573_000030:[12, 13]
+003361_000017:[]
+021966_000025:[]
+004678_000004:[]
+010054_000006:[]
+007147_000005:[2, 6]
+020052_000012:[18]
+000856_000016:[1]
+002542_000029:[]
+014362_000017:[3]
+022851_000025:[10]
+001537_000015:[]
+016726_000018:[]
+009766_000039:[]
+013016_000021:[0, 9, 19]
+016236_000035:[17]
+013966_000008:[7]
+011171_000023:[]
+002322_000038:[]
+014021_000011:[]
+006340_000030:[]
+010707_000021:[]
+005647_000005:[9, 12]
+017918_000038:[8]
+001382_000039:[2, 8, 12, 19]
+023183_000001:[5, 6, 13, 15]
+016759_000002:[]
+007538_000023:[4, 18]
+007261_000000:[8, 12]
+003104_000029:[9, 18]
+003631_000000:[]
+010221_000037:[]
+001166_000037:[15]
+015119_000021:[]
+021713_000033:[]
+012692_000006:[14]
+004528_000021:[12]
+011978_000001:[11]
+003523_000020:[0, 1, 2, 5, 7, 12, 15, 16, 17, 19]
+023697_000022:[16]
+022361_000003:[2, 5]
+007333_000030:[16]
+008354_000015:[]
+010217_000027:[0]
+014540_000007:[]
+000299_000028:[]
+013372_000019:[16]
+004234_000028:[4, 14]
+014941_000031:[]
+007279_000029:[]
+022171_000021:[7, 18]
+012590_000035:[0, 5, 12, 17]
+024067_000035:[]
+007610_000032:[18]
+008923_000036:[]
+016685_000005:[]
+001634_000015:[]
+012466_000023:[12, 15]
+016534_000012:[]
+021829_000035:[]
+000093_000026:[]
+021153_000006:[5, 10, 17]
+007927_000029:[]
+024216_000015:[2, 6]
+002087_000036:[]
+020316_000018:[]
+012983_000004:[]
+024190_000012:[]
+005868_000036:[]
+003384_000016:[]
+013265_000008:[]
+024944_000017:[2, 19]
+008664_000000:[]
+013988_000019:[5, 11]
+003482_000012:[18]
+004666_000035:[]
+011865_000022:[3, 4, 12]
+001891_000030:[0]
+019827_000037:[]
+005769_000003:[]
+010532_000006:[]
+019752_000011:[]
+000478_000000:[]
+001055_000016:[]
+009211_000027:[0]
+014054_000008:[]
+017760_000033:[1, 12, 17]
+019621_000021:[12]
+004832_000016:[0, 5]
+008391_000035:[10]
+016231_000030:[18]
+018876_000009:[0, 2, 4, 7, 12]
+019849_000022:[]
+016973_000007:[]
+011702_000023:[2, 5, 8, 12, 17]
+020906_000015:[]
+011473_000014:[]
+015350_000001:[1, 2, 10]
+011598_000026:[9]
+009649_000005:[18]
+023574_000007:[]
+017665_000037:[]
+002729_000037:[11]
+006148_000002:[]
+009000_000023:[18]
+011088_000017:[]
+005637_000026:[]
+005135_000025:[6]
+000777_000017:[1, 10]
+005671_000016:[4, 5, 10, 18]
+005506_000035:[]
+004760_000029:[]
+022422_000015:[]
+007851_000001:[7]
+005267_000012:[]
+021552_000016:[]
+008837_000017:[18]
+017504_000016:[]
+014715_000006:[7, 17]
+020431_000002:[]
+013989_000000:[0]
+003597_000012:[]
+009030_000018:[]
+003250_000014:[]
+019841_000002:[]
+006693_000025:[]
+019312_000028:[]
+004378_000005:[]
+001073_000032:[2, 3, 11]
+018598_000029:[]
+021214_000001:[]
+005567_000026:[2, 16]
+008230_000031:[1]
+005373_000023:[]
+014865_000029:[]
+023668_000033:[]
+017371_000013:[]
+022930_000005:[]
+014388_000015:[]
+017970_000033:[]
+003539_000001:[]
+011087_000020:[]
+002586_000026:[]
+022114_000018:[16]
+018232_000031:[]
+011341_000004:[]
+023295_000037:[]
+012368_000026:[]
+007696_000009:[4]
+018428_000017:[]
+015208_000037:[0, 1, 3]
+020856_000011:[]
+006796_000023:[]
+002458_000039:[3, 6, 9, 12]
+020341_000038:[]
+017885_000039:[1]
+000260_000025:[0, 6, 9, 10, 14, 16, 19]
+007280_000017:[5, 11]
+024907_000037:[]
+014238_000009:[]
+000990_000022:[]
+014472_000002:[]
+004309_000029:[]
+023288_000023:[]
+019398_000031:[]
+017480_000019:[]
+004614_000010:[]
+009258_000018:[]
+021612_000033:[12]
+018686_000002:[2, 3, 4, 6, 11, 16]
+011496_000033:[12, 15]
+024809_000015:[]
+020459_000008:[]
+021811_000026:[]
+005479_000019:[]
+003418_000012:[]
+022674_000000:[]
+024612_000003:[0, 11, 17]
+009880_000004:[15]
+003064_000027:[]
+018981_000003:[]
+014482_000013:[]
+010018_000026:[]
+005330_000016:[1]
+018868_000024:[2, 3]
+020309_000025:[]
+007679_000031:[0]
+005307_000036:[]
+024386_000012:[12]
+010131_000014:[]
+003967_000002:[]
+008987_000024:[]
+003873_000000:[]
+004594_000023:[4, 17]
+003064_000013:[5]
+018424_000002:[]
+016816_000029:[]
+010311_000039:[4, 19]
+006500_000026:[8]
+007131_000021:[10, 11, 13, 14, 19]
+001702_000022:[9]
+002109_000021:[]
+003314_000031:[]
+009916_000024:[]
+000888_000005:[1, 15]
+012614_000001:[]
+004966_000020:[]
+004276_000003:[13]
+018986_000034:[]
+023755_000004:[12]
+002911_000039:[1, 4, 13, 16]
+003128_000026:[6, 10]
+000702_000012:[13, 18]
+013731_000003:[6, 13]
+004206_000025:[]
+005659_000027:[]
+012036_000032:[]
+002747_000023:[]
+005097_000020:[16]
+023932_000010:[]
+015192_000032:[]
+013178_000002:[17]
+018687_000016:[16]
+006548_000029:[]
+024415_000034:[1]
+007344_000022:[]
+024722_000019:[]
+008115_000032:[]
+010829_000029:[7, 8, 17]
+004558_000013:[]
+024380_000012:[]
+010431_000019:[]
+019887_000038:[2]
+013352_000034:[3]
+012355_000029:[16]
+017161_000015:[]
+010113_000019:[7]
+002097_000002:[2, 9, 11, 12, 13]
+022874_000014:[]
+018589_000018:[13]
+008930_000022:[13]
+015173_000027:[]
+016474_000034:[3, 18]
+002082_000016:[9, 14]
+024468_000010:[0, 3]
+022293_000012:[13]
+009060_000014:[]
+000820_000014:[19]
+015279_000007:[]
+012441_000021:[]
+011673_000000:[]
+017469_000022:[]
+012779_000033:[]
+003086_000025:[]
+023378_000002:[]
+006073_000039:[]
+024212_000010:[]
+018359_000030:[]
+011370_000019:[]
+007058_000002:[]
+006847_000004:[]
+023333_000004:[]
+012823_000003:[]
+014279_000026:[4, 10]
+012398_000030:[]
+018576_000017:[17, 19]
+022413_000021:[]
+024742_000021:[15]
+019012_000011:[7]
+005561_000018:[14, 18]
+022267_000015:[]
+007539_000009:[1, 5, 6]
+015272_000026:[7]
+022786_000013:[]
+015020_000000:[]
+012672_000037:[7]
+021873_000007:[5]
+006335_000014:[]
+013555_000028:[]
+005914_000030:[]
+020449_000022:[]
+000617_000023:[]
+020387_000023:[]
+004305_000035:[15, 19]
+000127_000028:[]
+019086_000009:[]
+003945_000014:[1, 7, 17]
+012542_000020:[]
+016900_000008:[]
+010298_000006:[]
+002539_000017:[1]
+003764_000017:[11, 18]
+004621_000019:[]
+018571_000017:[6]
+018753_000014:[2, 13]
+000341_000036:[15]
+011072_000037:[]
+017675_000005:[]
+004759_000029:[]
+003806_000017:[]
+002417_000010:[]
+012088_000028:[14]
+019957_000017:[]
+005856_000006:[]
+001452_000018:[]
+004752_000039:[]
+000642_000035:[1, 10]
+014208_000031:[]
+005840_000009:[]
+007523_000031:[]
+003627_000005:[]
+008801_000009:[]
+009810_000025:[]
+008195_000039:[]
+005495_000036:[]
+024279_000031:[1, 4, 6, 7, 10, 13, 18]
+009051_000010:[]
+019931_000016:[3, 6, 10]
+007876_000035:[]
+009812_000001:[]
+023861_000030:[]
+018983_000020:[5]
+011687_000011:[6]
+018371_000010:[]
+010656_000039:[]
+008713_000031:[1, 18]
+003664_000000:[0]
+004603_000037:[3]
+005800_000032:[3, 4, 8, 11]
+013389_000017:[3]
+008399_000026:[9]
+004796_000022:[]
+011049_000012:[]
+001633_000002:[11]
+000155_000039:[3, 12, 16]
+016335_000020:[17]
+002696_000028:[]
+012452_000039:[]
+001868_000007:[]
+020971_000028:[]
+019266_000006:[7, 8]
+002580_000030:[]
+022636_000017:[]
+000171_000036:[2, 8, 10, 13]
+018698_000027:[0, 7, 18]
+000360_000006:[]
+016318_000030:[0]
+024492_000018:[]
+022667_000031:[0, 1]
+017521_000032:[]
+000522_000011:[0, 1, 4, 8, 12]
+012288_000036:[]
+019843_000022:[]
+001054_000008:[]
+017335_000004:[]
+009637_000037:[]
+004289_000004:[1]
+017039_000005:[]
+006034_000002:[]
+022066_000003:[]
+017214_000037:[13]
+021360_000024:[]
+009420_000003:[]
+023176_000011:[]
+022211_000030:[7, 13]
+008903_000032:[]
+020200_000036:[]
+011873_000002:[11]
+015786_000000:[]
+021781_000023:[]
+002177_000028:[14]
+010467_000013:[]
+022802_000002:[]
+015401_000034:[3, 7, 11, 12, 16, 19]
+003188_000023:[]
+016118_000003:[5]
+024604_000039:[]
+000342_000017:[]
+020069_000030:[]
+022649_000004:[]
+007249_000034:[6, 18]
+011700_000023:[]
+005144_000029:[]
+002333_000034:[]
+015153_000008:[3]
+015226_000004:[]
+024542_000017:[]
+003102_000004:[12]
+014663_000038:[]
+002979_000001:[2, 10, 13, 16, 17]
+008175_000021:[6]
+004362_000004:[]
+022170_000023:[]
+006077_000019:[]
+014817_000021:[4]
+022489_000027:[4, 5]
+023930_000015:[]
+020801_000025:[]
+007274_000031:[]
+022665_000001:[8, 15]
+018956_000039:[]
+003304_000031:[]
+023127_000016:[]
+002796_000017:[]
+001861_000012:[12, 17]
+012721_000031:[0, 13]
+007010_000038:[]
+005406_000010:[]
+019345_000037:[]
+020815_000026:[9]
+009583_000015:[]
+017232_000018:[]
+016041_000013:[]
+000346_000011:[2, 6, 11]
+022925_000026:[]
+008301_000029:[]
+003726_000030:[]
+006339_000028:[]
+009467_000006:[]
+017062_000001:[5, 11]
+020412_000027:[]
+007966_000006:[]
+022457_000017:[]
+024717_000035:[]
+004191_000003:[9]
+008631_000030:[]
+017507_000003:[]
+015751_000036:[]
+012595_000028:[]
+003761_000023:[11, 18]
+023948_000036:[7, 9, 11, 13]
+004127_000025:[]
+019224_000021:[]
+003744_000005:[]
+006171_000033:[12]
+000374_000011:[9]
+019845_000000:[]
+007393_000021:[6]
+015879_000004:[]
+002229_000037:[]
+022794_000012:[]
+006277_000027:[1, 3, 6, 14, 17]
+021050_000001:[]
+019372_000031:[9]
+010469_000027:[4, 5]
+016418_000039:[]
+001888_000015:[]
+012830_000003:[]
+010667_000017:[0]
+004827_000018:[]
+006659_000007:[]
+008068_000027:[]
+016310_000038:[5]
+013967_000016:[]
+002833_000006:[0, 4]
+018981_000039:[]
+007231_000017:[]
+024964_000035:[4, 6, 14, 16, 17]
+009380_000027:[7]
+000320_000030:[]
+004958_000026:[]
+005232_000002:[2, 3, 8, 14]
+022908_000002:[]
+008110_000012:[7]
+019415_000018:[]
+003681_000038:[]
+000589_000032:[2, 18]
+007002_000037:[]
+003532_000025:[]
+007539_000000:[]
+015570_000009:[]
+012710_000006:[6, 7, 8, 11, 15, 17, 18]
+019999_000011:[1, 10]
+004260_000025:[]
+008047_000024:[1, 3, 4, 15, 18]
+008631_000007:[0, 1, 3, 4, 5, 7, 10, 17]
+014926_000027:[3, 9, 10]
+013044_000004:[0, 3, 4, 17]
+000223_000033:[18, 19]
+023393_000002:[0, 6]
+015855_000014:[]
+016646_000017:[]
+005670_000010:[]
+009457_000008:[]
+006859_000028:[]
+003672_000023:[]
+024714_000015:[0, 4, 8, 9, 12]
+006683_000027:[]
+017564_000037:[2, 13]
+024218_000022:[]
+001311_000013:[]
+006881_000022:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000883_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000883_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..013382284d9ca8d53a8558630ed498f975c927f7
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000883_corrupted_depths.txt
@@ -0,0 +1,500 @@
+007807_000002:[15, 17]
+017658_000018:[1]
+006867_000002:[10, 19]
+022162_000031:[]
+012281_000009:[]
+023534_000014:[]
+015389_000020:[4]
+010919_000013:[]
+004302_000025:[]
+010466_000025:[]
+012208_000027:[]
+008956_000013:[]
+019765_000013:[7, 13]
+007432_000025:[]
+004509_000016:[0, 8]
+016512_000001:[8]
+015497_000038:[9, 19]
+009888_000010:[13]
+004821_000009:[]
+001031_000002:[10]
+024841_000017:[14, 16, 18]
+007736_000039:[5, 8]
+004267_000015:[]
+019751_000004:[]
+008223_000029:[8, 17]
+001212_000022:[15]
+013075_000006:[13]
+018413_000028:[9, 17]
+002287_000025:[1, 17]
+006693_000023:[]
+016877_000015:[]
+024568_000039:[]
+014561_000033:[7]
+008302_000008:[]
+014843_000030:[]
+011239_000021:[0, 1, 2, 9, 11, 15, 16]
+024872_000000:[]
+024333_000007:[]
+014941_000007:[]
+004046_000010:[]
+009117_000003:[1, 8]
+000625_000039:[1, 5, 10]
+022387_000020:[]
+022385_000018:[4]
+008357_000006:[0]
+001248_000006:[5]
+014431_000007:[1, 7]
+005109_000018:[]
+012188_000037:[]
+013720_000027:[]
+015753_000036:[]
+005905_000013:[2, 9]
+013308_000027:[]
+001598_000019:[8]
+011138_000017:[12, 14, 17]
+020068_000021:[1]
+004246_000005:[]
+017440_000019:[]
+016037_000025:[5]
+013712_000027:[]
+011499_000028:[]
+006791_000020:[]
+023652_000013:[]
+007533_000014:[]
+020916_000009:[]
+014570_000008:[0, 1, 6, 14]
+023508_000000:[9]
+009208_000026:[]
+015547_000010:[]
+004826_000009:[]
+020581_000033:[18]
+019089_000012:[]
+002447_000002:[6, 10, 15, 17]
+000301_000025:[]
+022513_000013:[4, 14]
+005312_000002:[1, 4, 11, 15, 16]
+010556_000019:[4]
+012335_000000:[]
+009443_000032:[]
+021642_000019:[]
+011988_000007:[]
+000123_000027:[]
+002055_000036:[7]
+020538_000026:[]
+005941_000032:[]
+022798_000027:[]
+013538_000017:[14]
+002702_000032:[0, 8, 15, 19]
+014407_000021:[17]
+001704_000003:[3]
+001139_000021:[]
+021784_000005:[19]
+024195_000000:[8]
+004629_000034:[]
+012805_000034:[]
+011387_000006:[6, 11, 15]
+014159_000023:[]
+014575_000036:[18]
+003716_000038:[]
+014317_000039:[0, 14]
+002484_000015:[]
+002378_000027:[]
+010330_000002:[0, 8, 10, 19]
+006315_000031:[]
+003924_000039:[10, 12, 14, 15, 17]
+015703_000024:[]
+012991_000010:[]
+011292_000003:[]
+016071_000012:[]
+004743_000027:[]
+009692_000025:[12]
+004768_000011:[]
+002400_000008:[2, 10, 12, 18]
+010482_000036:[]
+014334_000022:[]
+001110_000022:[]
+010523_000013:[]
+001282_000008:[]
+012135_000016:[]
+016737_000006:[]
+018292_000004:[9, 16]
+023007_000011:[]
+003918_000027:[10, 17]
+008652_000010:[]
+004331_000021:[16]
+000307_000017:[]
+015189_000033:[0]
+015469_000006:[0, 2, 5, 8, 9, 10, 18]
+024284_000015:[0]
+008794_000002:[19]
+019601_000021:[]
+013988_000020:[2]
+013149_000004:[]
+004043_000015:[]
+019471_000036:[]
+020273_000033:[]
+000094_000004:[3]
+007581_000039:[]
+020289_000000:[7, 13]
+003381_000020:[]
+017282_000023:[]
+015863_000004:[]
+004972_000015:[]
+008387_000034:[3, 12, 13, 15, 16, 18]
+024259_000021:[10]
+023074_000027:[]
+016004_000017:[]
+013695_000031:[]
+013614_000037:[]
+021349_000013:[]
+010799_000028:[1, 7]
+021852_000009:[]
+001088_000026:[]
+001200_000034:[]
+023337_000022:[]
+021303_000012:[13]
+024343_000004:[]
+015530_000027:[4, 6, 8, 11, 16]
+005228_000029:[8]
+000322_000011:[]
+019265_000028:[]
+012303_000000:[0]
+008878_000023:[]
+013442_000016:[]
+014755_000035:[]
+021613_000010:[13, 17]
+012670_000037:[]
+023926_000034:[4]
+002213_000007:[15]
+012422_000038:[]
+000778_000020:[]
+005132_000024:[]
+010655_000006:[]
+015757_000019:[]
+011891_000004:[]
+018542_000024:[]
+023078_000007:[7]
+005886_000020:[13]
+024322_000021:[]
+005835_000020:[8, 13]
+007352_000034:[]
+009087_000005:[8]
+009419_000012:[]
+020140_000012:[]
+003342_000003:[]
+004247_000023:[]
+017558_000031:[3, 5]
+024043_000002:[]
+004032_000009:[]
+008809_000038:[1, 4, 7, 18, 19]
+021777_000037:[]
+012954_000021:[]
+018168_000023:[]
+010584_000038:[]
+006069_000010:[]
+023395_000008:[0, 2, 3, 4, 9, 10, 13, 14, 18]
+007449_000028:[]
+001927_000025:[]
+006555_000039:[]
+005796_000038:[4, 17]
+020436_000017:[1, 2, 6]
+008974_000025:[]
+020184_000033:[]
+004263_000027:[]
+007908_000017:[]
+014800_000037:[12]
+016883_000015:[9, 16]
+008672_000017:[15]
+006100_000027:[16]
+007965_000009:[2, 4, 5, 6, 9, 15, 19]
+012365_000008:[12]
+021474_000014:[]
+005283_000021:[6]
+017211_000036:[]
+020081_000036:[]
+019965_000007:[3]
+020767_000021:[]
+002594_000017:[4]
+018390_000032:[3, 12]
+012281_000027:[0, 8]
+003237_000011:[]
+007159_000011:[]
+004395_000001:[]
+024066_000016:[]
+018342_000020:[]
+002590_000003:[]
+022319_000029:[]
+002901_000004:[8]
+010408_000003:[3, 13]
+017677_000029:[6]
+000057_000028:[4, 5, 7, 17, 18]
+000728_000022:[]
+010358_000008:[]
+004274_000005:[6]
+002832_000031:[2]
+019621_000010:[]
+023787_000020:[]
+022417_000023:[]
+023279_000001:[]
+006295_000012:[9]
+021230_000011:[]
+008907_000022:[0, 1, 3, 15]
+015997_000015:[6, 11, 16, 17]
+024696_000015:[3]
+008858_000018:[]
+023623_000036:[]
+024652_000030:[]
+003437_000036:[8]
+006756_000014:[]
+007026_000004:[]
+022229_000002:[]
+024522_000007:[]
+004097_000011:[]
+017277_000038:[]
+012131_000033:[]
+006016_000021:[]
+018053_000017:[]
+018725_000037:[]
+022226_000007:[]
+011804_000030:[]
+011262_000023:[19]
+016323_000001:[]
+015165_000022:[3, 4, 16, 18]
+015800_000023:[]
+024921_000024:[]
+005786_000031:[]
+005652_000039:[]
+011361_000028:[]
+020341_000024:[]
+005591_000025:[]
+006482_000009:[19]
+013286_000025:[]
+022171_000027:[1]
+024825_000031:[18, 19]
+024389_000022:[0]
+010514_000003:[]
+015938_000036:[]
+002615_000000:[]
+000446_000012:[]
+017572_000038:[4, 10]
+008047_000011:[15]
+016875_000022:[4, 5, 6]
+021260_000032:[]
+022889_000009:[15, 18]
+017546_000008:[12]
+020267_000014:[1, 3, 5, 6, 9, 10, 11, 17, 18, 19]
+009229_000036:[]
+014301_000013:[5, 13, 16]
+018417_000010:[]
+002832_000036:[]
+011122_000032:[]
+017862_000009:[17, 19]
+001505_000039:[]
+004950_000021:[14]
+019364_000037:[13, 17]
+009285_000008:[8]
+011176_000032:[8]
+008526_000005:[]
+001941_000033:[]
+017488_000006:[]
+015139_000029:[2, 4, 18]
+016164_000021:[]
+016459_000033:[12, 17]
+019827_000013:[]
+017263_000020:[]
+012285_000038:[]
+006801_000018:[]
+016355_000011:[]
+015354_000010:[]
+014020_000039:[1, 3, 4, 9, 14, 18]
+023554_000010:[2]
+024256_000028:[]
+023191_000029:[6, 11]
+004856_000027:[9, 14]
+013907_000023:[]
+013825_000022:[]
+020036_000021:[18]
+014883_000030:[]
+020346_000031:[12]
+008400_000036:[]
+015589_000022:[]
+010141_000039:[]
+010885_000011:[]
+021168_000038:[11]
+017895_000024:[]
+008804_000020:[9]
+023557_000016:[]
+003201_000003:[12, 17]
+006948_000036:[5, 12, 13]
+020150_000002:[1, 3, 11]
+010382_000035:[]
+014739_000038:[13]
+006344_000017:[]
+000124_000019:[]
+018885_000005:[9, 11]
+022973_000005:[]
+004914_000006:[]
+011046_000029:[4, 13, 18]
+007366_000003:[]
+013127_000019:[]
+014508_000037:[]
+003450_000000:[]
+019547_000036:[10]
+016670_000021:[]
+012673_000022:[8, 9, 15]
+000525_000021:[9]
+010316_000017:[]
+015279_000038:[13]
+000068_000016:[]
+011098_000030:[]
+006283_000018:[3, 11]
+003928_000033:[1, 2, 3, 5, 7, 10, 15]
+016708_000036:[8]
+018279_000031:[]
+017131_000035:[]
+016841_000022:[6]
+006877_000006:[]
+014329_000033:[]
+020500_000026:[]
+015819_000036:[]
+015952_000022:[]
+011528_000011:[2]
+003277_000033:[16]
+021486_000000:[8]
+020315_000022:[6, 18]
+009278_000023:[0, 7, 15, 19]
+002687_000037:[0, 1, 12, 13, 15, 16, 19]
+016494_000031:[]
+012193_000015:[]
+012274_000005:[4, 18]
+001359_000012:[]
+013665_000036:[]
+000271_000035:[]
+024915_000037:[]
+007652_000026:[]
+007558_000037:[]
+022797_000004:[7, 15]
+000205_000036:[]
+015899_000037:[]
+005633_000029:[10, 11, 14, 17]
+018052_000017:[]
+018472_000015:[0, 2, 3, 7, 13, 19]
+018995_000033:[]
+024664_000001:[]
+024055_000032:[5]
+007907_000034:[]
+003941_000001:[]
+018035_000006:[4, 10, 12, 13]
+020880_000006:[11]
+020261_000017:[0, 2, 4, 9, 11, 12, 18, 19]
+012334_000031:[1]
+003056_000013:[]
+007568_000007:[]
+018124_000039:[]
+003984_000020:[]
+023479_000005:[]
+005499_000022:[]
+006805_000019:[]
+005361_000005:[]
+000706_000017:[1, 4, 7, 10, 11, 12, 13]
+022011_000032:[]
+005383_000030:[]
+007519_000033:[]
+015354_000017:[]
+001600_000016:[]
+022343_000020:[]
+023917_000016:[3, 4, 6, 10, 13, 15, 17, 18]
+007606_000001:[]
+004361_000001:[]
+012958_000037:[]
+003308_000004:[]
+014298_000000:[]
+013465_000037:[]
+019491_000020:[]
+006189_000037:[12]
+004300_000014:[]
+023681_000001:[15]
+022995_000021:[2, 3, 5, 15]
+013344_000033:[8, 9]
+017388_000034:[17]
+021156_000015:[]
+023531_000037:[4, 17]
+013948_000020:[]
+017176_000037:[]
+023076_000003:[]
+007019_000005:[4, 8, 13, 14, 15, 16, 17, 18]
+022452_000038:[]
+021837_000033:[5]
+001610_000020:[]
+021543_000000:[6]
+007369_000023:[3, 6, 7]
+003768_000024:[0, 3, 13, 14]
+002520_000031:[7]
+001365_000023:[1, 6, 11, 15, 17]
+018732_000033:[1, 13, 14]
+009097_000001:[9]
+013186_000035:[13]
+021555_000039:[]
+019444_000039:[]
+016334_000010:[4, 10, 13]
+014409_000022:[]
+023821_000008:[2, 7, 11, 16]
+020621_000000:[]
+007300_000004:[]
+004244_000028:[9]
+008319_000024:[6, 8]
+023783_000020:[]
+009880_000010:[]
+022043_000018:[]
+008954_000022:[]
+007382_000017:[]
+019116_000039:[]
+006974_000023:[]
+008758_000011:[]
+004602_000016:[6, 15]
+014430_000003:[9]
+022427_000026:[]
+011249_000023:[]
+005406_000008:[]
+010595_000025:[]
+002826_000034:[]
+018246_000012:[]
+013560_000028:[18]
+014312_000025:[0, 11]
+011740_000032:[1, 2, 4, 5]
+000066_000001:[3, 5, 8, 10, 11, 13, 14, 15, 16, 18]
+016634_000014:[]
+008873_000022:[0, 1, 5, 9, 13, 19]
+016903_000035:[]
+012276_000017:[]
+023954_000007:[]
+009681_000039:[4]
+022725_000022:[0, 7, 9, 13, 14, 18]
+017976_000009:[]
+010830_000029:[11]
+006028_000039:[4, 12, 14]
+023847_000031:[]
+016216_000017:[6]
+000416_000006:[0]
+024387_000000:[]
+022313_000032:[7]
+021863_000027:[4, 18]
+023453_000007:[]
+006386_000030:[]
+010663_000000:[]
+000038_000018:[7, 18]
+010119_000037:[10]
+016037_000033:[5, 15]
+002012_000022:[]
+010768_000038:[6]
+003661_000006:[3]
+005611_000004:[]
+022135_000012:[]
+010286_000023:[]
+001747_000008:[2, 6]
+021900_000006:[0, 5, 18]
+015096_000037:[]
+017637_000030:[5, 7, 8, 11]
+012199_000016:[]
+001652_000025:[17]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000892_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000892_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5ea141ddc07bea3ec3bade57f78eaa1bf6cbbb60
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000892_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+000597_000019:[1]
+003497_000029:[]
+016740_000037:[]
+012170_000017:[7, 16]
+007931_000021:[]
+024752_000036:[12, 13, 14]
+023204_000010:[]
+022548_000019:[]
+019435_000014:[]
+005654_000006:[]
+001225_000003:[0, 16]
+001181_000032:[1, 4, 11]
+002210_000038:[]
+001514_000025:[]
+015291_000006:[]
+000303_000015:[]
+012354_000030:[]
+016599_000010:[]
+011679_000016:[]
+016226_000007:[]
+021472_000020:[]
+001733_000016:[]
+002908_000019:[]
+020429_000000:[]
+014634_000024:[]
+019266_000015:[15]
+014499_000038:[]
+011384_000025:[]
+007860_000032:[]
+000172_000009:[]
+018379_000026:[]
+024358_000013:[]
+022455_000028:[]
+009548_000021:[]
+010668_000013:[5]
+011121_000028:[]
+020134_000019:[]
+017151_000010:[]
+005614_000023:[]
+006805_000031:[]
+022302_000026:[]
+005970_000001:[]
+007845_000022:[]
+001448_000000:[2, 19]
+015740_000013:[2, 12, 13]
+015983_000013:[0, 16]
+011244_000016:[]
+017373_000034:[0, 12]
+023001_000000:[]
+020522_000012:[]
+002111_000035:[]
+007387_000037:[16]
+011643_000007:[]
+011852_000015:[]
+022501_000029:[]
+020526_000031:[3]
+002501_000002:[]
+011042_000015:[]
+000648_000037:[5, 8, 10]
+020208_000033:[]
+017815_000000:[6]
+015481_000012:[1, 3, 15]
+021159_000034:[]
+007616_000025:[]
+013956_000012:[]
+019481_000026:[5, 12]
+002381_000036:[12]
+010472_000015:[7, 13]
+023035_000023:[3]
+007777_000013:[14]
+019166_000011:[]
+016693_000011:[16]
+021196_000020:[1]
+000524_000023:[]
+014055_000011:[2]
+016567_000007:[]
+021679_000039:[]
+011554_000012:[11]
+012860_000007:[3]
+015610_000007:[]
+013306_000026:[]
+007604_000026:[]
+016813_000014:[4, 10]
+002298_000016:[]
+008192_000013:[]
+022281_000003:[7, 8, 10, 13]
+004396_000003:[]
+010354_000010:[]
+012148_000012:[]
+004841_000017:[]
+008182_000007:[]
+023877_000019:[]
+006111_000002:[]
+017844_000029:[]
+014664_000037:[]
+024269_000004:[]
+010805_000009:[]
+003594_000037:[]
+018655_000036:[]
+023874_000033:[]
+020210_000026:[2]
+011663_000018:[17]
+019095_000015:[12, 19]
+013776_000015:[]
+017437_000005:[18]
+004831_000009:[]
+020351_000031:[4, 5, 6, 8, 9, 13, 18]
+005165_000024:[]
+004759_000034:[]
+016874_000014:[]
+016892_000000:[]
+016508_000029:[10, 17, 18, 19]
+003111_000013:[15]
+012938_000016:[]
+000705_000016:[]
+006997_000007:[]
+013831_000022:[]
+021217_000035:[13]
+022491_000017:[5, 13]
+011671_000034:[]
+001274_000002:[]
+010349_000030:[]
+017698_000019:[]
+014723_000024:[]
+015203_000002:[]
+012204_000000:[1, 3]
+017520_000038:[]
+008410_000007:[5, 7, 12]
+010321_000036:[8]
+010336_000006:[]
+009569_000002:[0, 1, 5, 11, 19]
+020140_000008:[1, 2, 3, 5, 7, 9, 10, 12, 14, 16, 17, 18]
+016903_000014:[]
+008243_000027:[1, 4, 5, 6, 9]
+022791_000031:[]
+011284_000004:[]
+020361_000021:[]
+004520_000019:[]
+004850_000019:[3]
+020369_000027:[]
+014733_000012:[]
+000093_000019:[]
+024606_000025:[0, 14]
+020400_000023:[]
+017125_000003:[]
+020714_000015:[17]
+005391_000028:[]
+007867_000010:[]
+015610_000010:[0, 1, 9, 12]
+012190_000012:[]
+005485_000023:[]
+011868_000001:[]
+021991_000033:[4]
+008283_000016:[2, 7, 10]
+014520_000012:[]
+000016_000017:[]
+018792_000023:[10]
+016455_000030:[]
+019789_000009:[17]
+006635_000013:[]
+015686_000037:[18]
+019757_000007:[]
+024097_000011:[]
+004119_000004:[]
+016967_000015:[]
+020147_000008:[1, 3, 5, 10, 12, 15]
+013438_000019:[0, 1, 3, 8, 9, 11, 14, 19]
+013919_000004:[]
+008983_000011:[]
+020429_000012:[0]
+006272_000022:[]
+009953_000013:[1]
+021926_000035:[]
+013498_000021:[12, 19]
+020914_000032:[12]
+019250_000026:[]
+001218_000016:[]
+024055_000015:[]
+012745_000025:[]
+003333_000030:[3]
+016317_000001:[]
+011140_000003:[9, 14, 16]
+024952_000021:[]
+005711_000033:[]
+021246_000007:[16]
+019015_000033:[]
+022644_000011:[]
+022333_000022:[]
+014757_000037:[]
+000121_000022:[6, 17, 19]
+024147_000014:[]
+005952_000027:[]
+013451_000013:[]
+007641_000034:[18]
+014616_000015:[]
+005678_000020:[11]
+011161_000013:[]
+013142_000031:[15]
+015864_000013:[0, 5, 7, 12, 15]
+020154_000030:[]
+017333_000017:[]
+004180_000021:[0, 4, 9, 18]
+013312_000027:[]
+024551_000039:[5, 6, 12, 14, 16, 19]
+013439_000025:[7, 12]
+006274_000017:[15]
+007109_000002:[7, 16]
+022997_000030:[]
+006541_000014:[]
+006969_000030:[]
+020258_000005:[]
+005114_000037:[]
+023531_000015:[]
+024964_000020:[14]
+018601_000011:[0]
+014919_000005:[]
+005313_000003:[13]
+018581_000007:[2]
+001219_000037:[]
+021154_000033:[]
+010486_000016:[1]
+007712_000034:[]
+010061_000007:[7, 8, 11, 15, 17]
+002428_000003:[]
+016919_000036:[4, 13, 17]
+004531_000024:[]
+002408_000010:[]
+021408_000014:[6]
+016692_000016:[6, 18, 19]
+015847_000020:[]
+022538_000007:[14]
+023070_000014:[]
+008399_000007:[]
+011456_000032:[2, 9, 12]
+004607_000030:[11]
+020856_000001:[15]
+021050_000029:[9]
+001055_000027:[]
+004900_000026:[6]
+007602_000033:[]
+017598_000021:[3]
+016413_000026:[]
+024112_000021:[]
+013791_000010:[]
+011754_000021:[]
+013033_000036:[]
+012351_000011:[]
+015735_000010:[]
+010519_000004:[]
+003387_000034:[7]
+005312_000021:[]
+010405_000010:[]
+021458_000020:[11]
+001204_000033:[]
+018152_000016:[]
+016735_000015:[19]
+019597_000039:[]
+005193_000002:[]
+020533_000036:[]
+003438_000025:[]
+004917_000002:[2]
+017155_000028:[]
+005365_000030:[18]
+004682_000005:[]
+022814_000017:[16]
+008618_000023:[]
+006020_000003:[]
+005177_000003:[5]
+023655_000039:[]
+023431_000024:[8, 13, 15]
+011748_000020:[]
+015975_000009:[5, 12, 18]
+004195_000028:[]
+017788_000009:[11]
+022229_000005:[]
+022620_000014:[]
+013984_000014:[1]
+020699_000025:[6, 17]
+022547_000024:[]
+001791_000004:[]
+014957_000027:[1, 11, 17]
+002421_000039:[2]
+004008_000007:[16]
+009169_000038:[]
+010471_000031:[7]
+007932_000032:[]
+004800_000012:[]
+010071_000003:[]
+013911_000032:[10]
+019121_000024:[]
+000447_000009:[]
+021754_000007:[1]
+017129_000032:[]
+004709_000023:[4]
+007981_000038:[]
+018841_000017:[9]
+014177_000032:[4]
+003910_000036:[7]
+007623_000036:[]
+007561_000005:[4, 6, 7, 16, 18]
+009619_000028:[1, 5, 7, 10]
+019604_000036:[]
+021024_000009:[]
+001610_000029:[0, 7, 12, 13]
+004566_000003:[]
+016632_000024:[]
+010162_000037:[]
+000716_000022:[]
+020200_000013:[]
+009785_000021:[]
+005083_000007:[2, 5, 6, 19]
+013986_000018:[]
+022096_000017:[8]
+005622_000021:[]
+013444_000022:[]
+016339_000019:[]
+011679_000033:[9, 16, 17]
+003704_000001:[3]
+010863_000000:[]
+018913_000000:[]
+020945_000024:[2]
+006587_000015:[0, 1, 3, 5, 15, 17, 18]
+024676_000039:[]
+012023_000029:[]
+016294_000039:[]
+022389_000021:[15]
+024106_000017:[]
+007388_000000:[8]
+016095_000004:[15, 17]
+022134_000015:[2, 10, 11]
+015542_000024:[]
+006486_000025:[15]
+024590_000010:[]
+003743_000005:[]
+017201_000008:[]
+005439_000028:[]
+009877_000005:[]
+005591_000011:[]
+013254_000016:[]
+007414_000026:[5]
+001589_000038:[10]
+008668_000037:[]
+018932_000005:[]
+023699_000025:[]
+004920_000025:[]
+003686_000008:[]
+021531_000024:[]
+011992_000020:[]
+005959_000006:[]
+008629_000027:[7, 13]
+000473_000014:[8, 15]
+008961_000039:[]
+021172_000003:[]
+004631_000021:[]
+003698_000031:[12]
+023332_000001:[16]
+016914_000026:[]
+022916_000013:[]
+003683_000037:[1, 13]
+012433_000002:[]
+022807_000014:[15]
+023418_000030:[]
+013847_000018:[]
+013066_000034:[7, 14]
+003588_000011:[]
+007410_000038:[]
+023703_000035:[]
+022332_000017:[]
+000289_000024:[]
+020462_000031:[10]
+012907_000022:[]
+023764_000008:[13]
+005412_000010:[10]
+000627_000009:[]
+022486_000039:[4, 8, 10, 15, 17]
+008298_000000:[]
+010540_000026:[]
+012259_000039:[]
+011711_000021:[10, 12, 17]
+016768_000032:[]
+019839_000034:[3, 9, 17]
+023779_000032:[]
+019401_000014:[]
+011733_000018:[5]
+008493_000011:[17]
+023748_000039:[]
+018092_000037:[5]
+019523_000015:[]
+009908_000002:[]
+022807_000010:[15]
+015289_000023:[13, 15]
+010806_000037:[5]
+008969_000011:[11, 14]
+003818_000023:[9]
+007856_000025:[13]
+017614_000039:[]
+024580_000007:[]
+010339_000023:[8]
+017875_000008:[]
+017549_000033:[]
+013829_000027:[]
+013182_000000:[]
+013836_000027:[]
+005590_000034:[2, 10, 14]
+003499_000017:[3, 7, 9, 10]
+009547_000036:[5]
+012179_000003:[0]
+011565_000033:[]
+006658_000032:[]
+002085_000020:[]
+023851_000038:[]
+003877_000002:[]
+008318_000038:[6]
+003095_000004:[]
+002390_000008:[]
+005629_000023:[8, 16]
+009258_000028:[]
+021761_000009:[2, 7]
+022059_000010:[]
+001803_000031:[]
+019978_000034:[]
+003830_000014:[0]
+021364_000003:[2]
+013180_000009:[]
+011257_000002:[5]
+005053_000012:[0, 1, 4, 11, 12]
+020155_000025:[]
+015386_000037:[]
+008869_000011:[13]
+022068_000002:[]
+002056_000022:[]
+009155_000032:[]
+007840_000004:[1, 6]
+018027_000033:[]
+022892_000027:[]
+024403_000010:[0, 2, 4, 12]
+008425_000007:[]
+008545_000029:[]
+011497_000015:[]
+010550_000027:[]
+000427_000039:[18]
+022250_000028:[4, 15]
+023711_000007:[8]
+011751_000010:[0, 2, 3, 8, 10, 11, 14]
+002484_000039:[]
+024289_000014:[]
+013717_000020:[]
+000973_000022:[]
+013465_000013:[]
+013345_000039:[]
+000283_000034:[]
+015087_000004:[0, 2, 4, 6, 7, 12, 14, 16, 19]
+006178_000030:[6]
+003826_000000:[]
+020195_000004:[2, 9, 10, 12, 13, 14, 18]
+024277_000007:[10]
+009865_000005:[]
+010402_000034:[2, 9]
+010502_000028:[10]
+019689_000007:[1, 4]
+011799_000014:[]
+017052_000036:[1, 5, 19]
+002222_000006:[12]
+004691_000007:[]
+020356_000000:[]
+024359_000039:[]
+018125_000033:[15, 17]
+018212_000012:[0, 1, 4, 5, 6, 10, 13, 14, 17, 18, 19]
+017998_000025:[]
+021050_000006:[2]
+000485_000020:[]
+018786_000033:[]
+000939_000034:[]
+003301_000039:[15]
+000459_000015:[]
+004391_000012:[]
+002131_000021:[]
+017281_000009:[2]
+008753_000013:[]
+018692_000021:[]
+016103_000036:[]
+004569_000031:[]
+008450_000023:[]
+002407_000023:[]
+019794_000024:[]
+018939_000022:[]
+001144_000022:[6]
+013646_000023:[5, 8, 9]
+010341_000013:[1]
+002304_000021:[]
+011894_000021:[]
+008307_000013:[9]
+004995_000016:[14]
+023153_000010:[]
+019676_000016:[]
+017966_000021:[]
+023344_000011:[]
+016372_000017:[5, 8]
+002915_000008:[]
+004506_000030:[12]
+006548_000015:[]
+010871_000015:[]
+010887_000031:[2, 3]
+010769_000031:[]
+004365_000011:[]
+006245_000037:[17, 19]
+013541_000037:[]
+007722_000006:[10, 11, 12]
+002505_000018:[0, 7]
+024761_000036:[]
+016687_000008:[]
+003684_000015:[]
+022079_000014:[8]
+020302_000020:[6]
+016968_000032:[]
+013690_000027:[]
+014466_000014:[7]
+005779_000015:[2, 8]
+018888_000008:[9, 14]
+011560_000034:[18]
+018013_000037:[]
+012616_000003:[]
+003973_000013:[]
+003551_000036:[]
+012433_000037:[]
+018421_000013:[]
+004392_000010:[]
+012330_000030:[]
+024283_000024:[9]
+003947_000025:[]
+015976_000001:[]
+015409_000000:[0, 10]
+017396_000003:[]
+014125_000001:[5]
+014064_000002:[]
+002738_000035:[16]
+008193_000023:[3]
+017258_000014:[]
+012570_000008:[]
+002576_000039:[2]
+020922_000003:[]
+009273_000033:[16]
+020304_000008:[2, 10, 11, 17]
+009077_000039:[3, 6]
+000228_000019:[]
+012986_000032:[0]
+019461_000012:[7]
+023058_000023:[10]
+024407_000032:[]
+005562_000010:[]
+008030_000030:[]
+009371_000018:[12, 14, 16, 17]
+015433_000014:[]
+010763_000005:[]
+016822_000015:[]
+011662_000033:[]
+018237_000026:[]
+008050_000026:[]
+017600_000039:[10]
+014020_000032:[9, 14, 16, 18]
+016501_000016:[]
+021621_000011:[]
+012001_000009:[]
+024248_000000:[16]
+011164_000009:[]
+006776_000003:[]
+005244_000017:[]
+008867_000001:[1]
+011966_000031:[]
+005417_000036:[0, 3, 8, 10, 11, 14, 18]
+000286_000000:[0, 5, 8, 11, 12, 14, 16]
+021433_000011:[]
+012478_000038:[2]
+021328_000025:[]
+013634_000012:[7]
+015470_000027:[]
+007300_000026:[]
+019034_000030:[0, 2]
+003450_000013:[]
+006291_000006:[]
+011857_000000:[3, 8]
+018092_000036:[0, 5]
+021458_000030:[]
+011032_000022:[10]
+017353_000039:[3, 12]
+016953_000011:[2, 6, 14, 17]
+017554_000008:[]
+000059_000016:[]
+020242_000014:[3]
+014499_000035:[5]
+012822_000008:[]
+021030_000029:[10, 11]
+002938_000021:[]
+020639_000035:[5, 7]
+004938_000025:[]
+023758_000013:[12]
+013250_000035:[19]
+013963_000001:[]
+014158_000009:[6, 8, 15, 16]
+010262_000014:[]
+007966_000033:[]
+009580_000025:[2]
+011966_000012:[]
+016861_000000:[2, 13]
+023516_000011:[11, 15, 19]
+007937_000024:[]
+017254_000016:[]
+008840_000037:[3, 13]
+016331_000004:[]
+004206_000026:[]
+004774_000039:[]
+006049_000034:[]
+010668_000002:[19]
+008037_000012:[12]
+015493_000000:[]
+024965_000032:[]
+020788_000013:[]
+000533_000034:[18]
+003648_000031:[]
+014559_000002:[]
+007187_000016:[]
+008486_000038:[]
+014264_000017:[]
+008479_000030:[18]
+019081_000018:[]
+008241_000026:[9, 13, 19]
+023453_000008:[]
+001886_000037:[]
+012121_000026:[]
+012748_000019:[]
+006962_000000:[]
+014828_000026:[12]
+017245_000002:[]
+010036_000019:[]
+010262_000000:[]
+000636_000023:[4, 17]
+005797_000006:[]
+009552_000008:[19]
+024772_000008:[]
+009783_000000:[15, 17]
+020197_000001:[]
+023536_000017:[10]
+016671_000036:[12, 17]
+006569_000036:[2, 7]
+016661_000030:[15]
+009497_000016:[2, 17]
+011169_000020:[2, 3]
+004696_000030:[]
+010958_000037:[]
+000113_000021:[10, 12]
+000997_000006:[2]
+012070_000000:[]
+019818_000038:[]
+001849_000029:[14]
+008987_000032:[]
+010498_000006:[]
+014947_000035:[]
+000686_000017:[0, 2]
+002278_000020:[]
+012440_000034:[]
+023763_000014:[7, 18]
+005829_000005:[11]
+013201_000034:[]
+021689_000027:[]
+011735_000032:[4, 11, 15]
+016968_000016:[]
+008012_000029:[0, 7, 14]
+007705_000013:[]
+014639_000017:[0]
+019432_000035:[10, 15, 16]
+012588_000006:[]
+020011_000000:[]
+001142_000000:[]
+017901_000036:[]
+005007_000008:[]
+013301_000017:[]
+016801_000034:[]
+019569_000001:[3, 5, 10, 14]
+007083_000027:[]
+009744_000024:[13]
+001870_000015:[7]
+001081_000024:[2, 3, 11, 15]
+024235_000015:[6]
+000508_000012:[3]
+001417_000005:[]
+021831_000018:[]
+015028_000029:[12]
+017140_000029:[9]
+001349_000035:[]
+024614_000001:[]
+017339_000022:[]
+020759_000018:[2]
+016317_000025:[]
+015013_000012:[]
+012304_000030:[12]
+017198_000021:[]
+005296_000009:[]
+019183_000003:[8, 10, 12, 16]
+005762_000004:[]
+005576_000022:[]
+008360_000020:[]
+012171_000039:[]
+023546_000005:[]
+007512_000014:[]
+002503_000038:[]
+008053_000000:[17]
+010645_000020:[17]
+023081_000025:[]
+003269_000037:[]
+015857_000032:[]
+002224_000018:[5]
+016757_000031:[]
+006529_000001:[]
+007006_000005:[0]
+014049_000024:[]
+005973_000028:[]
+008058_000029:[11]
+001721_000017:[13]
+006013_000032:[7]
+021242_000027:[]
+020266_000020:[13]
+009425_000004:[1]
+010467_000006:[]
+016515_000022:[]
+000098_000015:[]
+020831_000030:[]
+014415_000038:[6]
+001830_000002:[8, 16]
+005758_000014:[]
+024279_000033:[]
+020043_000027:[]
+008111_000031:[]
+005449_000033:[]
+004765_000029:[]
+000913_000028:[13, 18]
+008616_000026:[]
+024865_000009:[]
+009630_000001:[]
+007247_000031:[1, 5, 12, 14, 19]
+001600_000014:[]
+008099_000038:[]
+008557_000025:[13]
+004645_000016:[]
+019396_000019:[]
+005720_000003:[]
+011869_000035:[]
+001082_000015:[]
+003198_000036:[15]
+013406_000007:[]
+002829_000022:[16]
+005746_000026:[]
+009579_000037:[19]
+013599_000020:[]
+008916_000009:[11, 12, 19]
+017258_000003:[17]
+005654_000007:[]
+024057_000006:[]
+014698_000038:[]
+000195_000013:[]
+011347_000007:[15]
+006383_000018:[8]
+019352_000022:[]
+016919_000035:[]
+009202_000024:[]
+008342_000013:[]
+024952_000014:[0]
+006612_000004:[]
+001127_000014:[]
+023280_000039:[]
+009742_000004:[5]
+017324_000002:[7]
+021764_000018:[]
+008735_000018:[]
+021619_000038:[]
+002489_000010:[3, 5]
+010679_000001:[]
+000489_000008:[7, 13, 14]
+023361_000017:[8]
+001235_000035:[]
+019219_000004:[]
+019487_000037:[]
+009926_000002:[]
+024613_000000:[17]
+007540_000033:[]
+000314_000022:[]
+012069_000032:[]
+016191_000008:[]
+016366_000031:[]
+022717_000024:[4]
+000942_000037:[]
+013312_000032:[11]
+008657_000016:[8, 12]
+008301_000006:[]
+003312_000004:[]
+010108_000024:[17]
+020984_000011:[0, 3, 4, 5, 14, 16]
+018672_000006:[3, 6]
+012569_000031:[3, 16]
+021305_000007:[5]
+004555_000009:[9]
+006526_000022:[1, 13, 17]
+020225_000014:[]
+006043_000022:[]
+004859_000037:[18]
+000550_000013:[1, 3, 6, 7, 8, 16]
+019896_000019:[]
+005390_000029:[]
+011573_000020:[]
+023260_000001:[]
+018787_000025:[2, 10, 14, 15]
+007441_000001:[]
+006836_000006:[0, 4, 7, 16, 17, 19]
+014688_000020:[]
+020593_000003:[0, 8]
+023795_000008:[]
+002357_000000:[3, 6, 10, 13, 17]
+017380_000002:[]
+005835_000032:[4]
+021658_000026:[19]
+018729_000025:[5]
+000004_000026:[16]
+022965_000035:[18]
+004366_000034:[5]
+002220_000001:[]
+008362_000033:[]
+011938_000010:[]
+007149_000030:[]
+013665_000035:[11, 12]
+006450_000034:[12]
+015914_000004:[]
+018346_000021:[]
+007833_000018:[]
+019213_000003:[1, 5]
+007958_000001:[1, 2]
+016640_000035:[]
+011180_000033:[]
+001094_000008:[]
+011885_000017:[]
+001140_000031:[7]
+001632_000005:[3, 4]
+000468_000029:[]
+000850_000019:[]
+010909_000036:[10, 14, 19]
+012303_000034:[0]
+019960_000003:[]
+000838_000007:[4, 6, 17]
+021374_000031:[15]
+003518_000017:[]
+013999_000005:[]
+004082_000004:[]
+010293_000033:[]
+010666_000024:[]
+022274_000024:[0, 7, 10]
+001676_000038:[2, 4, 11, 18, 19]
+013607_000008:[]
+024511_000027:[14]
+018945_000002:[3, 12, 18]
+018003_000035:[]
+005336_000032:[]
+007326_000017:[]
+001477_000038:[0, 4, 17]
+010431_000027:[11]
+017257_000016:[]
+009848_000014:[0]
+005258_000005:[7, 9]
+012506_000006:[]
+024050_000030:[]
+016834_000003:[]
+015977_000004:[3, 11]
+022689_000027:[7]
+023721_000000:[]
+024680_000031:[]
+019422_000031:[]
+006890_000015:[]
+008943_000023:[]
+000142_000017:[]
+023666_000000:[]
+003269_000012:[]
+003965_000002:[4, 5, 7, 13, 14]
+021269_000014:[]
+019764_000005:[9]
+020780_000035:[0, 1, 2, 3, 11, 13, 17]
+006063_000008:[2, 6, 8, 17, 18]
+017485_000010:[]
+014942_000013:[]
+012061_000017:[]
+017922_000004:[]
+001210_000018:[4]
+009170_000007:[]
+000436_000014:[]
+009645_000030:[11]
+005552_000028:[]
+011294_000009:[]
+015567_000004:[]
+020946_000002:[14]
+024985_000024:[13]
+012864_000037:[4, 8, 17]
+010943_000027:[]
+002226_000036:[]
+016917_000009:[]
+013158_000021:[18]
+008236_000003:[11, 18]
+023347_000034:[7]
+005246_000027:[0, 7, 12, 13, 19]
+011310_000006:[]
+020198_000004:[]
+009693_000013:[]
+010090_000017:[2, 3, 9, 12, 13]
+017861_000019:[]
+010812_000003:[]
+000358_000019:[]
+021580_000000:[]
+008307_000036:[]
+015908_000024:[]
+021899_000003:[]
+014293_000000:[]
+023813_000014:[17]
+002499_000034:[]
+006881_000012:[3]
+015074_000000:[10, 13, 17, 18, 19]
+006413_000001:[4, 6]
+005905_000001:[16]
+021310_000031:[]
+000742_000032:[6]
+021442_000038:[1]
+004932_000000:[8, 16]
+009917_000017:[0, 4, 6, 11, 14, 16]
+005914_000000:[19]
+023154_000015:[]
+004303_000027:[]
+008976_000037:[1]
+006723_000002:[7]
+016211_000001:[]
+021011_000017:[]
+019119_000002:[2, 14]
+001978_000037:[]
+023254_000038:[]
+009228_000019:[]
+017101_000034:[9, 13]
+002113_000018:[]
+005012_000004:[3, 18]
+010336_000007:[]
+011883_000008:[]
+014748_000018:[0, 1]
+022221_000008:[7]
+024357_000013:[]
+018323_000039:[]
+007595_000038:[]
+003252_000037:[]
+021418_000001:[12]
+017133_000010:[]
+000415_000012:[]
+024500_000000:[]
+002932_000019:[3, 13, 14, 16, 18]
+005788_000022:[7]
+002863_000037:[]
+014160_000003:[]
+021311_000030:[]
+009699_000005:[]
+020511_000018:[0]
+019090_000033:[]
+016984_000038:[]
+002677_000019:[15]
+011132_000019:[]
+018261_000008:[]
+021919_000038:[7, 9, 13, 14, 16]
+022604_000039:[17]
+002455_000032:[]
+004956_000035:[0, 5, 9]
+014681_000021:[2]
+012946_000029:[]
+011968_000007:[]
+017575_000008:[10]
+024102_000011:[]
+015573_000030:[]
+019801_000028:[]
+000645_000013:[]
+001505_000004:[]
+001499_000006:[]
+007081_000010:[]
+009171_000026:[]
+017495_000024:[]
+008534_000037:[1]
+022589_000000:[13, 14]
+014680_000029:[]
+017850_000009:[]
+017815_000022:[6]
+004263_000036:[]
+002387_000039:[]
+000635_000024:[]
+012099_000011:[]
+000628_000036:[16]
+010867_000035:[]
+008971_000023:[2, 3, 12, 13]
+015010_000011:[]
+015340_000026:[17]
+021449_000007:[]
+015524_000007:[]
+000603_000005:[3, 5, 11, 15]
+005508_000027:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000899_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000899_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..554f4d007e7c8e2ade9c32d08d228eceb812452b
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000899_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+011304_000021:[]
+015149_000025:[19]
+012868_000027:[]
+019671_000008:[5]
+021944_000024:[4, 14, 16]
+010741_000001:[]
+001261_000023:[]
+020360_000007:[12, 15]
+008472_000006:[]
+011988_000004:[]
+009274_000008:[]
+000782_000030:[]
+024530_000000:[]
+022415_000036:[]
+003187_000002:[6]
+017615_000033:[]
+001831_000035:[]
+016120_000001:[2, 6, 14, 17]
+018978_000008:[9]
+013367_000036:[]
+015846_000001:[0, 7, 17]
+007137_000013:[2]
+011026_000031:[]
+017891_000033:[]
+011926_000030:[17]
+000261_000034:[]
+022626_000031:[0, 1, 6]
+006874_000027:[0, 6, 7, 15, 16, 17, 19]
+006639_000039:[7]
+008874_000034:[]
+022060_000023:[]
+003667_000028:[]
+021667_000009:[]
+000567_000018:[12, 16]
+013895_000036:[]
+017271_000029:[]
+023103_000005:[]
+016958_000009:[1, 4, 5, 7, 9, 11, 13, 14, 18]
+022181_000020:[]
+013214_000013:[]
+005576_000019:[]
+009703_000016:[]
+008051_000012:[]
+015457_000010:[0, 14, 17]
+011064_000007:[]
+009160_000024:[]
+007936_000000:[]
+016648_000006:[]
+011022_000004:[]
+024025_000020:[]
+020553_000003:[]
+006230_000015:[]
+011156_000026:[]
+019870_000011:[]
+004334_000025:[]
+007852_000017:[]
+020359_000035:[2, 12]
+008489_000028:[8, 13]
+005532_000004:[11]
+014611_000002:[]
+021166_000014:[]
+005642_000003:[1, 4, 5, 7, 14, 15, 17, 19]
+016634_000033:[12]
+003116_000005:[]
+004215_000012:[0, 1, 2]
+011604_000003:[]
+008333_000010:[]
+008568_000037:[1]
+012978_000034:[]
+011821_000030:[8, 10]
+001137_000030:[13]
+015336_000023:[]
+021036_000002:[3]
+007702_000019:[]
+007687_000002:[]
+010900_000038:[]
+009894_000017:[]
+023343_000019:[2, 4, 17]
+013785_000026:[]
+000358_000034:[]
+023301_000020:[2, 9, 17]
+008216_000004:[3, 4, 5, 11, 15]
+001662_000015:[]
+014659_000029:[]
+000291_000023:[0, 12, 16, 19]
+006584_000030:[]
+009333_000009:[]
+009717_000008:[1, 5]
+009912_000007:[]
+023959_000013:[10]
+009476_000000:[]
+018948_000015:[2, 5, 7, 11, 12, 16, 17, 18, 19]
+011298_000009:[]
+010404_000020:[4]
+012109_000030:[]
+001282_000033:[]
+020178_000023:[]
+003019_000038:[7, 13, 16, 18]
+018158_000002:[0, 9, 11, 17, 19]
+012107_000007:[1, 6]
+016650_000018:[]
+002486_000001:[]
+023212_000017:[4, 5, 6, 7, 13, 19]
+000161_000002:[]
+015133_000011:[]
+019323_000000:[]
+024165_000010:[2]
+013955_000039:[18]
+021856_000039:[12, 13]
+016475_000036:[]
+013952_000009:[4]
+018024_000019:[]
+015144_000019:[]
+019129_000039:[]
+006101_000008:[]
+018778_000006:[]
+022067_000026:[]
+022282_000020:[8, 15]
+022031_000027:[16, 17]
+007364_000039:[9]
+020645_000006:[]
+015452_000017:[6]
+018252_000030:[]
+006812_000026:[6, 13]
+002974_000007:[]
+016644_000019:[]
+019682_000025:[]
+006788_000038:[]
+008991_000000:[]
+008682_000002:[0]
+023890_000023:[]
+014177_000020:[]
+014276_000019:[]
+013501_000000:[]
+005647_000025:[]
+004721_000036:[8]
+016613_000014:[]
+006368_000034:[0, 18]
+013236_000031:[6, 11, 14, 15, 19]
+008470_000001:[2, 11]
+020803_000019:[]
+000509_000002:[15]
+012045_000032:[]
+013581_000007:[]
+000656_000004:[]
+008580_000002:[]
+010938_000029:[]
+018716_000034:[]
+012752_000002:[]
+019586_000014:[]
+016267_000029:[]
+020543_000004:[]
+008532_000023:[6, 7, 13, 19]
+005923_000033:[]
+021944_000033:[14]
+021557_000010:[2, 3, 9, 10, 12, 14]
+017060_000015:[7]
+012717_000023:[]
+008033_000034:[]
+022829_000014:[]
+010452_000014:[]
+000112_000009:[]
+000871_000007:[]
+015525_000037:[0]
+009025_000027:[0, 12, 19]
+003289_000002:[2]
+021926_000037:[]
+024738_000018:[]
+017879_000012:[]
+003979_000019:[10]
+023407_000004:[]
+003156_000011:[]
+006570_000003:[]
+019496_000034:[]
+015795_000017:[0]
+015843_000039:[7, 14]
+006974_000001:[]
+015964_000001:[14]
+022029_000008:[5]
+012950_000019:[]
+023927_000019:[8]
+002007_000009:[4]
+016518_000003:[6, 9]
+012295_000032:[]
+000501_000038:[]
+012125_000017:[]
+000095_000014:[17]
+005624_000003:[]
+007513_000017:[]
+024670_000022:[]
+016910_000038:[]
+021179_000023:[]
+004329_000022:[2]
+018899_000009:[]
+024796_000035:[4, 15]
+022304_000037:[]
+016996_000031:[]
+003474_000032:[]
+007891_000008:[]
+000203_000003:[]
+012886_000003:[15]
+008510_000002:[2]
+007031_000020:[13, 16]
+005650_000030:[9]
+016351_000002:[]
+004119_000003:[]
+019491_000038:[11]
+016344_000000:[]
+024508_000036:[6]
+011659_000011:[]
+023455_000012:[6, 12]
+005637_000021:[]
+020175_000020:[]
+002894_000004:[2, 9, 19]
+000254_000029:[13]
+001393_000002:[11, 14]
+011810_000025:[5]
+012144_000028:[]
+010459_000038:[]
+015593_000003:[]
+019369_000008:[3, 5]
+020432_000000:[1, 2, 3, 5, 9, 15]
+010630_000011:[11]
+008589_000013:[]
+006347_000013:[6]
+016521_000033:[]
+009957_000008:[3, 5, 9]
+011272_000013:[]
+012813_000015:[]
+016484_000022:[]
+011546_000032:[4]
+011168_000034:[0, 5, 8, 10, 19]
+001262_000004:[7]
+013333_000011:[]
+007814_000025:[]
+016630_000000:[]
+016487_000014:[4, 8, 18]
+009692_000013:[12]
+020285_000019:[1, 11]
+017658_000038:[]
+001179_000033:[14]
+009098_000010:[5, 7, 8, 12, 13]
+021487_000006:[]
+021134_000000:[]
+021674_000036:[]
+014542_000035:[]
+020338_000022:[]
+017122_000039:[]
+001398_000032:[4, 6, 16, 19]
+016027_000025:[10]
+001307_000009:[]
+017549_000011:[]
+023031_000016:[]
+003057_000039:[7]
+023109_000023:[]
+008141_000016:[]
+001025_000008:[]
+010378_000024:[]
+011874_000003:[]
+011859_000016:[]
+014466_000031:[]
+018388_000033:[]
+020262_000015:[]
+012694_000031:[]
+004094_000002:[2]
+020878_000031:[]
+008049_000007:[]
+010475_000002:[]
+014678_000002:[]
+007947_000022:[5]
+023295_000031:[]
+001944_000039:[]
+021207_000037:[2]
+022040_000025:[6]
+014423_000009:[]
+011645_000014:[]
+020135_000035:[]
+003377_000036:[5, 7, 17]
+012896_000010:[15]
+016998_000027:[0]
+023583_000028:[0]
+009916_000031:[2]
+023088_000035:[]
+001053_000010:[]
+021426_000004:[]
+001249_000005:[]
+014051_000032:[]
+013883_000006:[]
+009867_000016:[]
+016496_000019:[]
+007375_000032:[]
+008490_000036:[10, 12, 13, 16]
+000973_000024:[]
+000971_000020:[]
+013583_000021:[]
+003496_000014:[]
+021519_000005:[]
+005845_000011:[]
+012094_000024:[]
+009340_000007:[]
+016357_000037:[]
+000370_000017:[]
+001842_000020:[]
+016571_000000:[]
+010852_000029:[2, 11]
+000779_000028:[]
+017002_000022:[]
+000066_000008:[2, 3, 8, 11, 13, 18]
+023840_000038:[3, 15]
+008727_000030:[8, 14]
+023309_000031:[]
+009320_000029:[14]
+000468_000020:[7]
+022433_000038:[4, 14]
+002371_000037:[3]
+000640_000027:[]
+016292_000015:[]
+021038_000024:[]
+017330_000013:[]
+024467_000004:[]
+015358_000006:[1, 6]
+004582_000002:[3, 6]
+021554_000002:[]
+023122_000033:[18]
+014862_000039:[5]
+020965_000023:[6, 18]
+016663_000015:[15]
+023330_000000:[13]
+008942_000038:[3]
+020421_000028:[2]
+012046_000021:[1]
+016059_000028:[19]
+021854_000030:[0, 6, 18]
+001725_000023:[]
+000875_000005:[]
+006205_000008:[]
+006412_000011:[3, 5]
+002411_000006:[8]
+001682_000008:[]
+008805_000004:[]
+007465_000010:[]
+009522_000009:[]
+021237_000016:[6, 11, 14, 17]
+021550_000013:[15]
+002728_000004:[]
+024925_000027:[]
+001224_000003:[]
+015350_000033:[1]
+011877_000008:[5]
+001117_000002:[0]
+012797_000026:[]
+014779_000012:[]
+022743_000029:[4]
+006324_000034:[]
+024322_000014:[]
+004271_000035:[]
+008342_000005:[16]
+016777_000017:[]
+018523_000024:[]
+021308_000027:[]
+019296_000036:[]
+014698_000020:[]
+006240_000011:[]
+023183_000013:[]
+014009_000003:[]
+012458_000026:[]
+015151_000039:[2, 9, 10, 11, 12, 16, 19]
+022553_000023:[5]
+011182_000014:[]
+015036_000022:[]
+019175_000002:[]
+010441_000032:[1]
+018827_000007:[2, 6, 9, 10, 15]
+004004_000008:[4, 12]
+010560_000033:[8]
+002441_000017:[2]
+003931_000032:[6, 10, 14]
+012291_000000:[]
+014210_000003:[]
+004770_000007:[]
+019846_000009:[]
+013961_000017:[]
+003635_000005:[19]
+020171_000008:[]
+021189_000012:[]
+019923_000012:[17]
+006891_000020:[]
+007303_000002:[16]
+012172_000035:[5]
+002575_000005:[]
+001543_000003:[8]
+011361_000011:[]
+014328_000024:[2, 12]
+023324_000018:[]
+014753_000002:[]
+015201_000005:[]
+019930_000036:[7, 19]
+023727_000001:[]
+011935_000035:[]
+006812_000035:[13, 18]
+019343_000019:[11]
+015896_000000:[]
+010958_000016:[4, 7, 12, 14]
+004622_000002:[]
+024295_000012:[2, 4, 14]
+021186_000015:[18]
+016768_000016:[0, 2, 16, 17]
+018175_000020:[]
+022908_000034:[]
+011632_000032:[]
+018911_000025:[4]
+016111_000024:[]
+024789_000020:[6]
+017561_000036:[]
+006600_000026:[]
+012773_000018:[]
+006954_000022:[]
+023068_000001:[]
+010447_000033:[]
+024505_000034:[15]
+012258_000035:[10, 14, 16]
+011771_000025:[1, 2]
+020617_000030:[3, 4, 13, 17]
+014078_000012:[]
+018807_000016:[]
+005245_000024:[]
+002836_000037:[3, 8, 16]
+008623_000005:[]
+009639_000034:[]
+002022_000004:[16]
+012256_000024:[12, 15]
+001775_000001:[]
+008633_000011:[]
+013423_000027:[]
+006079_000039:[16]
+023518_000004:[]
+018606_000012:[]
+024729_000030:[]
+023401_000028:[]
+020168_000005:[]
+024481_000011:[7]
+018504_000036:[6, 15]
+008360_000034:[]
+004441_000014:[]
+006323_000015:[15]
+015473_000012:[]
+018832_000027:[]
+005010_000008:[]
+019614_000036:[9, 13]
+009410_000033:[3]
+013314_000002:[]
+008518_000004:[]
+012174_000026:[8]
+020908_000018:[]
+005947_000018:[]
+005420_000026:[8]
+003814_000031:[]
+012949_000023:[2, 8]
+002262_000021:[]
+007146_000021:[]
+003535_000018:[3]
+021337_000014:[]
+010448_000039:[]
+001368_000022:[6]
+006522_000032:[]
+012993_000016:[9, 18]
+000071_000032:[5, 8]
+001779_000023:[]
+024120_000000:[5]
+024073_000016:[]
+001534_000039:[14]
+008842_000017:[]
+005627_000021:[18]
+016725_000031:[6]
+017347_000022:[]
+006812_000027:[6, 13, 17]
+019306_000011:[]
+024045_000016:[]
+023764_000033:[3, 5, 8, 9, 13]
+001272_000010:[]
+023511_000015:[]
+019318_000014:[]
+015914_000026:[18]
+014314_000020:[]
+003289_000039:[]
+012459_000035:[4, 7, 9, 10]
+019030_000027:[]
+019300_000006:[2, 19]
+006921_000020:[]
+021142_000004:[7, 11, 14]
+002240_000014:[]
+008825_000030:[]
+020878_000011:[]
+016931_000034:[]
+018492_000006:[]
+013269_000035:[5, 7, 9, 10, 16, 19]
+009314_000027:[]
+016205_000023:[1, 2, 5, 7, 11, 13, 16]
+005932_000015:[1, 2, 3, 5, 7, 9, 10, 11, 12, 13, 15, 17]
+007147_000020:[]
+000792_000005:[]
+017905_000007:[12]
+004488_000036:[]
+004857_000026:[]
+008911_000038:[0, 9]
+005478_000001:[]
+021591_000037:[14]
+006962_000038:[]
+010408_000032:[]
+015833_000016:[9]
+000239_000010:[]
+004280_000004:[16]
+014965_000029:[]
+016551_000024:[0]
+013332_000020:[5, 6, 10, 19]
+013031_000029:[15]
+011362_000015:[9]
+002955_000011:[4]
+020110_000036:[0, 4]
+008890_000007:[6, 7]
+004179_000030:[0, 9]
+019464_000009:[]
+013527_000002:[]
+003925_000011:[3, 4, 5, 7, 9, 14, 15, 16, 17, 19]
+018927_000023:[]
+012217_000026:[]
+018118_000019:[3]
+022355_000016:[]
+000341_000020:[]
+002188_000019:[1, 5]
+001487_000009:[]
+022242_000002:[]
+008584_000034:[7]
+010047_000031:[]
+005583_000032:[]
+021631_000026:[15]
+020247_000016:[]
+003640_000003:[6, 11, 12]
+021677_000016:[]
+014083_000000:[1, 3, 6]
+013699_000006:[11]
+023388_000008:[]
+001588_000020:[]
+009874_000035:[0, 1, 3, 4, 6, 7, 12, 13, 14]
+008115_000021:[]
+019383_000035:[13]
+022918_000008:[15]
+012255_000039:[]
+010293_000014:[8]
+003125_000026:[8]
+007748_000009:[1, 2]
+019748_000010:[5, 13]
+007277_000017:[7]
+014090_000026:[]
+007822_000029:[]
+022458_000004:[19]
+008117_000031:[]
+003579_000006:[2, 6, 11]
+016997_000015:[]
+019936_000013:[]
+014732_000037:[]
+009738_000014:[10]
+018222_000034:[0]
+007928_000012:[0, 2, 5, 8, 11]
+009222_000039:[0, 1, 7, 9, 10]
+015442_000014:[]
+002989_000010:[]
+016241_000009:[]
+001525_000037:[]
+013148_000033:[]
+013791_000009:[]
+002042_000023:[]
+006466_000026:[]
+021920_000022:[1, 3, 12, 14]
+011967_000002:[1, 17]
+009454_000006:[9]
+016388_000032:[]
+002230_000007:[15]
+001929_000018:[7, 11]
+004768_000024:[8]
+018215_000030:[]
+019881_000008:[]
+021825_000011:[]
+017191_000023:[]
+018865_000027:[]
+023802_000037:[]
+000287_000018:[]
+018107_000028:[14]
+016554_000030:[]
+000016_000023:[]
+008730_000026:[3]
+019086_000030:[]
+002142_000009:[2]
+002916_000034:[]
+013364_000017:[13]
+024725_000018:[0, 8]
+020796_000038:[]
+010513_000008:[]
+011035_000021:[]
+000675_000021:[]
+019408_000013:[]
+017319_000023:[]
+015918_000012:[]
+010792_000020:[]
+013558_000032:[]
+003613_000037:[0, 2, 3, 5, 7, 9, 11, 14]
+003568_000034:[]
+008637_000012:[11]
+015074_000032:[]
+004497_000018:[3, 18]
+014320_000031:[]
+013538_000019:[1, 8]
+008941_000026:[17]
+003416_000038:[6]
+003867_000001:[0, 8, 19]
+018993_000007:[]
+024424_000028:[]
+009310_000026:[]
+013921_000006:[]
+000043_000033:[]
+023831_000023:[]
+023556_000011:[]
+007763_000017:[7]
+019027_000038:[7]
+018813_000023:[]
+004438_000013:[]
+015361_000003:[3, 4, 7, 12, 14, 17, 19]
+001737_000006:[7]
+018326_000038:[7]
+008249_000025:[]
+004699_000003:[0, 12]
+013368_000016:[6, 8]
+012198_000013:[10]
+020778_000027:[13, 17]
+010301_000011:[9]
+009068_000019:[0, 1, 4, 13, 14, 18]
+024539_000035:[]
+014908_000033:[7, 9, 15, 16, 18]
+011694_000001:[]
+019399_000022:[]
+009885_000034:[]
+024531_000016:[]
+020964_000002:[]
+021399_000013:[0]
+012267_000000:[]
+020001_000004:[3, 11, 13]
+013942_000037:[]
+016309_000021:[11]
+010546_000035:[18]
+010526_000003:[]
+015138_000015:[]
+016122_000011:[0, 5]
+020045_000004:[]
+008935_000020:[1]
+008698_000012:[]
+022175_000027:[]
+022808_000036:[0]
+019679_000028:[]
+007784_000016:[3]
+017387_000022:[]
+015761_000018:[]
+002104_000020:[]
+001318_000019:[9, 11, 15]
+000682_000013:[]
+020882_000007:[]
+019904_000026:[18]
+007058_000020:[]
+024869_000023:[]
+018794_000012:[]
+003339_000012:[11]
+008612_000010:[5]
+006612_000020:[15]
+007405_000034:[]
+007572_000029:[]
+017775_000017:[0]
+002274_000039:[]
+000124_000003:[13]
+020958_000027:[]
+001995_000011:[]
+003465_000032:[3, 14]
+010232_000002:[]
+012200_000000:[]
+005850_000002:[]
+009707_000039:[14]
+016907_000017:[]
+016022_000000:[11, 19]
+009825_000020:[1, 2, 7, 8, 9, 13, 14, 15, 18]
+003101_000033:[4, 6, 7, 10, 19]
+003712_000020:[0, 1, 3, 11, 17]
+004930_000037:[5, 10, 13, 15, 17, 19]
+023600_000037:[]
+022362_000025:[]
+015106_000018:[]
+005341_000029:[]
+013359_000031:[]
+015688_000003:[9]
+024065_000014:[]
+013077_000020:[6, 9, 16]
+013470_000003:[]
+008681_000023:[5, 14]
+002575_000001:[]
+015953_000013:[18]
+024123_000000:[]
+006549_000020:[]
+011265_000032:[]
+001629_000017:[]
+001799_000022:[1, 16]
+013268_000017:[]
+022651_000024:[]
+010119_000029:[]
+004495_000025:[]
+003442_000034:[]
+013539_000011:[]
+016898_000024:[]
+018946_000029:[]
+020094_000015:[11, 14]
+017801_000022:[]
+006815_000026:[]
+006814_000013:[]
+020677_000036:[3]
+005160_000023:[]
+020110_000009:[]
+016248_000007:[0, 1, 6]
+016603_000012:[]
+001369_000034:[]
+016981_000017:[]
+009465_000005:[]
+020037_000021:[2]
+011681_000003:[]
+023743_000003:[]
+005278_000026:[]
+001725_000024:[]
+005754_000000:[0, 1, 6, 8, 9, 10, 14, 18, 19]
+014366_000015:[0, 5, 18]
+017066_000006:[]
+002096_000004:[]
+000346_000010:[]
+022309_000018:[]
+007895_000039:[5]
+006721_000026:[]
+005274_000022:[]
+002978_000002:[]
+000098_000012:[]
+024629_000009:[]
+003828_000014:[]
+015971_000023:[]
+005499_000026:[17]
+015848_000001:[5, 10, 11]
+015527_000008:[]
+004454_000022:[]
+021815_000030:[]
+010373_000001:[3, 16]
+012692_000017:[6]
+015723_000011:[]
+015308_000000:[]
+015138_000020:[0, 14, 18]
+019809_000000:[]
+013970_000023:[]
+007785_000016:[]
+011146_000026:[6, 10, 11, 16]
+001446_000038:[9]
+004460_000029:[]
+022843_000031:[3, 6]
+015203_000028:[]
+003305_000015:[]
+011722_000032:[]
+000684_000038:[]
+009946_000001:[]
+015019_000020:[]
+010735_000002:[5]
+016809_000039:[]
+021742_000013:[]
+016493_000029:[]
+023225_000029:[18]
+003771_000000:[]
+005428_000032:[16]
+005306_000020:[]
+006346_000014:[]
+014726_000012:[6, 15]
+001242_000026:[]
+012393_000026:[]
+002663_000004:[]
+014972_000039:[]
+000282_000022:[]
+021111_000018:[18]
+017915_000025:[]
+010751_000000:[]
+001204_000012:[]
+019427_000016:[8]
+010060_000007:[]
+009438_000001:[]
+019624_000007:[]
+007658_000025:[4, 5, 11]
+016379_000037:[]
+007776_000029:[11]
+022808_000004:[]
+011726_000034:[9]
+022327_000022:[5]
+003114_000006:[]
+007008_000017:[10]
+008610_000033:[5, 14]
+008616_000008:[4, 5, 19]
+014411_000011:[1]
+002742_000000:[]
+009956_000000:[]
+004629_000015:[2, 16]
+018296_000008:[]
+002330_000000:[]
+017165_000027:[6, 13]
+023240_000009:[3, 9, 15, 19]
+003011_000039:[4, 7, 10, 11]
+014308_000027:[9, 16]
+019388_000035:[]
+024667_000029:[3, 8]
+008991_000035:[]
+000021_000026:[]
+013342_000030:[19]
+012943_000008:[]
+002824_000022:[]
+008766_000034:[14]
+002208_000005:[11]
+008077_000008:[]
+022283_000014:[]
+021752_000006:[8, 10]
+012893_000023:[]
+005402_000003:[]
+010815_000032:[]
+022528_000006:[3]
+022949_000017:[]
+016806_000019:[10, 11, 15]
+013799_000010:[]
+020800_000030:[]
+019654_000023:[1, 2, 6]
+017828_000023:[8, 10, 11, 19]
+014654_000002:[12]
+016649_000018:[2]
+005064_000014:[]
+005170_000006:[]
+007525_000015:[]
+006321_000016:[]
+023262_000004:[]
+004139_000032:[19]
+014169_000021:[]
+009432_000004:[]
+014921_000014:[19]
+001758_000023:[17]
+018833_000014:[3, 6, 7, 16]
+019192_000020:[16]
+013863_000012:[]
+002756_000032:[13, 18]
+020773_000039:[]
+007724_000006:[]
+014090_000024:[]
+014984_000036:[]
+009623_000029:[]
+000567_000028:[2, 6]
+018805_000029:[]
+024710_000022:[]
+004404_000019:[]
+010728_000027:[6, 17]
+024983_000034:[]
+019189_000033:[6, 12, 16]
+008792_000039:[12, 19]
+018122_000035:[0, 1, 5, 6, 8, 13, 19]
+018666_000023:[5, 6]
+004960_000033:[2, 19]
+006471_000015:[]
+021718_000037:[8, 9, 11]
+002341_000020:[0]
+023006_000032:[]
+021708_000029:[]
+010567_000017:[12]
+007663_000038:[]
+016545_000028:[2]
+001516_000038:[0, 7]
+014142_000024:[4]
+011507_000030:[]
+017054_000032:[13, 18]
+019587_000037:[9]
+008733_000019:[]
+004582_000006:[0, 4, 18]
+014858_000002:[10, 15]
+023944_000009:[]
+006887_000006:[]
+015804_000033:[1]
+008566_000001:[11]
+015595_000003:[]
+008202_000031:[4]
+020273_000027:[]
+020675_000012:[]
+023570_000039:[]
+020467_000027:[8]
+021934_000009:[]
+017238_000016:[18]
+012043_000001:[9, 11]
+014038_000026:[2]
+002030_000020:[3, 7, 8, 10, 12, 19]
+000455_000031:[6, 16]
+020521_000019:[11, 17]
+020620_000036:[]
+018280_000011:[]
+019511_000015:[]
+011611_000010:[11, 12]
+009593_000030:[14, 15, 19]
+006765_000023:[4, 11, 17]
+018590_000005:[]
+016060_000033:[0, 8, 9]
+019586_000002:[8]
+008127_000018:[6]
+013162_000001:[3, 9, 14, 17]
+010860_000035:[2]
+009745_000003:[18]
+003116_000023:[]
+014947_000003:[]
+002236_000036:[]
+005651_000023:[]
+013089_000013:[]
+017635_000037:[2]
+006075_000005:[18]
+019195_000023:[3, 7, 8, 11, 13, 14, 15, 16, 19]
+021670_000006:[]
+020529_000012:[3, 9, 11]
+012912_000002:[]
+014383_000033:[6]
+003391_000011:[]
+002280_000034:[1, 3]
+012326_000005:[19]
+010524_000026:[]
+020944_000037:[5, 7, 10, 11, 15]
+015433_000039:[]
+004022_000006:[15]
+000892_000022:[]
+008955_000009:[8]
+000504_000015:[]
+008101_000003:[2, 5, 17]
+010870_000035:[]
+012087_000035:[2, 4, 8, 9, 14]
+002287_000024:[]
+001003_000019:[]
+008992_000036:[2, 7, 14]
+018072_000022:[16]
+019927_000010:[]
+012027_000025:[]
+019516_000014:[3, 4, 9, 15, 18, 19]
+005573_000002:[]
+008996_000025:[]
+006773_000023:[]
+010934_000033:[]
+011829_000005:[5]
+015905_000024:[]
+002541_000016:[]
+023585_000014:[0, 5, 6, 8, 11, 18]
+010786_000021:[]
+014217_000016:[]
+014163_000002:[5, 12]
+011984_000013:[]
+008998_000004:[3, 9, 19]
+011646_000021:[6]
+008926_000019:[]
+008144_000029:[3]
+022147_000011:[3]
+006269_000035:[7]
+021483_000005:[]
+012710_000008:[]
+012966_000001:[]
+010850_000010:[]
+006907_000030:[]
+017039_000014:[15]
+008554_000037:[10]
+023885_000012:[10]
+014642_000013:[11]
+016990_000002:[]
+003183_000029:[6]
+005806_000004:[]
+013639_000001:[1, 3]
+016752_000002:[]
+020507_000007:[8, 9, 12, 14, 17, 19]
+016884_000007:[]
+013992_000030:[]
+016247_000025:[]
+009004_000034:[13]
+001715_000019:[10, 13, 14]
+004610_000038:[]
+011572_000014:[]
+015162_000036:[11]
+017728_000019:[]
+008527_000024:[]
+023495_000025:[]
+014496_000015:[]
+013174_000038:[]
+023899_000000:[]
+012799_000037:[4, 13]
+010413_000007:[9]
+003473_000005:[]
+022547_000027:[]
+002448_000030:[2]
+000289_000011:[]
+017301_000004:[]
+002693_000023:[16]
+021660_000010:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000907_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000907_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..330f973cca754086607a9d85be4f2464c1862d92
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000907_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+012770_000000:[]
+004532_000000:[]
+003194_000029:[]
+019130_000009:[1, 9, 12, 17]
+007914_000024:[]
+005521_000004:[1, 3, 5, 9, 17]
+019008_000025:[]
+024662_000031:[]
+004103_000039:[5, 9, 12, 14]
+004650_000026:[14]
+019479_000002:[]
+011356_000014:[2, 8, 13]
+006238_000000:[]
+015783_000033:[]
+001899_000034:[3]
+004668_000001:[11, 19]
+015998_000030:[16]
+001317_000017:[]
+014918_000023:[]
+008234_000002:[]
+011546_000016:[]
+013631_000027:[]
+018401_000035:[]
+017812_000005:[]
+021678_000009:[]
+022600_000012:[2, 11, 14]
+003126_000006:[7, 8, 19]
+007888_000034:[0, 3]
+022409_000000:[]
+014378_000009:[]
+016870_000035:[]
+002555_000019:[]
+023059_000005:[17, 18]
+003208_000023:[]
+003148_000033:[1, 4, 5, 8, 10]
+009844_000008:[]
+022368_000025:[]
+022720_000032:[2, 5, 12, 17]
+016920_000002:[]
+024851_000036:[6]
+016242_000034:[]
+006037_000030:[1, 15]
+014156_000005:[]
+008757_000035:[6, 9, 17]
+017740_000029:[]
+019710_000029:[12]
+018316_000033:[]
+007230_000027:[]
+006796_000025:[]
+001881_000021:[1]
+011441_000027:[]
+009798_000037:[]
+015377_000035:[]
+018771_000007:[]
+008221_000037:[]
+022876_000021:[]
+023614_000007:[]
+002408_000034:[]
+019526_000004:[]
+013628_000038:[]
+019847_000020:[]
+009527_000017:[]
+020819_000025:[17]
+007340_000000:[]
+007978_000038:[8, 17]
+010899_000038:[]
+018342_000025:[10]
+019721_000025:[]
+013087_000015:[]
+017899_000019:[0, 8]
+019265_000006:[11]
+002247_000010:[]
+010657_000030:[]
+012722_000012:[8]
+019752_000034:[19]
+017746_000001:[]
+015922_000038:[12]
+001488_000038:[5, 11, 12]
+019873_000022:[0]
+014409_000034:[7, 14]
+003391_000029:[]
+000013_000021:[]
+019787_000003:[]
+002659_000005:[14]
+005284_000006:[]
+017755_000015:[]
+014806_000023:[0, 3, 9]
+008656_000009:[]
+001473_000012:[]
+002505_000007:[]
+021357_000000:[]
+019127_000008:[]
+013310_000005:[]
+001870_000017:[4, 7]
+006621_000020:[10, 16]
+017906_000011:[]
+003111_000010:[]
+007495_000034:[]
+019350_000007:[3, 5, 12, 17]
+002578_000031:[]
+016693_000017:[]
+003792_000008:[]
+005773_000024:[1]
+003711_000016:[1]
+018419_000015:[15]
+015936_000002:[]
+021901_000015:[12]
+002286_000000:[]
+005565_000017:[]
+002843_000002:[12]
+008404_000019:[]
+023184_000037:[]
+018499_000007:[]
+016494_000028:[]
+009684_000009:[]
+022448_000032:[]
+010793_000013:[0, 5, 6]
+002350_000020:[]
+016271_000032:[]
+016736_000038:[]
+009558_000036:[]
+018263_000013:[5, 12, 15]
+021688_000022:[]
+013952_000008:[3, 4]
+002152_000004:[]
+014972_000032:[]
+024356_000012:[]
+015605_000023:[]
+024850_000000:[5, 7]
+013988_000030:[]
+018202_000028:[]
+009947_000008:[]
+013524_000005:[]
+005427_000011:[]
+000956_000010:[]
+014707_000004:[]
+006394_000037:[]
+014728_000003:[]
+012572_000038:[]
+013063_000039:[]
+022847_000000:[]
+013442_000032:[]
+014282_000025:[10]
+023619_000035:[13]
+000892_000030:[4, 6]
+017179_000037:[]
+017602_000005:[14]
+013037_000008:[9, 15]
+008376_000032:[]
+004618_000012:[14]
+024061_000015:[]
+000169_000038:[0]
+020819_000036:[16]
+015971_000029:[]
+018168_000038:[]
+005910_000004:[1, 12, 18]
+008061_000021:[]
+001063_000004:[]
+010458_000008:[9]
+019206_000019:[]
+021255_000023:[]
+023316_000038:[]
+005689_000012:[7, 8]
+013288_000034:[]
+020175_000026:[]
+021481_000037:[6, 12, 15]
+001996_000022:[]
+019676_000031:[9, 16]
+010703_000011:[17]
+000360_000008:[]
+011779_000029:[]
+002370_000032:[17]
+016409_000011:[9]
+022632_000036:[]
+010508_000010:[14]
+002419_000038:[8]
+005353_000017:[3]
+021993_000023:[]
+005908_000012:[]
+005249_000003:[]
+024630_000033:[3, 4, 5, 9, 12]
+016457_000023:[]
+015463_000027:[]
+015028_000031:[3]
+012452_000009:[]
+007323_000038:[8]
+008118_000038:[]
+003945_000004:[]
+024827_000023:[]
+008339_000039:[6]
+013331_000006:[1]
+021653_000037:[]
+005747_000024:[13]
+006821_000004:[10]
+011360_000003:[9]
+015528_000039:[7]
+002575_000004:[7]
+012897_000028:[11]
+014501_000025:[]
+010826_000035:[13]
+017799_000010:[]
+021161_000018:[]
+001097_000022:[]
+005474_000001:[]
+000053_000021:[14]
+001637_000016:[9]
+006798_000002:[15]
+023851_000003:[]
+021436_000038:[]
+024639_000010:[6, 19]
+011240_000025:[3, 11]
+023021_000008:[]
+009733_000008:[]
+005059_000035:[]
+018602_000020:[]
+000516_000034:[0, 7, 15, 19]
+012898_000000:[]
+018151_000037:[]
+003639_000031:[13]
+019960_000022:[]
+019375_000008:[0, 1, 3, 4, 7, 9, 13, 17]
+000239_000018:[]
+010497_000002:[]
+002265_000033:[]
+011165_000009:[]
+020913_000027:[]
+019173_000015:[15]
+010874_000012:[]
+021567_000022:[0]
+010455_000016:[]
+012742_000019:[]
+006949_000012:[]
+009039_000018:[]
+018063_000017:[3, 8, 10, 17]
+013259_000023:[16]
+016011_000000:[]
+007677_000005:[]
+008479_000020:[]
+020333_000038:[]
+010813_000037:[]
+010579_000032:[]
+006506_000001:[]
+016359_000000:[]
+002227_000007:[4, 7, 8, 10, 11]
+012130_000039:[]
+013820_000020:[]
+017582_000035:[]
+017085_000034:[1, 18]
+018461_000029:[11]
+002643_000017:[]
+008451_000005:[]
+000650_000017:[]
+015746_000037:[6, 9]
+018144_000039:[]
+020068_000005:[0]
+024556_000030:[1]
+012454_000036:[15]
+022248_000007:[]
+011659_000000:[]
+000420_000001:[]
+015980_000007:[]
+004355_000012:[]
+011319_000022:[0, 5, 12, 15, 19]
+024587_000039:[]
+019909_000005:[5, 11]
+020717_000039:[7, 15, 18]
+004696_000022:[11]
+021855_000013:[]
+011465_000024:[2]
+001506_000006:[2, 9, 18]
+014204_000028:[4, 5, 7, 8, 14, 17]
+015792_000026:[]
+015460_000025:[]
+017688_000011:[]
+006629_000021:[]
+008912_000029:[0]
+003339_000019:[0, 11]
+023294_000012:[13]
+001774_000019:[]
+018064_000036:[]
+018219_000008:[17]
+004407_000014:[]
+007373_000017:[]
+015575_000021:[5]
+016056_000038:[]
+006594_000031:[4, 10, 14, 15]
+012061_000024:[6, 9, 16]
+003523_000005:[1, 2, 12, 17]
+016489_000007:[5]
+011738_000006:[4, 10]
+018375_000006:[10, 14]
+022235_000021:[7]
+013467_000037:[]
+018450_000006:[11]
+024519_000027:[1, 10, 11, 17]
+009843_000027:[]
+023478_000036:[]
+021898_000018:[12]
+010646_000019:[]
+008393_000010:[]
+001928_000018:[]
+023689_000015:[]
+012870_000037:[3, 9, 19]
+001916_000017:[]
+014362_000007:[0]
+015284_000025:[]
+005120_000032:[10]
+009138_000025:[2]
+021985_000033:[]
+005931_000031:[]
+013484_000018:[2, 12]
+010644_000010:[]
+018850_000038:[]
+019014_000008:[]
+003521_000030:[]
+002064_000036:[]
+021986_000021:[13]
+008364_000022:[]
+020572_000023:[1, 9]
+019306_000001:[]
+018428_000014:[13, 18]
+019967_000007:[7, 19]
+023304_000030:[4, 5]
+019613_000033:[3, 13]
+011568_000007:[]
+002044_000000:[]
+012079_000035:[16]
+010058_000013:[]
+014068_000015:[4, 8]
+000023_000022:[]
+016303_000010:[7, 19]
+008835_000016:[4]
+012817_000014:[]
+000813_000007:[]
+012464_000031:[15]
+014331_000005:[]
+004906_000033:[]
+017676_000005:[5, 7, 17]
+013073_000008:[]
+023391_000026:[1, 2, 5, 7, 14, 15, 17]
+000361_000022:[15]
+007095_000030:[]
+013135_000005:[12]
+023204_000021:[3, 5]
+006239_000027:[]
+020619_000037:[]
+020372_000023:[]
+024939_000020:[]
+004161_000000:[5, 6, 12, 16, 17]
+001751_000038:[1]
+020012_000003:[7, 9, 18]
+007487_000005:[]
+008746_000028:[]
+013113_000005:[]
+024431_000028:[8, 13]
+021447_000033:[16]
+011954_000023:[]
+005320_000007:[1, 7, 18]
+018836_000019:[]
+006679_000028:[]
+012332_000001:[]
+008783_000031:[]
+006462_000029:[]
+011834_000017:[]
+008091_000011:[]
+001769_000012:[5, 9, 16]
+010493_000039:[]
+001106_000003:[]
+007220_000037:[]
+012832_000027:[]
+010065_000022:[0]
+024297_000018:[8, 14]
+001541_000014:[0, 2, 10, 11, 13, 14, 15, 16]
+024009_000000:[12, 15]
+015240_000021:[1]
+016847_000015:[15]
+012262_000020:[]
+003457_000031:[11]
+015510_000026:[]
+009886_000023:[]
+010522_000038:[]
+007540_000036:[]
+019975_000007:[10, 19]
+000140_000031:[12]
+017020_000039:[13]
+007600_000002:[]
+020069_000017:[10]
+003787_000015:[]
+002919_000021:[0, 2, 4, 6, 8, 11, 16, 18]
+017297_000008:[]
+024822_000022:[]
+012408_000018:[2]
+012158_000038:[]
+004187_000000:[]
+011773_000033:[]
+006588_000032:[]
+021145_000019:[0, 2, 5, 6, 16, 17]
+007105_000000:[12]
+009880_000025:[]
+016466_000002:[]
+007288_000035:[]
+017890_000018:[]
+006394_000011:[]
+015856_000004:[]
+009187_000007:[3]
+000217_000007:[5, 7, 16]
+015407_000035:[1, 15]
+010535_000030:[]
+024653_000007:[]
+003041_000013:[]
+012619_000033:[]
+022114_000005:[]
+023799_000020:[]
+004883_000007:[0, 7, 8, 9, 19]
+017103_000033:[]
+002772_000024:[]
+010945_000028:[]
+004320_000016:[16]
+002473_000000:[]
+010108_000018:[]
+020054_000033:[1, 6, 15]
+008420_000021:[]
+016041_000025:[]
+017868_000016:[]
+003593_000016:[5, 6, 7, 9, 12, 19]
+017162_000012:[0, 2, 12, 16]
+017534_000000:[]
+008403_000018:[]
+003051_000017:[5, 17]
+014615_000004:[0, 2, 19]
+019237_000029:[7]
+015061_000034:[0]
+014094_000021:[7, 16]
+001144_000027:[]
+014677_000031:[]
+011878_000028:[1, 8, 18]
+022086_000011:[1]
+019704_000025:[5]
+015977_000008:[8]
+003059_000009:[0, 9]
+008565_000026:[]
+014684_000020:[]
+019780_000018:[]
+003502_000009:[]
+016430_000027:[]
+024568_000020:[]
+017955_000037:[]
+019462_000002:[2]
+004762_000038:[12]
+010906_000038:[6, 12, 13, 16, 19]
+017334_000036:[13, 15, 19]
+005527_000013:[10]
+015332_000034:[]
+018169_000027:[]
+009472_000028:[7]
+011534_000034:[2, 3, 4]
+023188_000025:[6, 8]
+010328_000015:[]
+018982_000015:[14]
+024751_000038:[6]
+008194_000004:[2, 18]
+018578_000032:[]
+011888_000008:[]
+020998_000003:[]
+018560_000032:[]
+007032_000006:[]
+010897_000019:[]
+016107_000026:[]
+008224_000030:[]
+024077_000014:[6, 16]
+016866_000013:[1]
+016733_000010:[0]
+004048_000013:[]
+005489_000035:[]
+001985_000020:[]
+002828_000015:[]
+019860_000027:[]
+017842_000034:[3, 4, 19]
+011773_000026:[]
+024451_000028:[]
+015868_000003:[2]
+021183_000001:[]
+006021_000024:[0, 3]
+003760_000017:[19]
+002194_000011:[3]
+001175_000038:[]
+009334_000023:[]
+019330_000036:[]
+005159_000029:[]
+022955_000018:[1, 2, 19]
+012729_000039:[19]
+024950_000008:[]
+022399_000010:[]
+024513_000036:[11]
+010885_000016:[]
+017406_000023:[8]
+013089_000029:[]
+014268_000023:[]
+007750_000033:[]
+013403_000020:[]
+001139_000009:[12]
+001024_000038:[3, 9]
+024440_000027:[]
+001452_000035:[]
+024727_000031:[]
+015563_000013:[]
+018135_000014:[12]
+016871_000018:[6]
+012393_000014:[]
+007506_000019:[5]
+015207_000017:[13]
+009896_000025:[]
+009094_000006:[7, 12]
+020759_000034:[]
+003026_000014:[]
+002482_000029:[]
+001954_000018:[]
+006482_000015:[]
+012594_000017:[13]
+024436_000015:[]
+018442_000038:[10, 15]
+001178_000034:[15]
+006139_000001:[]
+024129_000032:[3, 4, 11, 12, 13]
+019060_000006:[]
+014094_000018:[]
+020429_000021:[14]
+019307_000038:[]
+023092_000013:[]
+001660_000022:[3, 4, 6, 8, 9, 11, 13, 16, 18, 19]
+015167_000015:[0, 16, 17]
+001275_000015:[]
+004268_000039:[]
+020604_000031:[5, 10]
+014141_000014:[]
+020477_000017:[]
+008752_000002:[15]
+005707_000038:[12]
+007778_000010:[2, 4, 6, 11]
+014155_000032:[]
+021289_000018:[0, 3, 7, 10, 17, 18]
+016316_000024:[]
+011979_000000:[]
+002485_000026:[]
+011249_000003:[]
+011416_000003:[13]
+013956_000001:[5, 6, 14, 17]
+010344_000000:[]
+013876_000020:[1, 4, 15, 16]
+020741_000023:[1, 3, 7]
+006709_000027:[10]
+000699_000027:[]
+007990_000039:[10, 14, 16]
+004941_000001:[]
+005078_000011:[]
+006788_000036:[]
+020221_000039:[]
+010564_000027:[13]
+023941_000036:[]
+018104_000001:[]
+005806_000033:[]
+022720_000025:[]
+018667_000038:[]
+000456_000015:[]
+014287_000016:[5]
+007283_000028:[14]
+015499_000008:[2]
+024273_000025:[]
+014705_000022:[0]
+023241_000018:[]
+008542_000037:[]
+001107_000018:[]
+001174_000039:[1]
+015938_000010:[18]
+015681_000039:[9]
+002791_000032:[18]
+004872_000030:[19]
+020740_000008:[1, 7]
+013627_000028:[7]
+023531_000030:[3, 4, 11, 14, 15]
+016187_000013:[]
+012159_000007:[]
+014825_000002:[]
+000078_000011:[3, 4, 14]
+010587_000030:[]
+000437_000006:[]
+023591_000016:[0, 3, 12, 13, 19]
+018358_000004:[9]
+021404_000000:[]
+006407_000020:[]
+020691_000001:[4]
+004828_000023:[]
+022523_000014:[7, 11]
+017025_000007:[]
+002724_000033:[4]
+024407_000029:[]
+010070_000018:[]
+018131_000031:[]
+015226_000012:[]
+022878_000021:[4, 16, 17]
+004554_000019:[]
+024259_000002:[]
+004099_000016:[]
+005782_000019:[0, 1, 5, 6, 17]
+010399_000018:[9]
+008379_000012:[]
+010721_000011:[]
+022664_000033:[]
+012504_000038:[]
+024061_000039:[9]
+007421_000034:[]
+006654_000019:[4]
+005887_000001:[]
+008324_000023:[]
+017179_000020:[]
+006551_000023:[17]
+001526_000013:[]
+021883_000036:[]
+015265_000029:[10]
+011198_000010:[]
+015406_000035:[]
+017436_000033:[]
+003220_000034:[6, 11, 16]
+007521_000021:[11]
+011413_000017:[]
+009472_000039:[]
+013917_000028:[17]
+010524_000008:[]
+023388_000000:[7]
+003075_000020:[2, 7, 9, 10, 11, 14]
+024668_000016:[]
+011791_000037:[4, 8]
+022031_000020:[]
+017203_000006:[]
+007413_000023:[]
+001500_000033:[]
+005223_000006:[1, 4, 5, 6, 8, 14, 15, 19]
+011945_000015:[1, 9, 18]
+009969_000034:[0, 13, 15]
+005614_000015:[]
+001012_000029:[15]
+016373_000037:[]
+006407_000018:[]
+023417_000016:[]
+004334_000012:[18]
+017486_000011:[]
+010700_000028:[1]
+018703_000006:[18]
+010043_000012:[10, 13]
+002429_000031:[]
+001759_000020:[]
+022138_000012:[]
+023866_000010:[]
+022575_000005:[]
+020987_000039:[]
+012497_000034:[]
+017787_000024:[6, 19]
+012799_000007:[13]
+023580_000012:[]
+019886_000022:[]
+011207_000027:[4, 8]
+019863_000019:[]
+001009_000033:[]
+007576_000024:[3, 19]
+006661_000011:[]
+008700_000024:[6, 11, 17]
+008836_000003:[]
+019863_000031:[]
+001315_000036:[]
+020637_000006:[9]
+001329_000027:[]
+018361_000020:[]
+002133_000000:[]
+023365_000029:[1, 12]
+010985_000028:[]
+013081_000037:[9]
+005710_000011:[7]
+021844_000002:[]
+007607_000027:[]
+023776_000019:[]
+018256_000029:[]
+011112_000010:[]
+021466_000014:[7]
+007691_000022:[]
+008538_000012:[15]
+017497_000034:[9]
+012081_000033:[]
+015322_000006:[]
+019685_000009:[19]
+009750_000026:[]
+016994_000011:[]
+021658_000015:[]
+015945_000020:[]
+023421_000018:[]
+003769_000005:[]
+008938_000009:[3]
+022832_000010:[]
+006849_000036:[]
+000852_000039:[2, 6, 15]
+003622_000022:[]
+024363_000023:[9]
+011858_000010:[]
+013316_000033:[15]
+013718_000012:[15]
+014608_000020:[]
+022580_000020:[4]
+005668_000017:[4]
+014368_000037:[]
+023078_000026:[]
+004200_000019:[]
+002515_000037:[8, 19]
+000840_000031:[5, 6]
+018375_000003:[]
+003751_000001:[4, 13]
+021770_000006:[]
+017775_000018:[]
+006141_000038:[]
+007863_000026:[]
+008599_000007:[]
+017867_000011:[1, 5, 12]
+021016_000029:[5]
+012725_000003:[4]
+011107_000004:[]
+019349_000001:[2]
+023540_000036:[5, 8, 9, 18]
+005355_000016:[13]
+003186_000029:[1]
+005065_000016:[4, 6, 7]
+018082_000016:[]
+014518_000006:[]
+019138_000022:[]
+010584_000034:[0, 4, 7, 14, 15, 17]
+007887_000010:[]
+012112_000004:[3, 7, 13, 14, 15]
+016996_000012:[]
+007801_000014:[2]
+009450_000008:[]
+018822_000012:[]
+022492_000014:[10, 11, 16]
+008263_000033:[5]
+001430_000008:[14]
+010624_000037:[13]
+003309_000037:[6]
+011575_000029:[]
+022095_000018:[]
+008602_000039:[0, 2, 18]
+004986_000016:[]
+009058_000038:[]
+019416_000017:[]
+017797_000011:[]
+003415_000018:[18]
+018199_000013:[]
+009981_000031:[]
+020848_000000:[]
+019166_000014:[]
+020587_000020:[]
+016651_000019:[]
+008100_000033:[]
+018735_000034:[6, 12, 13]
+019523_000006:[]
+000317_000037:[4, 5]
+016834_000029:[5, 11]
+007033_000030:[10, 16]
+002131_000035:[]
+003516_000032:[]
+019686_000010:[1]
+023229_000000:[]
+015308_000014:[]
+003888_000005:[1, 4, 7, 10, 17]
+016452_000009:[3, 9]
+009683_000025:[]
+008963_000022:[]
+020695_000017:[4]
+019353_000027:[3, 5, 6, 10, 11]
+016135_000035:[5, 15, 16]
+013493_000027:[]
+003089_000011:[0, 1, 3, 9]
+010437_000024:[12]
+020202_000021:[8, 16]
+022802_000010:[1, 5, 7, 11, 12, 14]
+022920_000023:[4]
+023429_000027:[7, 8]
+013990_000030:[1, 5, 9, 15]
+005395_000029:[]
+001446_000007:[1, 2, 10, 13, 15, 16, 19]
+018294_000004:[]
+008618_000013:[]
+009760_000038:[]
+004766_000031:[]
+002229_000039:[]
+005080_000022:[]
+004402_000036:[9, 17]
+000233_000015:[1]
+010590_000002:[10]
+002785_000039:[]
+003353_000017:[]
+001842_000010:[]
+021202_000021:[]
+021695_000018:[]
+009724_000006:[0, 1]
+010745_000039:[2, 5, 13, 18]
+019787_000005:[7]
+016652_000016:[]
+001072_000030:[19]
+017165_000017:[]
+014926_000039:[]
+017261_000036:[]
+013093_000008:[1, 3, 4, 6, 18, 19]
+012212_000021:[]
+020521_000004:[11, 18]
+005276_000028:[4, 5]
+016991_000027:[]
+017446_000035:[12]
+007916_000007:[]
+021089_000010:[]
+004469_000017:[]
+019429_000031:[]
+021836_000010:[]
+018414_000013:[]
+001088_000030:[]
+008596_000006:[4]
+017861_000006:[]
+014251_000024:[]
+003174_000009:[0]
+006394_000000:[16]
+015740_000015:[13]
+014992_000001:[]
+021938_000017:[]
+024908_000038:[7]
+017377_000013:[]
+006308_000016:[]
+016642_000011:[2, 16]
+007236_000009:[]
+024003_000022:[5]
+001804_000021:[1, 9]
+014871_000036:[8, 13]
+018380_000009:[]
+006147_000015:[]
+005140_000039:[]
+004275_000001:[]
+005790_000039:[]
+012766_000009:[]
+020994_000030:[]
+017472_000009:[]
+013046_000026:[10]
+002994_000012:[]
+005832_000014:[6]
+006126_000038:[]
+010573_000015:[]
+004196_000036:[6, 15]
+006522_000033:[]
+018787_000039:[]
+010191_000030:[13]
+008408_000017:[]
+005075_000013:[8, 13, 17]
+005469_000015:[]
+021582_000020:[1]
+002963_000039:[]
+016907_000006:[17]
+007550_000037:[11, 16]
+021124_000020:[0, 3, 9, 10, 19]
+007291_000028:[]
+023933_000028:[]
+018549_000009:[]
+022312_000031:[]
+023925_000006:[5, 9, 14]
+008944_000025:[]
+003702_000036:[]
+014695_000005:[6, 9, 10, 11, 12, 15, 17, 19]
+021555_000010:[5, 7, 9, 10, 14, 17, 18]
+005600_000025:[6]
+021168_000013:[]
+018713_000012:[0]
+001572_000011:[]
+019141_000039:[]
+021267_000013:[10]
+000399_000026:[]
+018431_000032:[]
+018374_000037:[]
+009963_000012:[]
+012970_000023:[12, 16]
+010462_000036:[]
+004589_000004:[]
+016693_000019:[1, 8]
+023582_000004:[6]
+018198_000033:[0, 1, 2, 4, 5, 10, 11, 13, 14, 15]
+009799_000030:[]
+005220_000026:[2, 5, 19]
+022637_000007:[4]
+013755_000001:[]
+009353_000024:[]
+017096_000001:[5, 6]
+010055_000007:[]
+005119_000000:[11, 12]
+000606_000017:[]
+009729_000009:[1]
+005227_000032:[]
+021389_000028:[10]
+014947_000016:[]
+019955_000017:[]
+008303_000032:[]
+001407_000019:[0, 8]
+018685_000013:[]
+005573_000017:[2]
+014002_000024:[13]
+014482_000010:[]
+023553_000004:[6]
+013957_000011:[]
+017652_000020:[]
+004760_000033:[18, 19]
+006992_000016:[7, 14]
+005738_000016:[]
+002504_000021:[7, 14]
+018694_000032:[6]
+005035_000018:[3]
+014622_000012:[]
+011560_000022:[]
+014667_000023:[]
+009126_000008:[4, 7]
+002294_000007:[]
+014231_000039:[]
+004727_000000:[]
+023275_000014:[4, 5, 6, 10, 15, 17]
+001740_000037:[]
+020336_000003:[]
+006427_000028:[19]
+006241_000022:[]
+015520_000034:[4, 12, 17]
+001076_000028:[]
+011875_000032:[0, 11, 17, 18]
+018935_000003:[]
+020867_000018:[16]
+000498_000038:[]
+018203_000008:[2, 3]
+016270_000019:[5, 6, 8, 16]
+021003_000021:[3, 4, 7]
+003270_000025:[]
+011275_000012:[]
+024865_000012:[13, 18, 19]
+013352_000002:[11]
+018167_000021:[]
+006945_000008:[10]
+015194_000015:[13, 14]
+006555_000016:[]
+003390_000018:[11, 16]
+003397_000001:[]
+007483_000016:[12, 18]
+022716_000039:[]
+001726_000014:[18]
+002646_000008:[]
+011834_000011:[16]
+012812_000033:[]
+000913_000021:[13, 18]
+016096_000012:[]
+003121_000005:[1, 12, 15]
+008069_000019:[15, 17, 19]
+010532_000000:[]
+008867_000000:[]
+017581_000036:[]
+022001_000013:[]
+001620_000025:[]
+002499_000003:[]
+017025_000033:[]
+009846_000003:[]
+003296_000036:[]
+003178_000026:[]
+021449_000015:[]
+023622_000007:[]
+019817_000037:[]
+003341_000026:[0, 12, 13, 18]
+020045_000036:[]
+016421_000004:[]
+017695_000032:[]
+007766_000008:[]
+008548_000012:[]
+015232_000032:[5, 11]
+006045_000009:[]
+009608_000033:[]
+002961_000028:[]
+005501_000004:[0, 10, 14]
+015572_000019:[4, 5, 17]
+004034_000016:[7]
+022211_000012:[]
+008393_000000:[]
+024941_000031:[17]
+013086_000011:[]
+004559_000039:[7, 8, 11, 14]
+017628_000010:[]
+022173_000018:[3]
+005444_000005:[]
+017376_000035:[]
+020121_000038:[2, 16, 18]
+021570_000036:[]
+000737_000020:[]
+008735_000006:[]
+008026_000033:[12]
+007740_000030:[15]
+004283_000000:[]
+014024_000018:[14, 15]
+003077_000013:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000916_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000916_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..67cdb7d2b50afd4107fe1659f2205447e33a918b
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000916_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+024518_000028:[]
+010930_000013:[]
+017277_000012:[]
+007652_000019:[7]
+007134_000016:[]
+012238_000007:[]
+023568_000014:[1]
+019045_000013:[17]
+000234_000010:[]
+015388_000019:[]
+007878_000006:[9]
+017606_000020:[11]
+004324_000010:[16]
+016584_000014:[3]
+003953_000036:[]
+000333_000013:[5, 14]
+003653_000037:[]
+020706_000019:[3, 5]
+021790_000014:[]
+019795_000015:[]
+010820_000016:[9, 10, 14]
+012146_000029:[]
+015816_000021:[]
+003615_000005:[6, 12, 16]
+022771_000027:[]
+015937_000030:[15]
+012599_000019:[]
+017658_000003:[]
+024150_000035:[2, 19]
+007451_000038:[19]
+016528_000018:[]
+013248_000034:[7]
+008619_000012:[7, 14]
+022279_000029:[]
+016808_000003:[10]
+011613_000009:[1, 5]
+021827_000006:[]
+019959_000018:[]
+014112_000028:[]
+015432_000025:[]
+013696_000038:[]
+009253_000035:[]
+024943_000034:[16]
+024925_000003:[3, 10]
+006252_000027:[]
+013186_000003:[1]
+019124_000037:[]
+020986_000036:[5, 7, 10]
+008027_000037:[2, 3, 8, 15]
+017037_000024:[]
+012271_000031:[9]
+023155_000008:[]
+000726_000023:[]
+012988_000039:[3]
+023683_000018:[3]
+013353_000031:[]
+004757_000004:[12]
+022762_000025:[]
+006005_000012:[]
+012185_000022:[]
+013988_000039:[15]
+007225_000028:[7, 11, 17]
+012064_000023:[]
+002075_000004:[]
+014322_000010:[12, 19]
+022184_000017:[3, 9]
+002306_000026:[8]
+020124_000037:[]
+012475_000016:[]
+001846_000031:[]
+014497_000031:[]
+015887_000017:[6]
+024580_000006:[0, 8]
+003051_000011:[]
+021606_000010:[]
+005377_000039:[]
+024550_000038:[]
+020794_000025:[2, 4, 5, 7, 10, 13]
+022289_000004:[5, 14]
+008598_000017:[]
+003583_000000:[]
+019868_000024:[14]
+020296_000000:[3, 13]
+008906_000027:[]
+002660_000005:[]
+011279_000000:[]
+015506_000023:[0, 1, 9, 10, 18]
+019494_000035:[]
+017269_000004:[10, 14, 19]
+021740_000025:[]
+013104_000028:[]
+003046_000012:[]
+000431_000025:[]
+023277_000006:[]
+001674_000033:[]
+022057_000028:[]
+008228_000036:[]
+023221_000005:[]
+022234_000013:[]
+018884_000017:[]
+012771_000039:[]
+004524_000019:[]
+016544_000032:[]
+010359_000035:[]
+002397_000026:[]
+004409_000008:[]
+007659_000014:[]
+016280_000032:[]
+015442_000011:[17]
+002733_000011:[]
+021951_000028:[]
+019512_000009:[11]
+013775_000012:[]
+023921_000035:[]
+007916_000033:[15, 18]
+018394_000019:[3, 8, 13, 14, 18, 19]
+018844_000035:[13]
+014414_000012:[]
+016024_000036:[]
+014855_000038:[4, 5, 16, 17]
+024624_000036:[17]
+023495_000003:[]
+000979_000003:[]
+001957_000001:[]
+016979_000038:[]
+016724_000031:[7, 13, 18]
+000422_000021:[3, 12, 14]
+010384_000007:[15, 16]
+022728_000019:[]
+007858_000007:[]
+010934_000029:[]
+008535_000025:[]
+017346_000014:[10, 11]
+019153_000028:[]
+012546_000030:[]
+008952_000028:[3, 19]
+023091_000034:[]
+010522_000010:[11]
+016210_000029:[8]
+008211_000006:[]
+015788_000009:[]
+007614_000036:[]
+021327_000028:[]
+019891_000033:[]
+024479_000029:[]
+002292_000019:[]
+007516_000028:[5, 11]
+011880_000027:[2, 4, 16]
+008533_000010:[]
+000798_000030:[14]
+024967_000020:[9]
+011939_000006:[11, 18]
+004881_000019:[3]
+021028_000018:[]
+019016_000020:[]
+011841_000015:[]
+024848_000015:[]
+020938_000019:[]
+019377_000019:[]
+024515_000022:[]
+006661_000024:[9]
+002448_000028:[]
+002344_000032:[]
+007901_000027:[9, 15]
+000629_000016:[]
+006842_000003:[]
+019908_000001:[7]
+010050_000024:[16]
+015422_000002:[]
+023597_000022:[]
+012918_000015:[10, 16, 19]
+000192_000014:[]
+024024_000026:[2]
+013307_000035:[]
+023774_000032:[]
+000120_000004:[3]
+009764_000014:[]
+020373_000019:[6]
+021653_000007:[]
+018929_000010:[18]
+000484_000001:[]
+017195_000016:[]
+019749_000028:[3, 8]
+006763_000020:[4]
+014791_000019:[0, 3, 14, 15, 17]
+011341_000015:[]
+002210_000008:[]
+009836_000032:[17, 18]
+010166_000031:[16]
+019100_000026:[]
+022506_000006:[8]
+007491_000016:[8]
+009031_000037:[8]
+021842_000000:[]
+006368_000036:[17]
+000455_000027:[]
+023928_000026:[]
+012329_000035:[]
+009733_000010:[]
+000312_000014:[0]
+024301_000002:[]
+016609_000027:[]
+001910_000013:[8, 9, 14]
+017294_000018:[]
+022583_000008:[2]
+015767_000005:[]
+017784_000009:[3, 9, 12, 19]
+003003_000015:[3, 10]
+011540_000022:[]
+016623_000024:[]
+004346_000005:[]
+019748_000002:[0, 1, 5, 16]
+007957_000022:[]
+012136_000037:[]
+014355_000024:[3, 4, 14, 15]
+010959_000002:[]
+023458_000027:[]
+020294_000033:[]
+000797_000037:[]
+018459_000038:[]
+008641_000004:[7, 11]
+007634_000004:[]
+008206_000002:[3, 11]
+012059_000039:[0]
+000593_000031:[]
+001015_000036:[5]
+015634_000034:[]
+024161_000003:[0, 9, 10, 15]
+016300_000022:[]
+005770_000021:[2, 3, 4, 5, 13, 16, 18, 19]
+009300_000009:[]
+011086_000038:[]
+015032_000000:[5, 17]
+018851_000033:[]
+010724_000028:[17]
+002556_000023:[5, 15]
+011976_000010:[]
+024943_000013:[]
+023371_000028:[7, 12, 16]
+023172_000015:[3, 4, 5, 15]
+016321_000017:[]
+021429_000015:[17]
+005367_000030:[]
+008798_000022:[]
+013766_000021:[3, 17]
+022865_000007:[0, 6, 11, 17]
+012711_000008:[5]
+018464_000010:[]
+014996_000029:[0]
+012029_000001:[5]
+017096_000027:[5, 7, 12, 13, 16, 18, 19]
+017909_000008:[2]
+004517_000035:[5]
+017788_000001:[]
+005390_000005:[]
+020337_000031:[5]
+005233_000038:[]
+001891_000022:[15]
+021006_000003:[]
+015930_000010:[]
+008623_000013:[]
+013817_000003:[]
+024001_000006:[]
+012425_000023:[6, 11, 15]
+004172_000003:[6]
+021692_000037:[]
+005669_000000:[5]
+020956_000035:[10, 17]
+002413_000010:[]
+022051_000012:[2, 8, 17]
+020391_000032:[]
+013799_000037:[]
+022465_000002:[]
+024362_000001:[]
+002057_000012:[]
+001814_000001:[]
+004759_000010:[7, 11, 18]
+006951_000010:[0, 3, 6]
+004264_000015:[13]
+007937_000005:[]
+017708_000036:[]
+009548_000028:[]
+024272_000014:[11, 19]
+002650_000017:[]
+012277_000020:[11, 15]
+005610_000002:[7]
+008656_000010:[7]
+024635_000011:[5]
+017619_000010:[]
+019437_000010:[1, 7, 14, 17]
+010047_000019:[]
+001021_000028:[]
+002176_000006:[]
+015462_000030:[]
+017685_000037:[]
+011627_000025:[1, 5, 8, 9, 11]
+016257_000015:[]
+010638_000024:[]
+023349_000012:[]
+016324_000011:[]
+022874_000013:[]
+013369_000014:[]
+008258_000009:[8, 14, 17]
+012246_000026:[]
+017944_000015:[]
+008811_000001:[]
+023466_000001:[4, 9]
+009429_000015:[]
+001853_000038:[]
+012672_000021:[]
+006389_000036:[]
+022467_000020:[]
+004093_000008:[]
+010002_000009:[]
+012895_000030:[18]
+017870_000014:[0, 19]
+024128_000013:[]
+009861_000032:[]
+024259_000033:[1]
+008788_000023:[9]
+021194_000012:[10]
+016579_000002:[12]
+019329_000028:[4, 5, 6, 7, 8, 10, 12, 19]
+009694_000031:[9, 14]
+006898_000016:[]
+018694_000022:[6]
+019370_000023:[]
+009046_000009:[]
+003985_000021:[6]
+009636_000018:[]
+006763_000001:[8, 9]
+001514_000002:[]
+015984_000012:[14]
+013320_000008:[]
+006372_000023:[]
+011812_000032:[8, 16]
+007868_000019:[2]
+024834_000009:[]
+005984_000014:[]
+018151_000023:[]
+022167_000030:[17, 18]
+006182_000013:[0, 4, 7, 9, 10, 12, 14]
+007835_000035:[]
+006546_000011:[9, 19]
+016493_000015:[]
+003268_000029:[]
+006254_000011:[]
+014649_000004:[]
+010276_000037:[2, 10, 18]
+002630_000013:[0, 1, 19]
+003647_000036:[]
+009833_000008:[]
+003473_000030:[]
+008871_000012:[]
+013404_000000:[]
+018639_000014:[]
+020453_000024:[0]
+011989_000007:[]
+018797_000025:[0]
+000785_000015:[]
+020757_000036:[]
+018499_000010:[]
+003244_000003:[]
+022555_000027:[]
+021507_000017:[15]
+009811_000009:[12]
+024622_000008:[1, 2, 6, 7, 8, 14]
+001916_000010:[11]
+023377_000033:[]
+016777_000010:[]
+005968_000003:[]
+020335_000028:[]
+010727_000019:[]
+021752_000004:[]
+017248_000037:[]
+013440_000007:[19]
+008891_000028:[]
+004895_000002:[1, 2, 3, 7, 17]
+011852_000012:[]
+001641_000001:[5, 8]
+010345_000039:[]
+015649_000008:[]
+010430_000030:[7, 17]
+010206_000039:[]
+024731_000003:[]
+009509_000034:[]
+022931_000019:[1, 6, 9, 19]
+012220_000006:[11]
+000732_000004:[]
+010716_000029:[]
+000639_000030:[]
+000495_000002:[]
+004995_000015:[]
+017064_000035:[]
+014064_000027:[]
+008233_000007:[]
+023094_000004:[11, 18]
+001842_000014:[]
+017862_000021:[]
+007830_000012:[]
+008278_000019:[]
+006368_000016:[]
+004326_000020:[]
+015678_000036:[1, 6, 8, 9, 14, 18]
+002302_000021:[1, 7, 12, 19]
+020758_000012:[]
+004949_000005:[18, 19]
+017109_000019:[2, 3, 7, 8, 10, 11, 13, 17]
+019084_000014:[]
+011997_000035:[]
+024430_000019:[]
+002408_000003:[]
+021231_000000:[]
+016918_000010:[]
+019826_000022:[]
+013048_000039:[]
+003626_000002:[]
+015253_000005:[]
+015323_000032:[]
+019103_000014:[]
+022236_000028:[]
+009497_000038:[]
+014641_000009:[]
+013080_000027:[]
+000206_000039:[]
+020532_000021:[3]
+004801_000019:[]
+007625_000027:[]
+010940_000024:[2, 4]
+009809_000018:[2]
+008723_000028:[]
+013378_000033:[]
+013986_000008:[]
+022354_000017:[]
+018034_000039:[]
+018110_000009:[]
+023627_000013:[]
+007468_000020:[6, 10, 12]
+013271_000031:[1, 9]
+016284_000037:[]
+000275_000032:[]
+006973_000002:[]
+017193_000013:[10]
+005970_000005:[]
+002043_000027:[]
+020558_000033:[]
+013441_000007:[]
+023859_000001:[]
+018021_000029:[10, 12, 18]
+021240_000030:[]
+003078_000026:[3, 4, 7, 12, 15, 19]
+015755_000003:[5]
+016958_000036:[9, 16]
+020622_000039:[]
+006793_000011:[]
+023392_000020:[]
+024857_000001:[]
+001824_000039:[10, 13, 16]
+024225_000009:[4]
+008192_000003:[10]
+015810_000015:[0]
+001077_000007:[]
+014585_000004:[]
+009960_000025:[]
+016600_000022:[]
+022565_000003:[]
+004476_000037:[]
+006013_000017:[8, 17, 18]
+007962_000034:[]
+007089_000007:[19]
+019641_000008:[]
+016572_000022:[2]
+022141_000033:[7]
+006260_000020:[]
+023569_000035:[]
+005791_000030:[4]
+021193_000035:[]
+001791_000020:[9]
+015854_000010:[6, 7, 9]
+007401_000030:[]
+023356_000026:[6]
+023439_000021:[]
+007338_000016:[]
+008871_000011:[1, 15]
+020098_000001:[1, 2, 12]
+021078_000025:[]
+003431_000002:[6, 18]
+023641_000034:[]
+023060_000025:[]
+016271_000015:[]
+012335_000024:[]
+019701_000024:[]
+023893_000018:[0, 2, 8, 9, 10]
+005884_000007:[]
+024906_000008:[0]
+011613_000031:[0, 5, 13]
+023891_000002:[2, 6, 8, 18]
+017314_000002:[]
+001351_000017:[0]
+012627_000024:[]
+013460_000025:[]
+024591_000013:[]
+001476_000008:[]
+020232_000010:[]
+016479_000028:[5]
+020424_000038:[]
+002504_000014:[3, 7]
+000872_000020:[18]
+023917_000014:[]
+015689_000036:[]
+024865_000025:[]
+016271_000006:[7]
+023872_000015:[1]
+015476_000006:[18]
+002183_000039:[]
+003698_000036:[]
+001762_000035:[4]
+013030_000020:[]
+012868_000011:[12]
+019692_000026:[3]
+013063_000023:[]
+023914_000035:[]
+009134_000035:[1, 11]
+020511_000034:[2, 18]
+000181_000038:[]
+004954_000004:[1, 2, 3, 4, 5, 6, 8, 10, 13, 16]
+012079_000005:[16]
+005909_000033:[]
+005751_000006:[]
+000162_000036:[16]
+005794_000007:[]
+008287_000000:[]
+000648_000022:[0, 8, 14, 16, 19]
+015168_000021:[]
+022684_000014:[]
+004451_000030:[]
+019063_000003:[0]
+007212_000003:[3]
+014584_000022:[]
+019936_000003:[]
+020426_000002:[]
+003861_000013:[]
+014481_000033:[]
+000828_000022:[16]
+018745_000027:[]
+008501_000025:[12]
+019082_000001:[]
+001175_000028:[]
+016773_000037:[]
+022925_000027:[]
+014991_000032:[5, 6]
+014408_000018:[5, 7, 8, 13]
+000253_000034:[12, 14, 17]
+008610_000032:[]
+018743_000006:[0, 7]
+001582_000013:[7]
+015154_000033:[5]
+013267_000004:[7]
+007863_000014:[2]
+024155_000023:[]
+010968_000020:[]
+017576_000034:[]
+017829_000038:[]
+012739_000026:[]
+003249_000019:[]
+000507_000014:[6]
+017071_000034:[18]
+010557_000007:[]
+001662_000008:[]
+013338_000006:[11, 15, 17]
+004183_000018:[]
+011521_000039:[15]
+022412_000015:[]
+020061_000001:[2]
+018947_000001:[]
+018044_000006:[]
+012358_000005:[5]
+017823_000026:[]
+010262_000026:[]
+015385_000003:[]
+022796_000008:[4]
+010019_000022:[]
+024098_000013:[4, 15]
+016548_000005:[6]
+004111_000006:[]
+020751_000003:[3, 8]
+024068_000034:[]
+018691_000030:[10, 18]
+012565_000031:[8]
+005714_000009:[4, 7, 9, 18]
+012457_000005:[3]
+003897_000029:[15]
+013763_000038:[]
+017829_000031:[6]
+000521_000038:[]
+020955_000032:[1, 2, 3, 6, 10, 13, 14, 15, 18, 19]
+006223_000031:[4, 5, 8, 9, 15]
+015539_000010:[]
+004094_000035:[]
+010317_000005:[]
+020728_000025:[3, 18]
+008136_000009:[]
+023284_000033:[]
+011153_000005:[3, 4, 5]
+000493_000020:[]
+023312_000038:[]
+012950_000000:[]
+014787_000013:[]
+011774_000026:[4]
+016895_000009:[]
+002503_000012:[10]
+014538_000009:[]
+011795_000031:[]
+009373_000004:[12]
+000793_000022:[17]
+016202_000023:[2, 12]
+003333_000009:[]
+007940_000037:[]
+018733_000024:[6]
+011938_000031:[]
+017438_000002:[0, 1, 4, 8, 10, 18]
+016449_000037:[]
+018767_000025:[5, 11]
+003083_000004:[]
+016540_000010:[]
+008117_000034:[15, 18]
+014129_000025:[7, 8, 16, 17]
+014831_000030:[5]
+021046_000009:[11]
+024864_000039:[3, 18]
+020923_000025:[]
+016751_000034:[]
+004126_000013:[]
+024028_000009:[0, 15]
+006576_000013:[5, 7, 10, 15, 17, 18]
+021612_000003:[19]
+017527_000030:[]
+015969_000016:[]
+006456_000012:[]
+009097_000023:[1, 2, 4, 5, 6, 7, 12]
+002706_000009:[11]
+021517_000027:[]
+009268_000010:[]
+016293_000034:[8]
+013562_000037:[3, 6, 8, 9, 10, 11, 16, 17, 19]
+012217_000008:[11]
+015053_000030:[]
+022573_000027:[]
+022916_000017:[5, 18]
+013055_000001:[1, 4, 9, 10, 13, 17, 19]
+000464_000023:[]
+002866_000004:[]
+008513_000007:[]
+007680_000030:[]
+023614_000005:[]
+009641_000002:[4, 14]
+008492_000013:[4, 8, 9, 13]
+002974_000008:[]
+006877_000001:[]
+019634_000024:[1, 13]
+020769_000009:[4]
+007609_000029:[]
+011481_000024:[16]
+013142_000032:[]
+003832_000022:[12]
+012405_000006:[]
+021075_000028:[12]
+008193_000005:[]
+015876_000013:[13]
+005311_000031:[]
+024899_000013:[15]
+011931_000000:[]
+012676_000031:[4, 6, 7, 9]
+007947_000007:[]
+002044_000022:[]
+004808_000029:[]
+003413_000029:[]
+015897_000007:[]
+001524_000028:[2]
+001700_000021:[0, 7, 13, 15]
+002834_000020:[16, 19]
+010933_000015:[]
+022330_000025:[]
+011647_000039:[]
+001228_000021:[]
+022348_000038:[]
+018090_000019:[]
+016352_000039:[]
+020083_000029:[]
+008182_000033:[]
+015404_000030:[9, 13, 14, 15]
+000298_000000:[3, 18]
+016861_000017:[]
+006375_000009:[]
+004676_000024:[]
+011838_000036:[15]
+003206_000027:[]
+002417_000036:[]
+006481_000029:[2, 8, 11, 17, 18]
+008897_000000:[10, 15]
+016052_000032:[7]
+004317_000028:[14]
+005171_000033:[]
+002854_000014:[]
+004884_000023:[]
+016277_000024:[]
+000448_000029:[]
+020453_000012:[11, 15]
+008948_000009:[13]
+024269_000030:[]
+017969_000006:[]
+013589_000005:[]
+006852_000028:[]
+014913_000023:[]
+024668_000031:[]
+005419_000038:[]
+001058_000029:[]
+024171_000032:[]
+017163_000028:[0]
+016490_000031:[5, 10]
+010124_000027:[7]
+007068_000036:[]
+011803_000003:[]
+009669_000039:[]
+004796_000012:[7]
+015945_000011:[]
+013834_000017:[]
+022081_000037:[]
+007077_000028:[0]
+005469_000016:[16]
+014477_000037:[]
+024532_000014:[3, 4, 7, 13, 16]
+018211_000033:[]
+015698_000035:[]
+018260_000006:[]
+005218_000023:[]
+019167_000037:[3]
+008991_000014:[]
+015381_000030:[7]
+018181_000033:[]
+007127_000035:[]
+000368_000012:[]
+014834_000009:[]
+022514_000007:[0, 7]
+015082_000012:[]
+007413_000013:[4]
+020365_000036:[1, 9, 10]
+008981_000006:[1, 9]
+022936_000001:[]
+007480_000036:[3, 5, 10]
+022149_000025:[13]
+023457_000016:[]
+020920_000038:[]
+004649_000027:[0, 3, 4, 5, 6, 9, 17]
+008664_000001:[]
+016070_000007:[]
+023764_000010:[3, 13]
+023087_000005:[]
+010092_000002:[3, 4, 6]
+007402_000014:[]
+015406_000000:[]
+005492_000033:[12, 16, 18]
+010580_000003:[]
+000181_000024:[]
+019602_000018:[]
+012281_000021:[]
+002499_000014:[6, 7]
+001501_000016:[13]
+007373_000034:[]
+000391_000009:[]
+022907_000013:[]
+021486_000002:[8, 14, 17]
+003657_000016:[]
+010863_000039:[]
+021016_000018:[0]
+019439_000029:[]
+000154_000017:[]
+023756_000004:[]
+014608_000009:[2, 10]
+018115_000025:[19]
+010115_000037:[]
+021897_000005:[]
+009295_000011:[4, 15]
+011835_000032:[0]
+004506_000031:[]
+012418_000028:[]
+024946_000030:[15]
+021658_000019:[]
+006841_000006:[]
+009301_000028:[]
+004233_000000:[]
+010100_000013:[]
+004219_000009:[]
+024294_000016:[3, 13]
+006741_000035:[]
+008756_000018:[7]
+006796_000017:[]
+012072_000011:[]
+014374_000018:[8, 18]
+020788_000024:[15]
+018897_000025:[15, 19]
+013090_000026:[6, 15, 19]
+020823_000011:[14]
+021924_000039:[]
+020234_000038:[10, 12, 19]
+002968_000008:[17]
+002950_000021:[1, 3, 5, 12, 16, 18]
+005333_000025:[]
+016981_000003:[]
+002298_000024:[7, 11, 13, 18, 19]
+022059_000015:[5]
+000763_000030:[]
+010140_000013:[0, 7, 8]
+000881_000021:[]
+009418_000006:[]
+019967_000036:[7, 11, 19]
+014148_000018:[]
+003514_000024:[4]
+019194_000017:[0, 2, 4, 5, 6, 10, 12, 16, 17, 19]
+005103_000030:[7, 10]
+001640_000035:[]
+002178_000004:[9, 13]
+012958_000028:[]
+007625_000010:[]
+022374_000029:[]
+014676_000011:[7, 12, 14]
+016280_000008:[]
+006852_000013:[]
+011337_000013:[14]
+018511_000026:[]
+003663_000035:[5, 9]
+024489_000000:[]
+006253_000030:[1]
+018733_000026:[0, 4, 8, 12, 14, 16]
+020436_000036:[]
+010129_000024:[0, 1, 5, 18]
+013663_000001:[9, 12]
+022519_000029:[]
+005781_000030:[2]
+000500_000009:[]
+003291_000018:[]
+000088_000003:[]
+006808_000021:[3, 4, 8, 13]
+011233_000003:[]
+014820_000007:[5]
+020129_000032:[]
+006646_000014:[]
+009179_000002:[6, 7, 15, 19]
+011980_000036:[]
+013126_000009:[]
+009214_000027:[18]
+021448_000006:[0, 15, 18]
+003493_000037:[]
+003313_000012:[]
+017610_000009:[]
+020172_000021:[]
+020711_000033:[13]
+017682_000005:[]
+023943_000027:[14]
+023747_000021:[7]
+014692_000012:[]
+007466_000000:[10]
+023716_000036:[]
+001457_000021:[]
+003810_000028:[]
+002986_000031:[18]
+022739_000016:[10, 19]
+010630_000025:[]
+024191_000022:[0, 2]
+015496_000010:[4]
+015785_000029:[]
+000204_000002:[]
+008909_000008:[]
+022906_000012:[0]
+011376_000026:[13]
+014099_000032:[]
+003592_000004:[6]
+012311_000009:[]
+014475_000001:[17]
+021505_000023:[]
+009728_000037:[]
+013502_000032:[3, 8, 9, 17]
+003892_000036:[]
+007304_000004:[9, 10, 16]
+020842_000025:[0, 2, 4, 8, 9, 16]
+000106_000007:[0]
+013736_000004:[5]
+021868_000007:[]
+010775_000004:[]
+019744_000027:[1, 6, 7, 14, 15]
+004945_000005:[]
+014577_000019:[]
+004102_000019:[]
+004973_000029:[4, 5, 14]
+019686_000013:[5, 12, 14]
+001470_000013:[]
+014400_000027:[]
+016431_000009:[3]
+005194_000023:[]
+022364_000013:[3, 7, 13]
+002159_000038:[2, 7, 19]
+024457_000003:[]
+018805_000005:[10]
+002072_000030:[1, 5]
+006396_000033:[]
+010189_000013:[]
+006705_000021:[]
+010109_000015:[]
+012461_000034:[0, 2, 10, 15, 19]
+015743_000011:[]
+019953_000028:[]
+012121_000023:[]
+021699_000018:[]
+013333_000038:[]
+008363_000017:[]
+021759_000012:[]
+015833_000001:[18]
+023272_000036:[]
+001013_000002:[]
+022887_000029:[12]
+023660_000000:[]
+012604_000030:[7]
+016044_000002:[]
+016160_000006:[13]
+000086_000029:[]
+013699_000036:[10]
+017969_000026:[1, 8, 9, 11, 18]
+008519_000029:[]
+000084_000032:[10, 17]
+009954_000020:[]
+017557_000007:[5]
+002439_000018:[1, 4, 5, 8, 14, 18]
+003051_000000:[]
+002791_000020:[3, 9]
+024577_000004:[]
+016827_000028:[9, 11, 19]
+006421_000013:[]
+024601_000030:[]
+012227_000012:[]
+010419_000022:[14]
+004756_000010:[]
+023635_000027:[0, 4, 5, 11]
+020126_000038:[]
+011451_000031:[]
+017355_000018:[1, 2, 3, 6, 7, 9, 12, 13, 17]
+004656_000030:[1, 12]
+008671_000015:[2, 4, 11, 16, 17]
+003326_000039:[]
+021953_000029:[]
+004999_000018:[12, 18]
+002348_000034:[]
+017087_000028:[]
+021150_000035:[0, 2, 5, 10, 11, 13, 15]
+001888_000028:[]
+017980_000014:[]
+022691_000003:[13]
+009647_000025:[16]
+012355_000002:[6]
+008410_000010:[12]
+015713_000037:[]
+000386_000009:[6]
+018086_000023:[]
+001038_000020:[0, 3, 14, 16]
+008950_000016:[]
+002811_000036:[]
+021779_000005:[0, 14]
+005364_000012:[7, 10]
+012854_000023:[]
+003422_000018:[]
+022844_000005:[6]
+015620_000001:[]
+009678_000024:[0, 3, 18]
+018583_000028:[]
+017224_000017:[17]
+008373_000035:[1, 9]
+006107_000038:[]
+022825_000001:[1, 10, 12, 16, 18]
+000044_000025:[]
+018045_000022:[2, 12]
+013380_000015:[4]
+008037_000002:[]
+010256_000019:[11]
+002464_000011:[10]
+015371_000008:[]
+020362_000001:[]
+023772_000014:[1, 2]
+004211_000001:[3]
+024508_000012:[6]
+020116_000009:[]
+015051_000018:[]
+013014_000003:[0]
+010182_000018:[]
+003946_000028:[]
+022513_000028:[4, 14]
+011589_000012:[1, 2, 5, 17]
+021646_000020:[]
+015864_000001:[4]
+017326_000029:[8]
+011247_000001:[]
+024327_000037:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000934_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000934_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0ed1228b4e2b0ac7557108b0c69a5b6a9a8eef3e
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000934_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+004537_000032:[]
+015968_000019:[]
+014702_000021:[]
+011219_000016:[]
+012537_000039:[0, 5, 6, 16, 18]
+006433_000021:[5, 10, 13]
+001216_000039:[3]
+012300_000038:[]
+018725_000027:[4]
+023321_000037:[]
+014252_000006:[]
+002119_000020:[]
+003188_000020:[1]
+016750_000006:[6, 7]
+011438_000022:[0]
+006417_000004:[15, 17]
+018806_000030:[]
+019819_000039:[13]
+020724_000011:[]
+024572_000006:[]
+002794_000017:[15]
+011674_000016:[]
+009490_000012:[6, 8]
+021714_000031:[5, 6]
+017340_000026:[]
+001764_000036:[1, 12, 13]
+010128_000005:[15, 17]
+015048_000004:[]
+000266_000037:[]
+018805_000009:[]
+015554_000033:[2]
+020534_000014:[]
+003813_000011:[6, 18]
+019266_000011:[3, 14, 15, 17]
+006894_000006:[16]
+023337_000000:[]
+023625_000013:[]
+024113_000039:[]
+001431_000035:[]
+007733_000018:[]
+001052_000018:[3]
+010902_000002:[0, 3, 6, 7, 8, 9, 16]
+023085_000012:[]
+018071_000005:[]
+015487_000027:[]
+022573_000037:[]
+000193_000012:[]
+002742_000021:[]
+006640_000032:[]
+014142_000026:[]
+009951_000034:[]
+011717_000019:[1, 5, 8, 9, 17]
+023594_000013:[1, 5, 7, 8, 19]
+023246_000003:[12]
+000262_000014:[]
+012547_000022:[]
+024668_000010:[]
+021931_000031:[15]
+004286_000006:[]
+021514_000038:[4, 5, 7, 13, 17, 18, 19]
+002223_000004:[]
+011980_000039:[]
+019137_000031:[]
+011558_000032:[14, 16, 18]
+002684_000025:[18]
+014006_000018:[]
+024676_000031:[]
+013636_000034:[18]
+016782_000030:[9]
+000419_000005:[]
+003790_000034:[]
+010368_000028:[13]
+018075_000036:[]
+002180_000000:[]
+002853_000035:[5, 8, 17]
+003412_000012:[]
+005503_000005:[13]
+005132_000028:[10, 13]
+000898_000029:[3, 15]
+011552_000030:[]
+006254_000015:[11, 14]
+007734_000026:[1]
+013607_000007:[0, 2, 5, 6, 7, 8, 9, 11, 12, 14, 15, 16, 18]
+009626_000030:[16, 17]
+023452_000013:[]
+021053_000006:[0]
+014671_000003:[9, 11]
+019126_000032:[]
+004892_000003:[]
+019560_000033:[13]
+010607_000000:[]
+005413_000010:[]
+017687_000013:[]
+005036_000001:[9, 14]
+000171_000007:[]
+003832_000026:[]
+009293_000009:[8]
+001166_000024:[3, 9, 17]
+000515_000010:[]
+020526_000014:[3, 15, 19]
+009713_000030:[]
+022563_000002:[]
+007330_000024:[]
+022726_000006:[]
+024247_000009:[5, 18]
+016997_000038:[0, 1, 4]
+005020_000018:[]
+005923_000017:[10]
+022416_000001:[]
+011207_000004:[12, 14]
+021057_000007:[]
+003939_000033:[]
+005076_000011:[]
+005973_000000:[]
+021509_000000:[]
+014408_000015:[5, 12, 18]
+008940_000034:[]
+004237_000014:[]
+015434_000013:[]
+011658_000010:[]
+011885_000002:[]
+001463_000032:[]
+017088_000018:[]
+011092_000004:[6]
+004038_000030:[]
+000067_000021:[1, 2, 17]
+017084_000035:[4, 6]
+009664_000017:[]
+006221_000026:[]
+021358_000036:[]
+011878_000037:[1]
+000859_000038:[]
+021318_000012:[]
+008476_000003:[]
+022531_000002:[]
+024425_000016:[12, 18]
+017774_000009:[]
+008208_000012:[]
+017698_000031:[]
+024505_000017:[]
+011301_000037:[]
+009577_000007:[]
+001101_000031:[5]
+005737_000004:[1, 7]
+008073_000003:[]
+004101_000016:[14]
+023553_000027:[]
+013078_000021:[11]
+024385_000000:[4]
+011939_000007:[]
+002546_000035:[]
+023777_000003:[6, 18]
+002600_000011:[]
+020898_000016:[0, 2, 3, 8]
+006020_000015:[]
+022373_000039:[]
+023792_000037:[4, 17]
+015712_000037:[4]
+002636_000025:[5, 8, 9, 10, 16, 19]
+023635_000008:[8]
+009310_000027:[2]
+007961_000031:[11]
+020941_000023:[]
+016737_000023:[]
+009119_000024:[2, 6]
+018040_000022:[]
+002699_000025:[]
+012667_000031:[4]
+003431_000016:[3, 10, 11, 13, 18]
+016041_000005:[15]
+008007_000002:[]
+022171_000028:[18]
+020737_000028:[]
+005408_000031:[8, 9]
+011874_000010:[1, 5]
+009189_000018:[]
+000142_000015:[]
+013524_000003:[4, 12, 15, 18]
+022486_000019:[4, 16]
+009473_000033:[]
+018158_000008:[9, 19]
+020925_000030:[]
+005089_000026:[]
+024119_000005:[0, 9, 10, 16, 18]
+012856_000011:[]
+023767_000037:[]
+016240_000028:[]
+004150_000025:[4, 6]
+003986_000000:[]
+015617_000037:[]
+024485_000018:[]
+012300_000037:[3, 19]
+018988_000039:[]
+005678_000015:[]
+003380_000007:[]
+013119_000023:[]
+023475_000029:[]
+024680_000025:[]
+016605_000028:[]
+021631_000025:[4, 7, 11, 14, 19]
+016733_000038:[]
+002068_000018:[]
+008768_000038:[]
+007706_000019:[]
+016090_000006:[0, 3, 4, 6, 10, 12, 16, 17, 19]
+019013_000020:[13]
+019758_000008:[]
+008539_000013:[]
+014301_000022:[]
+017872_000018:[2, 6, 12, 15, 18, 19]
+011053_000035:[]
+020273_000019:[]
+000742_000018:[]
+000030_000012:[]
+006128_000018:[17]
+024456_000020:[]
+022435_000028:[3, 4, 11]
+017617_000007:[17]
+004365_000021:[2]
+018283_000004:[]
+009266_000029:[]
+011480_000035:[0, 2, 5, 7, 8, 9]
+015335_000013:[18]
+017137_000023:[]
+009712_000011:[]
+021275_000000:[]
+006170_000017:[]
+005835_000036:[11]
+003038_000019:[]
+010130_000014:[]
+003550_000029:[1, 5, 8, 11, 16, 19]
+001633_000022:[]
+010858_000031:[6, 8]
+024262_000023:[1]
+024098_000009:[11, 18]
+021166_000027:[]
+016716_000023:[]
+012556_000016:[]
+009070_000032:[]
+019189_000000:[2]
+005740_000023:[13]
+011329_000031:[]
+002346_000026:[]
+018331_000030:[]
+020360_000033:[]
+021841_000013:[]
+012045_000029:[0]
+009272_000004:[4, 7, 9, 10, 11, 13]
+013449_000031:[0]
+010337_000013:[]
+021501_000027:[0, 4, 6, 9, 10, 13]
+020917_000037:[]
+015415_000013:[]
+004676_000005:[]
+023751_000017:[18]
+003155_000038:[3, 7, 19]
+012746_000022:[]
+007831_000025:[]
+003099_000027:[1, 7]
+007150_000038:[6]
+006503_000039:[]
+006165_000033:[15, 16]
+020719_000028:[11]
+000388_000021:[4, 6, 7, 8, 13]
+013145_000033:[]
+010021_000028:[]
+013528_000028:[10]
+024891_000035:[4, 10, 11, 12]
+008278_000004:[]
+003512_000015:[]
+019801_000025:[]
+001890_000022:[]
+015137_000018:[]
+017780_000025:[]
+016264_000035:[3, 10, 11, 18]
+020990_000009:[]
+016573_000021:[]
+002396_000021:[]
+010656_000011:[3]
+004741_000013:[]
+012335_000004:[1, 2, 3, 17]
+011700_000017:[2, 5]
+007766_000020:[]
+005227_000037:[]
+024829_000017:[]
+007893_000013:[]
+008664_000030:[]
+015249_000012:[7, 12]
+008449_000007:[]
+008034_000039:[7, 10, 17]
+023466_000010:[4, 16]
+015257_000008:[]
+007579_000027:[14]
+000849_000026:[]
+023879_000014:[]
+009666_000000:[5]
+009667_000015:[]
+008804_000002:[]
+003587_000004:[0, 1, 2, 3, 6, 8, 9, 11, 13, 15, 17, 19]
+011340_000020:[]
+001560_000038:[17]
+002079_000035:[14]
+001246_000008:[0, 7, 15, 18]
+023045_000036:[]
+007508_000039:[17]
+021473_000018:[]
+003848_000000:[]
+014527_000034:[]
+018930_000013:[17]
+023403_000030:[]
+009069_000020:[18]
+002420_000010:[]
+018907_000013:[]
+020527_000005:[]
+007050_000038:[10]
+001982_000009:[3]
+010334_000023:[15]
+006579_000006:[]
+023953_000036:[18]
+016817_000007:[]
+023492_000031:[]
+020697_000035:[11]
+010955_000039:[15]
+001604_000031:[8]
+005520_000010:[12]
+017322_000018:[0]
+024912_000019:[]
+013788_000014:[6]
+019794_000002:[]
+011074_000039:[1, 13]
+001794_000004:[]
+004850_000030:[3, 6, 13]
+024007_000002:[]
+015855_000028:[]
+005381_000021:[]
+012025_000008:[]
+021391_000007:[0, 2, 4]
+016677_000031:[9]
+015689_000006:[]
+016792_000025:[]
+019204_000033:[]
+003007_000035:[]
+022629_000016:[]
+012979_000026:[18]
+006652_000018:[]
+016496_000000:[]
+012914_000026:[8, 15]
+001993_000007:[11, 18]
+007587_000006:[12]
+010654_000001:[7]
+024120_000018:[]
+019868_000010:[]
+009693_000031:[5]
+011762_000011:[1, 6, 10, 16]
+016166_000018:[]
+012835_000037:[19]
+009569_000012:[0, 2]
+013002_000003:[1, 8, 10, 15, 16]
+017709_000011:[]
+008720_000033:[]
+000539_000006:[2, 14, 16]
+008950_000028:[3, 4, 5, 6, 13, 14]
+019820_000022:[4]
+004330_000033:[2, 14]
+013843_000022:[10, 17]
+007270_000000:[]
+016247_000038:[]
+012286_000007:[]
+006333_000003:[0, 6, 9, 10, 12, 16, 18]
+016377_000005:[10]
+007522_000031:[]
+013149_000007:[]
+000098_000035:[]
+019895_000023:[]
+021902_000023:[6, 16]
+005541_000003:[10, 13, 18]
+005713_000008:[1, 2]
+010368_000039:[]
+022446_000010:[]
+018761_000005:[4]
+015579_000005:[0, 3]
+014605_000032:[0]
+008577_000037:[8]
+023292_000005:[]
+008365_000001:[4, 8, 9, 10, 11, 14, 17, 18]
+000778_000002:[]
+016411_000035:[1]
+000337_000002:[7]
+002729_000035:[7]
+017667_000015:[]
+001659_000016:[]
+009439_000006:[]
+003928_000027:[2, 5]
+011519_000010:[]
+009885_000021:[1, 18]
+008366_000038:[18]
+015828_000012:[3, 10]
+009712_000005:[]
+022827_000028:[]
+010057_000024:[]
+023431_000027:[6, 8, 15]
+006957_000037:[]
+012791_000012:[]
+014791_000030:[4]
+012360_000034:[0]
+001153_000029:[11, 15, 16]
+020370_000035:[19]
+002880_000034:[]
+004201_000013:[]
+009599_000014:[18]
+016763_000037:[]
+011174_000003:[]
+013007_000000:[3, 5, 13, 14]
+016228_000020:[0, 19]
+023922_000008:[]
+013666_000006:[]
+015195_000014:[2, 5]
+018373_000012:[]
+017831_000009:[]
+007137_000009:[]
+021087_000003:[]
+013653_000004:[11]
+014323_000026:[0, 4]
+022572_000023:[]
+000904_000014:[]
+015411_000020:[]
+006143_000024:[18]
+004786_000005:[]
+015943_000009:[10, 14]
+000184_000030:[]
+022715_000016:[6]
+017690_000009:[16]
+000377_000009:[]
+006813_000023:[]
+018693_000026:[2, 6, 15, 16]
+020772_000009:[]
+024387_000035:[12]
+001137_000005:[]
+010754_000021:[6, 8]
+013433_000018:[18]
+010721_000012:[18]
+024060_000030:[]
+006214_000022:[]
+010871_000002:[]
+005426_000011:[]
+012238_000008:[1, 12]
+020566_000021:[4]
+024467_000003:[14]
+006489_000014:[]
+002272_000018:[]
+005820_000006:[]
+018798_000013:[]
+017680_000015:[11]
+004840_000032:[7, 13]
+009600_000027:[]
+002209_000014:[]
+023528_000023:[0]
+013840_000015:[]
+013466_000026:[]
+006734_000012:[3]
+009186_000011:[]
+009978_000030:[4, 11]
+016311_000034:[]
+008146_000009:[]
+016567_000021:[]
+008825_000022:[]
+009469_000019:[]
+023364_000021:[]
+018782_000007:[]
+021758_000029:[]
+020461_000039:[8]
+007274_000018:[2, 5, 10]
+021989_000034:[]
+022681_000001:[11]
+014086_000008:[16]
+009227_000029:[]
+022217_000003:[10]
+017718_000025:[]
+018994_000014:[5, 8]
+020427_000034:[1]
+024662_000030:[]
+023232_000010:[3]
+008886_000022:[]
+018645_000020:[]
+019436_000038:[9]
+010016_000034:[1, 18]
+003128_000006:[6, 10]
+008310_000021:[12, 13]
+015910_000021:[]
+011143_000007:[18]
+016070_000018:[]
+023846_000016:[2, 3, 6, 8, 9, 10, 11, 12, 13, 15, 18]
+001572_000022:[0, 18]
+001662_000002:[]
+001720_000001:[5, 8, 12]
+007242_000020:[10]
+021163_000006:[]
+008378_000029:[]
+020542_000011:[2, 5]
+022648_000016:[2]
+007062_000012:[]
+004569_000012:[4]
+017837_000005:[]
+013663_000039:[12]
+014293_000028:[5]
+021777_000026:[]
+016732_000005:[3, 5]
+002924_000031:[18]
+004035_000034:[0]
+017169_000033:[]
+020828_000014:[]
+008087_000017:[]
+007178_000031:[]
+003150_000012:[3, 4, 6, 12, 13, 16, 17]
+022336_000015:[6]
+009947_000007:[]
+006246_000019:[3, 13, 19]
+013356_000038:[16]
+015866_000010:[2, 9, 15]
+012555_000027:[]
+010832_000023:[]
+005252_000029:[8]
+000043_000039:[9]
+005440_000032:[]
+024556_000022:[2]
+019755_000007:[2, 11, 17]
+019544_000031:[5]
+022469_000015:[]
+022934_000023:[10, 14, 17]
+014900_000028:[12, 14, 19]
+023686_000016:[]
+014081_000035:[]
+014493_000002:[]
+002081_000037:[]
+002191_000008:[]
+018817_000012:[]
+022626_000025:[0]
+002960_000037:[9]
+012092_000015:[7]
+020901_000005:[0]
+005990_000022:[]
+014453_000030:[8, 9]
+002607_000030:[9]
+020771_000005:[7, 8, 9, 11]
+023541_000006:[]
+010662_000029:[4]
+017252_000001:[2, 4, 6, 7, 10, 11, 19]
+017906_000029:[]
+020186_000018:[]
+007472_000021:[]
+017244_000008:[]
+024366_000032:[0]
+019068_000020:[]
+017152_000011:[]
+021243_000017:[]
+013304_000025:[]
+018544_000011:[13]
+001072_000019:[]
+008053_000006:[4, 5, 8, 15, 17]
+008267_000011:[]
+005607_000015:[3, 15]
+016227_000039:[]
+003238_000015:[]
+010395_000034:[]
+000523_000018:[]
+007086_000011:[]
+006092_000006:[]
+002889_000036:[3, 12]
+005535_000014:[3]
+020092_000026:[]
+005117_000034:[]
+018095_000005:[]
+013800_000034:[7, 8, 10]
+005938_000027:[6, 14]
+020675_000018:[]
+009521_000038:[0]
+017820_000025:[]
+005194_000030:[]
+022677_000036:[]
+021997_000036:[]
+000286_000011:[0, 5, 8, 9, 12, 14]
+004850_000034:[3]
+007601_000035:[0, 1, 2, 10, 15]
+005581_000019:[]
+009055_000002:[7, 13, 16]
+017156_000001:[10]
+023736_000016:[]
+012771_000032:[]
+007720_000028:[]
+007477_000018:[3]
+009830_000026:[]
+004165_000012:[]
+009501_000007:[6]
+008993_000039:[9]
+017581_000008:[1, 4, 5, 6, 12, 18]
+016055_000011:[6, 12]
+000769_000028:[0, 6, 9, 12, 13, 14, 16, 17]
+009990_000000:[4, 6]
+015619_000006:[3, 11]
+007751_000027:[]
+024890_000025:[3]
+006511_000036:[1]
+019297_000011:[19]
+007328_000030:[6]
+021394_000033:[10]
+017427_000029:[]
+023700_000015:[10, 13]
+012130_000009:[]
+018630_000014:[2, 7, 19]
+016000_000010:[]
+022657_000006:[4, 7, 18, 19]
+023777_000007:[]
+022993_000033:[18]
+004577_000016:[]
+011077_000025:[]
+011079_000032:[]
+013381_000023:[]
+009452_000029:[1, 4]
+001497_000004:[]
+000914_000033:[1, 6, 7, 10]
+005299_000010:[4]
+021120_000030:[15]
+002635_000003:[]
+014607_000032:[10]
+021159_000010:[]
+021916_000009:[]
+007641_000017:[9]
+016653_000005:[]
+020163_000006:[]
+018461_000025:[]
+021663_000018:[]
+001909_000005:[]
+016155_000030:[]
+005600_000000:[1, 3, 4, 10, 15, 19]
+001016_000021:[]
+019638_000000:[]
+000672_000001:[]
+010703_000016:[]
+004658_000011:[14]
+011656_000030:[]
+018605_000025:[15, 17]
+004246_000029:[2, 9]
+020732_000018:[4]
+006181_000000:[]
+009229_000016:[]
+010709_000016:[0]
+017680_000013:[9]
+020752_000031:[]
+001163_000003:[]
+003473_000003:[]
+021337_000009:[]
+019533_000003:[1, 12, 17, 18]
+000807_000019:[]
+009615_000030:[17]
+024355_000008:[]
+018473_000005:[2, 7]
+022631_000005:[]
+018317_000008:[]
+006864_000013:[]
+018277_000037:[]
+006209_000016:[]
+019321_000038:[5, 8, 13, 15, 19]
+008540_000021:[15]
+006324_000031:[3, 9, 10, 11, 18, 19]
+018732_000012:[]
+005875_000010:[]
+004547_000002:[]
+024386_000002:[]
+010844_000013:[0]
+021250_000023:[]
+014483_000039:[12]
+008240_000002:[9]
+011740_000003:[14]
+021811_000038:[0, 5, 16]
+002610_000027:[7]
+020561_000033:[]
+017352_000023:[]
+002100_000031:[]
+016009_000015:[12, 18]
+019738_000019:[7, 8, 11, 13]
+004489_000036:[]
+005004_000012:[18]
+012275_000016:[4, 11, 13, 15]
+017863_000026:[12]
+024885_000007:[5]
+016751_000021:[1, 10, 12, 15, 19]
+020536_000003:[]
+011315_000000:[]
+019234_000037:[]
+010021_000023:[]
+013535_000019:[]
+019906_000037:[]
+023206_000006:[]
+002876_000027:[0, 5, 6]
+023611_000003:[9]
+023999_000039:[1, 11]
+009764_000031:[]
+001982_000039:[3, 15]
+005869_000021:[13]
+013738_000032:[0, 5, 6, 9, 10, 12, 14, 15, 17, 19]
+012770_000022:[1]
+020193_000026:[3, 7, 8]
+019401_000031:[0, 8, 17]
+004184_000001:[]
+023010_000000:[]
+004904_000030:[15]
+022028_000029:[]
+005431_000018:[2]
+013603_000016:[1]
+012530_000010:[8]
+013486_000002:[1, 2, 3, 8, 9, 12, 13, 15, 16]
+001091_000023:[]
+006478_000011:[]
+019767_000013:[]
+012224_000025:[]
+003875_000032:[]
+014227_000008:[9, 18]
+017934_000038:[]
+004492_000020:[5]
+012266_000032:[0]
+022723_000032:[]
+008053_000030:[15]
+021728_000006:[]
+023176_000039:[]
+023034_000011:[11, 12, 17]
+009113_000033:[]
+018882_000029:[6]
+003653_000032:[]
+017869_000003:[3, 5, 8]
+002312_000036:[2, 3, 6, 11, 13]
+001500_000017:[]
+013782_000037:[]
+017157_000021:[4]
+009182_000037:[7]
+020426_000017:[]
+012759_000036:[]
+003537_000006:[]
+005541_000010:[]
+002197_000032:[]
+013035_000027:[]
+012198_000031:[18]
+004740_000006:[6, 17]
+017335_000030:[14]
+015159_000024:[5, 7, 14]
+003766_000002:[6, 8, 9]
+009413_000007:[14]
+009545_000014:[]
+016327_000036:[10, 15, 18]
+008026_000023:[]
+017074_000016:[9]
+023578_000007:[4, 7, 10, 12, 14, 17, 18]
+017385_000032:[]
+013213_000000:[]
+000936_000010:[]
+006806_000032:[]
+008677_000015:[4]
+017196_000003:[]
+007067_000033:[]
+003525_000010:[]
+018191_000038:[]
+018263_000014:[5]
+017486_000006:[]
+004565_000013:[]
+005565_000028:[8]
+003137_000016:[4, 10]
+014225_000023:[]
+000000_000017:[11]
+023035_000003:[]
+005194_000027:[]
+017550_000030:[]
+019567_000036:[]
+022150_000019:[6, 11, 19]
+012437_000010:[]
+014925_000026:[0]
+009921_000028:[14]
+024293_000010:[]
+012375_000003:[]
+018159_000039:[]
+006082_000002:[18]
+003220_000029:[]
+006941_000022:[8, 16]
+002404_000026:[5]
+012316_000006:[]
+024246_000002:[6, 12, 14]
+022705_000028:[]
+011383_000022:[]
+008771_000034:[16]
+021330_000008:[16]
+019135_000035:[]
+022732_000006:[]
+002955_000023:[]
+007917_000032:[]
+021980_000022:[12, 15]
+016020_000004:[15]
+010858_000006:[]
+024834_000011:[]
+009721_000025:[]
+011525_000020:[]
+000229_000033:[]
+021921_000013:[]
+006920_000032:[]
+007410_000030:[17]
+021558_000001:[3, 7, 10, 13]
+005048_000038:[9]
+004616_000034:[]
+005106_000025:[]
+001237_000039:[]
+019067_000016:[1]
+004006_000020:[]
+023054_000033:[]
+002858_000033:[]
+016529_000025:[]
+003020_000019:[]
+013709_000038:[]
+007706_000004:[]
+012851_000004:[2]
+003065_000023:[]
+013028_000015:[]
+012932_000039:[]
+014587_000000:[10]
+020475_000022:[]
+000276_000037:[]
+002641_000038:[1, 9]
+017024_000023:[]
+002423_000023:[8]
+006586_000023:[2, 7, 13]
+022341_000022:[]
+006156_000015:[]
+013061_000030:[]
+006447_000001:[]
+019098_000000:[]
+000824_000027:[4]
+019391_000023:[3, 7, 8, 10, 14, 18]
+021392_000032:[]
+024443_000018:[]
+009923_000026:[19]
+000289_000022:[]
+003584_000021:[9, 18]
+016554_000027:[]
+009012_000014:[2, 15]
+023810_000020:[]
+021345_000006:[1, 2, 6, 12, 13, 16]
+021507_000031:[13]
+003365_000003:[5, 10, 14]
+009419_000001:[7]
+003859_000017:[]
+020829_000024:[]
+020723_000008:[11]
+018657_000033:[]
+012973_000024:[]
+012712_000023:[1, 16]
+004117_000004:[11]
+013562_000032:[]
+024938_000015:[]
+012854_000004:[4, 16]
+006913_000020:[]
+013081_000033:[]
+021327_000034:[]
+018930_000026:[1, 11]
+004503_000018:[]
+005228_000018:[]
+009712_000022:[]
+023246_000010:[]
+011943_000012:[]
+001916_000027:[]
+024936_000030:[]
+024334_000000:[1]
+017986_000034:[]
+000787_000017:[]
+019671_000033:[]
+005897_000004:[2, 6, 11, 17]
+000209_000023:[]
+013309_000004:[17]
+006684_000003:[8, 13]
+022790_000033:[]
+020513_000033:[1]
+003682_000006:[]
+020008_000017:[]
+008905_000039:[]
+010162_000003:[2, 15]
+017541_000039:[]
+001018_000020:[]
+017589_000009:[]
+002555_000009:[5]
+004948_000035:[]
+022533_000007:[1, 2, 3, 6, 8]
+018191_000003:[]
+002700_000011:[]
+014620_000015:[]
+023636_000016:[]
+012472_000013:[]
+023951_000009:[]
+001098_000034:[2, 9]
+011461_000039:[]
+011926_000002:[]
+002721_000036:[]
+007339_000033:[7]
+010078_000008:[]
+011847_000017:[]
+018132_000008:[]
+018703_000014:[]
+013223_000003:[0, 9, 17]
+004242_000003:[]
+011893_000005:[10]
+006762_000007:[12, 19]
+021655_000038:[]
+002475_000033:[6, 8, 14]
+008622_000039:[]
+016160_000003:[]
+021561_000031:[0, 4, 16]
+007122_000022:[]
+004194_000005:[]
+011843_000032:[]
+001283_000018:[]
+007345_000029:[8]
+001523_000024:[]
+018460_000023:[0]
+011274_000038:[]
+022233_000009:[]
+021164_000007:[]
+002584_000001:[]
+008475_000029:[]
+011117_000009:[]
+010855_000034:[]
+016169_000016:[]
+004813_000038:[]
+001783_000016:[3, 7]
+023537_000032:[3, 4, 6, 7, 13, 16, 19]
+005914_000011:[5]
+012264_000025:[]
+024278_000000:[]
+024445_000031:[15]
+022348_000023:[]
+007103_000039:[]
+020381_000010:[]
+007602_000001:[4]
+022169_000013:[]
+022031_000036:[]
+023750_000008:[0]
+016333_000021:[19]
+020158_000003:[2]
+007494_000017:[14]
+007378_000011:[]
+014864_000000:[]
+012743_000019:[]
+018771_000038:[]
+009352_000028:[]
+002671_000003:[19]
+012381_000021:[0]
+011978_000020:[]
+014392_000010:[]
+024816_000015:[4, 10]
+007531_000008:[]
+008473_000032:[3, 8, 19]
+002917_000037:[]
+004178_000016:[]
+010350_000020:[]
+005710_000024:[]
+011221_000022:[]
+012320_000036:[]
+008999_000036:[]
+022556_000035:[0, 18]
+012407_000038:[]
+019916_000016:[]
+002350_000038:[]
+012842_000037:[]
+024993_000028:[]
+022059_000011:[5]
+007068_000022:[]
+018394_000001:[]
+019402_000026:[2]
+022842_000031:[]
+010451_000019:[]
+023831_000033:[]
+010144_000021:[2]
+019428_000034:[]
+005929_000017:[]
+017215_000039:[19]
+013752_000006:[1, 3, 5, 6, 9]
+021816_000034:[]
+000003_000023:[3, 11, 12]
+018099_000039:[]
+022688_000010:[]
+020423_000031:[19]
+022892_000031:[]
+024871_000027:[]
+009649_000021:[]
+024443_000036:[]
+005230_000020:[]
+022852_000011:[]
+000850_000034:[]
+004032_000012:[]
+012465_000016:[]
+007982_000028:[]
+009199_000002:[]
+018785_000025:[]
+024966_000020:[]
+007690_000039:[]
+018995_000021:[]
+009465_000027:[13, 14, 15, 16]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000945_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000945_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1f211c7f5e660f89da494a3779a88b76bb199816
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000945_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+006569_000022:[1, 7, 16]
+011414_000001:[6, 8]
+013891_000017:[17]
+004381_000001:[19]
+023783_000014:[]
+002254_000002:[]
+023034_000007:[11]
+008405_000029:[0, 18]
+010283_000015:[10]
+003019_000030:[]
+011157_000004:[2, 8, 17]
+001021_000002:[]
+008042_000020:[]
+001782_000026:[]
+003618_000031:[6, 8]
+013118_000001:[]
+007990_000016:[2, 5, 10, 13, 14, 15, 16, 19]
+006845_000009:[13, 15]
+019821_000015:[]
+010904_000017:[]
+019139_000032:[]
+016199_000001:[]
+020401_000030:[2, 4, 7, 13]
+023695_000035:[3, 5]
+013267_000007:[13]
+013373_000013:[]
+000793_000024:[9, 13]
+000196_000029:[]
+003455_000031:[6, 8, 14]
+023612_000018:[]
+005384_000028:[0, 5, 8, 17, 18]
+021485_000013:[]
+001772_000000:[]
+012812_000023:[10]
+012919_000017:[5]
+016099_000000:[10, 12]
+012107_000025:[8]
+002908_000004:[]
+022104_000004:[0]
+014598_000009:[]
+013521_000015:[]
+016170_000009:[10]
+011615_000035:[]
+017475_000019:[1, 10, 17, 18]
+011770_000014:[5]
+001853_000032:[3, 9, 10]
+018293_000032:[]
+006874_000002:[6, 16]
+024845_000008:[11]
+018813_000003:[]
+016002_000029:[]
+019009_000011:[]
+016635_000024:[]
+011066_000030:[0]
+004998_000029:[]
+002831_000000:[]
+015781_000030:[]
+012495_000010:[]
+007301_000035:[]
+007452_000019:[]
+011666_000018:[]
+019061_000010:[14]
+017873_000018:[3, 4, 17]
+019770_000031:[1, 2, 9, 10, 13, 14, 17, 18, 19]
+011762_000024:[1, 3, 6]
+012078_000005:[12]
+005184_000014:[]
+024144_000017:[]
+012121_000017:[]
+002167_000006:[]
+000430_000011:[1, 2, 3, 5, 12, 14]
+011450_000000:[]
+011434_000013:[]
+011441_000013:[7]
+018433_000025:[]
+003139_000035:[]
+016690_000018:[]
+020715_000007:[]
+010824_000022:[1, 3, 7, 13]
+010362_000017:[10]
+017266_000030:[5]
+010277_000013:[]
+023286_000014:[]
+003888_000009:[3, 4, 7, 10, 11, 17]
+002735_000030:[]
+002456_000027:[2, 9]
+022610_000022:[]
+019260_000016:[]
+013989_000037:[]
+006638_000011:[]
+018928_000026:[]
+017082_000029:[8, 10, 12, 16, 19]
+011780_000020:[]
+008423_000010:[]
+020109_000012:[2, 5]
+020071_000007:[]
+013592_000025:[1]
+009409_000015:[]
+018543_000015:[]
+000810_000008:[1, 5, 6, 10, 11, 13, 14]
+014463_000017:[]
+017725_000008:[0, 15]
+020964_000031:[0, 2, 3]
+019421_000034:[]
+010717_000014:[]
+002926_000033:[2, 8, 12, 14, 18, 19]
+024217_000024:[3]
+002005_000026:[3]
+014416_000000:[1]
+024714_000036:[8]
+007742_000031:[]
+017116_000014:[16, 18]
+011898_000010:[6]
+017710_000007:[]
+021362_000005:[7, 11]
+010724_000035:[17]
+014311_000029:[]
+005915_000034:[]
+001735_000023:[]
+004155_000030:[2, 11]
+012130_000005:[0]
+001484_000011:[6, 10]
+006398_000016:[]
+013374_000032:[9]
+007007_000000:[]
+024952_000028:[]
+020019_000002:[]
+005198_000019:[9, 10]
+007365_000017:[]
+024139_000006:[]
+013881_000020:[]
+009964_000005:[4]
+005860_000039:[]
+009930_000003:[12]
+023498_000007:[]
+006026_000029:[]
+021798_000007:[]
+019962_000004:[]
+000319_000020:[]
+007957_000020:[1, 5, 8, 9, 14, 19]
+006578_000037:[]
+021427_000021:[]
+012878_000033:[]
+014730_000010:[]
+023556_000027:[0, 1, 8]
+008323_000019:[]
+018700_000023:[]
+013151_000016:[]
+015131_000009:[7]
+008505_000000:[4]
+006740_000003:[6, 17]
+015370_000009:[]
+016099_000023:[]
+012538_000032:[]
+005607_000033:[8, 15]
+008605_000036:[]
+002314_000015:[]
+016596_000023:[]
+020295_000014:[4]
+020740_000019:[1, 7, 9, 14, 19]
+018088_000000:[0]
+008943_000001:[]
+020149_000027:[]
+015189_000032:[]
+012883_000010:[]
+000544_000029:[19]
+007117_000028:[]
+019023_000032:[2, 6, 14, 15]
+021768_000026:[4]
+023558_000034:[17]
+005838_000023:[14]
+000906_000023:[]
+022642_000027:[4]
+005375_000005:[]
+014329_000015:[1]
+010668_000033:[19]
+007256_000014:[]
+001079_000031:[]
+003364_000021:[]
+010781_000021:[]
+010313_000020:[]
+001115_000023:[4, 14]
+018798_000007:[4]
+003161_000020:[]
+014094_000039:[11]
+001167_000038:[3, 5, 7, 9, 18]
+010030_000028:[]
+000968_000019:[]
+011591_000015:[]
+012631_000039:[]
+023555_000035:[]
+011174_000022:[5]
+007697_000025:[13]
+001291_000006:[1, 17]
+015475_000025:[4]
+010777_000025:[]
+024024_000025:[]
+002148_000000:[]
+015766_000015:[]
+021229_000011:[2]
+022083_000006:[14]
+007155_000027:[]
+016362_000025:[]
+002507_000032:[4]
+002024_000032:[]
+011884_000039:[3]
+008996_000028:[]
+000981_000032:[9]
+000155_000032:[]
+005516_000031:[]
+013591_000004:[]
+006311_000027:[2, 3, 6, 10, 15]
+002249_000004:[]
+022802_000000:[11]
+007692_000015:[12]
+018360_000028:[]
+004815_000026:[]
+010006_000008:[12]
+006635_000036:[]
+024918_000006:[]
+017385_000004:[]
+018547_000014:[]
+020986_000024:[]
+010333_000013:[]
+005106_000022:[1, 5]
+004983_000019:[16]
+004600_000003:[]
+020641_000031:[]
+023087_000026:[]
+013524_000006:[]
+024886_000018:[]
+010142_000038:[]
+002184_000027:[15, 18]
+024961_000017:[3, 4, 11, 12, 15, 19]
+014125_000017:[]
+017119_000005:[10, 12]
+016821_000034:[]
+013986_000038:[]
+020463_000025:[11]
+011042_000018:[]
+010023_000002:[11]
+000726_000029:[13]
+018570_000001:[1, 3, 19]
+001330_000010:[]
+021064_000014:[2, 4, 12, 15]
+009113_000030:[]
+000153_000036:[]
+012568_000035:[17]
+015000_000032:[3, 5, 11]
+008917_000008:[]
+022397_000027:[0]
+014398_000024:[]
+020447_000016:[]
+017064_000012:[1, 7]
+020493_000024:[1, 12, 19]
+003907_000021:[]
+006281_000024:[]
+010350_000006:[]
+009298_000032:[10, 11]
+005661_000008:[]
+024151_000039:[]
+011331_000001:[3, 13, 14]
+023429_000014:[]
+016606_000019:[]
+011044_000037:[]
+015527_000029:[8]
+021185_000015:[2, 3]
+016846_000038:[15]
+002544_000011:[8]
+024689_000007:[]
+006056_000014:[15]
+013030_000009:[9]
+011318_000032:[1, 2]
+005024_000030:[10]
+019884_000021:[]
+018735_000022:[]
+023966_000037:[]
+004968_000006:[14]
+005991_000020:[12]
+018493_000004:[3]
+013960_000008:[16]
+019502_000009:[13]
+008763_000036:[4, 16]
+020877_000023:[]
+018518_000039:[]
+000112_000021:[]
+009231_000024:[]
+000805_000028:[6, 7, 12]
+020494_000038:[]
+004662_000019:[]
+004935_000017:[]
+014745_000007:[]
+023959_000039:[5, 10, 11]
+010259_000005:[7]
+000176_000011:[]
+008110_000003:[]
+008792_000006:[]
+023023_000002:[13]
+000936_000014:[]
+022036_000039:[12, 17]
+004635_000007:[]
+017596_000022:[]
+018406_000030:[4, 16]
+000884_000015:[]
+009503_000015:[]
+021414_000033:[4, 10, 13]
+016414_000008:[]
+005075_000004:[17, 18]
+006087_000022:[5]
+008954_000025:[7, 8, 12, 16, 17]
+006850_000029:[2, 4, 5, 7, 17, 19]
+007010_000012:[]
+023754_000028:[0, 1, 4, 5]
+016722_000021:[1]
+019985_000016:[5, 18, 19]
+017597_000011:[3, 4, 14, 16]
+017164_000030:[0]
+007909_000038:[1, 12, 17]
+002399_000021:[10, 14]
+018512_000027:[]
+014664_000025:[]
+010966_000010:[19]
+015693_000019:[6, 9]
+021670_000028:[5]
+020784_000026:[]
+013401_000001:[15]
+003913_000007:[]
+011548_000006:[5]
+000905_000031:[]
+019241_000004:[]
+021734_000012:[10]
+010916_000027:[]
+017509_000021:[]
+015372_000012:[0, 11]
+019537_000039:[]
+004004_000017:[12]
+004747_000018:[]
+003917_000030:[0, 3, 9, 11, 14]
+014826_000030:[]
+007417_000002:[]
+015788_000011:[4]
+013805_000005:[1, 2, 13, 15]
+017194_000024:[4, 13, 16]
+001523_000019:[]
+016062_000011:[2, 11, 15]
+011094_000029:[]
+000581_000028:[4, 14]
+011446_000020:[5, 7, 9]
+014148_000027:[3, 15]
+008860_000023:[]
+017253_000006:[7]
+015121_000000:[]
+013414_000004:[14]
+022709_000035:[1]
+011764_000025:[17]
+011862_000011:[]
+003385_000028:[]
+021128_000017:[8, 12]
+011779_000024:[0]
+014697_000007:[3]
+020863_000010:[]
+016036_000038:[]
+024137_000016:[]
+001654_000023:[]
+022160_000032:[]
+007442_000028:[0, 10, 13]
+014087_000011:[]
+017798_000003:[10, 13]
+014167_000000:[4, 5]
+022894_000025:[]
+001857_000033:[]
+020489_000025:[]
+020764_000010:[]
+023102_000012:[]
+011109_000017:[5, 9]
+020308_000001:[]
+000481_000014:[]
+007786_000009:[2, 7, 8, 11, 14]
+018625_000033:[14]
+003949_000027:[]
+011295_000039:[]
+003848_000018:[0, 14]
+006294_000009:[]
+005217_000007:[]
+001445_000022:[2, 5, 14]
+015150_000028:[]
+015157_000007:[]
+017851_000023:[]
+022300_000021:[11]
+016739_000008:[]
+019190_000015:[6]
+008824_000038:[]
+003568_000028:[19]
+016464_000017:[]
+023400_000022:[1]
+023768_000006:[5, 9]
+009548_000035:[]
+018020_000002:[]
+002901_000028:[3, 11]
+005818_000001:[]
+001275_000039:[19]
+023493_000032:[]
+013553_000012:[1, 5]
+013866_000033:[6, 13]
+008067_000016:[]
+000766_000014:[8]
+009400_000001:[]
+002276_000031:[6]
+006825_000026:[]
+017434_000015:[4, 13, 18]
+021398_000004:[12, 18]
+002156_000037:[15]
+017597_000035:[]
+005243_000035:[]
+007721_000018:[]
+005035_000013:[3]
+012282_000000:[]
+012619_000035:[]
+022287_000035:[5, 9]
+011076_000022:[]
+017075_000022:[]
+018512_000023:[]
+021861_000032:[9]
+017057_000035:[]
+008084_000019:[]
+009838_000019:[]
+022807_000029:[9, 15]
+014324_000018:[4, 7, 9]
+014594_000029:[0, 16, 19]
+022662_000010:[]
+017705_000001:[]
+010745_000034:[]
+006372_000028:[]
+019643_000023:[6]
+024194_000033:[]
+011754_000000:[]
+022545_000016:[]
+009308_000002:[]
+003401_000010:[0, 2, 15]
+008673_000034:[]
+008893_000021:[]
+020596_000001:[6, 14]
+000405_000030:[0]
+021158_000036:[6]
+010629_000024:[]
+012142_000033:[]
+002698_000038:[]
+003845_000012:[]
+012751_000012:[]
+024066_000017:[]
+001339_000000:[3, 9, 13, 14, 18, 19]
+000329_000029:[]
+022645_000034:[]
+009794_000035:[3, 15]
+014588_000026:[]
+022934_000039:[10]
+016206_000013:[]
+018156_000013:[1]
+020752_000011:[]
+017557_000019:[]
+019920_000033:[]
+023040_000035:[2, 8]
+019655_000000:[]
+016284_000025:[0, 10, 11, 12, 13]
+015735_000022:[]
+011230_000008:[4]
+001332_000019:[]
+007746_000017:[1, 12, 14]
+000579_000036:[3]
+021225_000010:[5]
+015933_000036:[]
+003387_000032:[5, 7, 15]
+004221_000012:[]
+006196_000034:[]
+011460_000010:[]
+023698_000006:[3]
+013767_000017:[14]
+006026_000012:[]
+005825_000037:[]
+022399_000029:[]
+018483_000017:[]
+008885_000024:[8]
+012862_000028:[3, 6, 10]
+011496_000008:[13]
+001807_000030:[]
+003391_000019:[3, 12]
+011730_000014:[5]
+013144_000016:[]
+004194_000002:[]
+009317_000037:[]
+001584_000037:[5, 7, 12, 13, 17]
+022262_000025:[]
+012751_000034:[]
+003524_000024:[]
+003853_000000:[]
+001145_000028:[]
+002184_000017:[]
+002382_000033:[6, 10, 11, 19]
+011639_000011:[]
+003096_000031:[]
+020352_000036:[]
+001244_000003:[4]
+013262_000009:[10, 14]
+021409_000008:[]
+012978_000039:[]
+017791_000022:[19]
+012889_000019:[]
+006174_000037:[]
+004863_000031:[0]
+006554_000038:[1]
+011381_000025:[]
+018389_000006:[]
+021155_000034:[]
+009250_000011:[]
+009028_000030:[]
+015049_000038:[]
+003439_000029:[]
+003597_000011:[3, 4]
+015394_000011:[]
+021642_000015:[]
+023423_000018:[]
+008755_000022:[]
+012025_000036:[]
+013128_000027:[0, 3, 8, 14, 15]
+010826_000027:[]
+023749_000026:[7, 9]
+004995_000027:[]
+005722_000002:[]
+019543_000013:[2]
+001639_000024:[]
+011712_000038:[]
+022828_000023:[10, 12]
+021304_000016:[]
+006534_000026:[]
+005985_000017:[1, 8, 17, 19]
+023599_000007:[]
+012946_000032:[]
+023964_000026:[]
+008643_000029:[0]
+015173_000004:[]
+016210_000013:[]
+002358_000024:[17]
+007107_000006:[2, 3, 4, 5, 8, 10]
+020636_000020:[3, 7, 9, 15]
+013213_000021:[]
+024099_000013:[9, 14, 15, 17]
+008650_000017:[13]
+023090_000028:[10, 15]
+010149_000031:[11, 15]
+024647_000000:[]
+016988_000020:[5, 6, 8]
+021218_000039:[]
+001450_000004:[]
+000773_000019:[]
+024652_000012:[]
+011948_000004:[9]
+000967_000010:[0, 8, 17, 18]
+024179_000019:[14]
+015229_000019:[2]
+016518_000007:[]
+009230_000008:[]
+023476_000019:[]
+015543_000017:[]
+006427_000016:[17, 18]
+006362_000018:[]
+002860_000028:[]
+001838_000004:[15]
+007788_000032:[2, 7, 10, 14]
+014894_000002:[13]
+012984_000018:[]
+002613_000027:[]
+006846_000023:[]
+004057_000021:[]
+018690_000008:[]
+018300_000008:[]
+015912_000032:[]
+004661_000003:[2, 3, 4, 6]
+005756_000006:[]
+020072_000006:[]
+021115_000002:[5, 8]
+024390_000030:[13, 15, 16]
+017882_000033:[]
+000495_000012:[1]
+007383_000011:[1, 4, 6, 7, 10, 14, 19]
+023023_000038:[3, 13, 15]
+000431_000031:[]
+012339_000034:[14, 19]
+007371_000029:[]
+013861_000006:[]
+005569_000024:[]
+019480_000023:[]
+008283_000037:[2, 9, 10]
+001159_000019:[10]
+018668_000036:[]
+010559_000010:[1, 19]
+007862_000009:[17]
+014139_000024:[]
+010475_000003:[]
+012488_000026:[]
+006909_000004:[]
+006431_000035:[]
+006050_000006:[]
+023797_000002:[]
+019960_000010:[]
+023821_000030:[15]
+009355_000001:[]
+002813_000005:[]
+001433_000010:[]
+006523_000032:[7, 14]
+024247_000034:[13, 18]
+013825_000035:[11]
+011624_000030:[]
+005674_000034:[]
+011324_000024:[6]
+000302_000001:[1, 8, 12, 16]
+013698_000038:[]
+016408_000001:[11, 12, 16]
+013602_000017:[12]
+024906_000032:[]
+003465_000030:[]
+023325_000018:[]
+021846_000034:[3, 18]
+023831_000001:[]
+020980_000020:[]
+002435_000031:[17, 18]
+010136_000022:[11]
+018511_000032:[]
+015886_000022:[3]
+011196_000010:[]
+005560_000019:[]
+015698_000034:[1, 16]
+021658_000014:[17]
+017134_000015:[12, 15, 17, 18]
+005314_000013:[6]
+009941_000036:[]
+017689_000026:[]
+002008_000002:[]
+004991_000016:[]
+013833_000029:[]
+007961_000010:[]
+019048_000006:[]
+016568_000033:[4, 15]
+000684_000005:[13]
+008392_000031:[10]
+007201_000039:[16]
+017089_000019:[]
+018763_000034:[2, 3, 9]
+001337_000028:[0, 2, 3, 16]
+005513_000016:[1]
+014582_000032:[]
+001528_000028:[]
+022559_000029:[]
+023574_000029:[]
+000521_000024:[]
+002615_000008:[]
+006175_000001:[]
+023868_000026:[17]
+011615_000014:[]
+014058_000033:[8, 11]
+006324_000023:[]
+006361_000033:[6, 8, 14, 18]
+009384_000004:[]
+024223_000006:[]
+023258_000005:[8, 9]
+010021_000017:[]
+000471_000010:[9, 19]
+023092_000011:[2, 19]
+000435_000005:[17]
+022587_000013:[13, 15]
+011938_000035:[5, 12, 18]
+002433_000001:[]
+003167_000001:[]
+006356_000034:[]
+001954_000032:[]
+024239_000031:[]
+012457_000029:[6, 7]
+006809_000032:[]
+012293_000026:[]
+024006_000021:[]
+011809_000017:[]
+003297_000037:[]
+004044_000017:[9]
+018781_000025:[]
+023118_000031:[]
+006062_000014:[6]
+005891_000031:[]
+001300_000017:[]
+020548_000034:[]
+007023_000009:[4]
+019656_000009:[14]
+014412_000007:[0, 2, 4, 11, 12, 17, 19]
+022857_000008:[]
+005951_000036:[]
+015063_000030:[]
+001294_000031:[]
+002592_000017:[]
+001252_000034:[12, 13, 19]
+004801_000026:[3]
+008186_000036:[13]
+016999_000027:[]
+006962_000007:[11]
+003088_000031:[]
+007812_000010:[]
+010368_000020:[19]
+008659_000009:[]
+015290_000034:[4, 7, 17]
+007725_000025:[7]
+006746_000019:[5]
+012547_000014:[]
+016542_000029:[]
+007791_000038:[18]
+006778_000014:[]
+005635_000013:[3, 5, 7]
+021396_000019:[]
+023820_000027:[]
+011330_000021:[10]
+021481_000029:[6]
+023510_000030:[4]
+023178_000025:[]
+000364_000028:[]
+009143_000019:[6, 9, 14, 18]
+009784_000024:[4, 8, 11]
+001873_000018:[4, 5]
+023732_000006:[2, 12, 19]
+021075_000009:[0, 1, 10, 12, 16, 17]
+020606_000011:[]
+005734_000035:[]
+000196_000009:[]
+018727_000032:[]
+011303_000039:[]
+017282_000012:[]
+009745_000029:[]
+012419_000018:[]
+012910_000027:[]
+017090_000030:[]
+021271_000032:[]
+016996_000008:[3]
+022521_000030:[]
+007777_000005:[]
+017021_000033:[0]
+008320_000004:[15]
+017940_000000:[]
+015879_000024:[]
+019470_000005:[0, 16]
+007521_000018:[]
+015442_000034:[]
+020486_000000:[]
+024021_000003:[0, 1, 3, 5, 6, 7, 8, 9, 12, 14, 16, 17]
+004242_000035:[13]
+023021_000017:[]
+002231_000005:[3]
+006718_000033:[]
+001772_000037:[]
+015798_000016:[10]
+023543_000030:[]
+013021_000024:[]
+006105_000035:[0, 19]
+018784_000008:[]
+013250_000002:[6, 19]
+019617_000017:[8, 14]
+010021_000038:[8, 13, 14]
+002753_000019:[]
+011393_000030:[]
+019316_000011:[0, 4, 18]
+000616_000020:[]
+023111_000021:[]
+001640_000000:[]
+002602_000039:[12, 13]
+020771_000001:[0]
+018617_000004:[3, 7, 11, 13, 15, 16, 18]
+016154_000028:[16]
+003792_000012:[3]
+024809_000019:[3, 4, 15]
+017893_000022:[1]
+005816_000038:[]
+022173_000014:[]
+008164_000017:[]
+022107_000022:[0, 3, 10]
+008325_000030:[4, 5, 9, 10, 12, 14, 15, 17, 19]
+002736_000033:[]
+017447_000015:[18]
+024128_000010:[]
+007365_000035:[3, 7, 10, 11]
+003834_000039:[11]
+023086_000003:[3, 10]
+017871_000021:[8]
+007446_000028:[]
+022644_000038:[]
+021414_000034:[]
+005846_000009:[]
+017192_000009:[0]
+006621_000000:[]
+003177_000037:[]
+017795_000026:[13]
+005530_000027:[]
+008629_000018:[7, 17]
+013298_000023:[]
+021490_000034:[2, 8, 19]
+003791_000015:[1, 4]
+017846_000021:[]
+015153_000003:[]
+004730_000029:[9]
+020140_000013:[2, 5, 14, 16, 17]
+024441_000038:[]
+017625_000005:[10]
+020637_000028:[]
+011838_000012:[9]
+020719_000018:[11]
+016443_000002:[]
+021450_000034:[]
+008064_000022:[]
+011336_000028:[]
+016571_000036:[]
+017424_000001:[7]
+002536_000037:[]
+012831_000000:[6, 13]
+005116_000022:[12]
+008123_000032:[]
+012257_000031:[10]
+009214_000036:[18]
+024394_000001:[]
+011768_000000:[0, 2, 4, 8, 9, 10, 11]
+009352_000034:[]
+002303_000008:[18]
+023783_000037:[]
+000607_000020:[]
+006134_000024:[]
+007142_000032:[]
+018827_000022:[10]
+023815_000026:[]
+021062_000003:[]
+014398_000000:[]
+013766_000007:[3, 5]
+011978_000016:[]
+015817_000027:[8]
+011239_000008:[9]
+018271_000012:[]
+012000_000006:[1, 5, 7, 8, 10, 11, 15, 18]
+000920_000035:[11, 14]
+000862_000017:[]
+018314_000010:[]
+002502_000021:[]
+016920_000037:[]
+023100_000003:[]
+016012_000008:[]
+010453_000019:[]
+012671_000035:[]
+007695_000037:[]
+008252_000023:[12, 14]
+003392_000014:[10, 16]
+001681_000016:[]
+018982_000032:[13]
+022649_000021:[]
+001619_000016:[]
+005289_000035:[]
+019349_000030:[2]
+004323_000039:[4]
+022545_000008:[11, 15]
+004513_000017:[12]
+023370_000020:[]
+009254_000010:[]
+009490_000029:[1, 14]
+007886_000027:[2, 14]
+022772_000010:[5, 12]
+010594_000009:[]
+024126_000011:[]
+004559_000021:[1, 7, 8, 11]
+018096_000022:[]
+023359_000009:[2, 9, 19]
+024529_000006:[5, 10]
+006426_000007:[]
+007456_000034:[]
+011715_000027:[]
+001345_000012:[0, 7, 17]
+020991_000029:[3, 15]
+007824_000029:[6]
+019204_000007:[16, 17]
+000085_000037:[]
+000531_000037:[11]
+010448_000014:[]
+013483_000026:[18]
+018088_000024:[]
+001755_000018:[13]
+008635_000009:[13]
+022408_000001:[6, 8, 14, 15, 18]
+003540_000027:[]
+008723_000017:[]
+018084_000033:[]
+006133_000010:[]
+010207_000002:[]
+017880_000029:[]
+012356_000019:[]
+011827_000032:[]
+011727_000005:[]
+005020_000039:[]
+010684_000022:[7, 13, 19]
+010356_000008:[4, 7, 13]
+018129_000035:[]
+018576_000005:[17]
+017097_000003:[]
+023030_000007:[2]
+024263_000011:[17]
+018395_000016:[]
+020277_000026:[]
+003564_000039:[]
+012068_000002:[12, 18]
+022596_000002:[]
+020512_000004:[]
+015589_000039:[]
+024227_000006:[8, 12, 13]
+015067_000023:[13]
+021443_000007:[11]
+017995_000022:[]
+016113_000010:[12]
+002883_000009:[]
+000263_000001:[0, 13]
+020053_000023:[]
+014444_000029:[]
+023093_000006:[]
+013324_000038:[]
+021512_000011:[]
+008520_000033:[]
+001176_000039:[8, 17, 19]
+013633_000028:[]
+006965_000006:[15]
+012868_000003:[2]
+003303_000035:[]
+001190_000012:[2, 5, 10, 16]
+023289_000025:[3, 5, 12, 13, 15]
+009341_000005:[1, 4, 8, 9, 10, 11, 19]
+021467_000017:[]
+005571_000000:[0, 1, 2, 7, 11, 13, 16]
+010747_000000:[]
+010252_000008:[]
+007302_000030:[17]
+006966_000020:[]
+017312_000033:[2]
+003424_000011:[]
+024084_000037:[]
+004742_000010:[]
+003804_000009:[0, 18]
+010243_000018:[15]
+006803_000004:[]
+007839_000005:[6]
+004792_000014:[]
+024426_000005:[5, 6]
+010281_000020:[]
+007753_000025:[12, 16]
+024110_000038:[8, 19]
+018481_000000:[]
+009619_000039:[]
+007585_000019:[19]
+020863_000005:[]
+001858_000031:[17]
+001781_000022:[19]
+023174_000032:[]
+019216_000016:[]
+009630_000022:[]
+013596_000027:[]
+017784_000031:[]
+008513_000029:[]
+021755_000007:[]
+023366_000009:[]
+023953_000014:[]
+003077_000027:[6]
+001296_000002:[]
+011057_000028:[]
+014977_000009:[2, 9, 12, 13]
+013661_000019:[1]
+004149_000031:[12]
+019980_000034:[]
+015386_000014:[19]
+015203_000004:[]
+017034_000018:[]
+001134_000030:[]
+015712_000016:[]
+023631_000000:[]
+024030_000026:[4, 7]
+017851_000007:[]
+015936_000016:[0]
+004155_000021:[]
+021363_000018:[18]
+020037_000000:[]
+019640_000017:[7]
+011295_000038:[]
+004469_000004:[]
+020651_000024:[]
+013507_000038:[]
+018725_000038:[9]
+013195_000029:[0, 8, 15]
+006636_000008:[]
+016763_000019:[]
+002548_000007:[]
+012169_000008:[3, 6, 7, 9]
+013085_000010:[8]
+012880_000011:[1]
+004254_000015:[3, 5, 18]
+000281_000003:[]
+004861_000017:[]
+017481_000023:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000954_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000954_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..174a195094672ce33c3d2d7ab3cf6c8776de762f
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000954_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+014397_000030:[]
+003515_000009:[]
+003511_000009:[]
+023268_000028:[]
+022772_000029:[12]
+012352_000034:[15, 16]
+019018_000004:[]
+014546_000031:[]
+006230_000037:[]
+011729_000035:[]
+014413_000001:[]
+007765_000021:[]
+016313_000026:[]
+024927_000024:[]
+004803_000016:[]
+002227_000036:[7, 14]
+004343_000001:[9]
+017159_000032:[16]
+006945_000004:[]
+018943_000009:[0]
+021385_000034:[]
+006087_000009:[]
+019413_000025:[]
+012855_000022:[4]
+016599_000032:[]
+008150_000039:[]
+010363_000026:[10]
+024338_000023:[]
+005924_000020:[]
+010954_000032:[6, 19]
+000008_000020:[]
+010408_000010:[3, 13, 19]
+005033_000033:[]
+019100_000033:[]
+007916_000003:[]
+013484_000002:[2, 6, 17]
+007956_000016:[8]
+021688_000014:[]
+020773_000036:[]
+011869_000028:[1]
+003468_000032:[4, 5, 6, 15]
+019977_000019:[16]
+022160_000035:[]
+021884_000036:[2, 5, 6, 9, 10, 11, 15, 19]
+017633_000031:[1, 17, 18]
+005650_000037:[10, 18, 19]
+006329_000016:[7, 18]
+019775_000000:[]
+001610_000011:[16]
+017781_000025:[18]
+002306_000009:[]
+005583_000009:[]
+014186_000014:[]
+001767_000030:[]
+000202_000023:[6]
+010178_000004:[]
+021335_000012:[]
+020356_000004:[2]
+019187_000034:[1, 6]
+024074_000000:[2, 6]
+017795_000013:[10]
+024000_000038:[]
+004694_000006:[]
+001403_000032:[]
+019244_000009:[]
+021103_000011:[]
+005980_000006:[]
+023552_000006:[]
+020110_000012:[]
+020868_000029:[]
+006593_000021:[]
+000882_000019:[0]
+017330_000033:[]
+016273_000010:[8, 14]
+017406_000035:[5]
+013029_000036:[]
+022250_000030:[4, 15]
+023072_000034:[]
+024057_000018:[]
+002575_000034:[7]
+019845_000014:[]
+014629_000006:[3]
+001315_000034:[]
+022954_000026:[16]
+021709_000039:[2, 6]
+014519_000002:[10]
+021319_000038:[]
+024533_000009:[]
+017549_000023:[]
+010248_000038:[]
+012914_000030:[8, 14]
+008105_000023:[]
+010041_000003:[6, 10, 11, 13]
+020482_000026:[]
+022520_000019:[]
+000790_000021:[]
+017179_000011:[]
+014026_000027:[]
+020699_000002:[2]
+023163_000004:[2, 5, 14]
+019941_000007:[4]
+003045_000026:[12]
+024788_000021:[8]
+002744_000001:[0]
+004868_000010:[]
+024706_000019:[]
+005002_000002:[]
+016735_000021:[]
+005052_000004:[]
+009841_000034:[]
+012145_000009:[7, 15]
+013075_000036:[5, 7, 10]
+012134_000033:[]
+008393_000035:[]
+006812_000018:[]
+014758_000033:[]
+013364_000019:[]
+021138_000029:[18]
+002301_000027:[0]
+016537_000034:[]
+003930_000015:[]
+023682_000030:[]
+006771_000010:[13]
+020629_000017:[]
+019893_000007:[]
+014694_000018:[]
+006384_000034:[7, 11, 16]
+018964_000009:[]
+003443_000029:[]
+023482_000017:[]
+018431_000013:[3, 4, 8, 10, 17]
+004268_000020:[]
+021808_000014:[]
+003890_000015:[]
+001375_000002:[]
+003436_000022:[]
+002855_000035:[]
+018088_000020:[]
+021040_000026:[]
+009760_000023:[]
+017117_000038:[]
+013794_000015:[10, 12]
+008408_000028:[7, 16]
+022873_000006:[2, 5, 19]
+005706_000019:[14]
+022526_000032:[]
+022235_000036:[]
+021681_000001:[1]
+004878_000022:[]
+021154_000036:[7]
+013860_000016:[]
+020273_000025:[]
+013890_000033:[]
+023050_000030:[]
+007128_000016:[1, 6, 7, 11, 14, 15]
+003912_000023:[]
+024000_000022:[19]
+001523_000006:[]
+013012_000001:[9]
+008338_000010:[0, 2, 6, 10, 14, 15, 17]
+002195_000002:[]
+004499_000026:[]
+024109_000014:[]
+012081_000025:[10]
+003158_000024:[]
+001704_000019:[]
+001209_000014:[13, 19]
+013450_000032:[0, 2, 4]
+019901_000021:[7]
+021867_000035:[1, 17]
+004622_000022:[10]
+005895_000011:[]
+015297_000024:[]
+015654_000030:[]
+013982_000006:[17, 19]
+001035_000021:[]
+023706_000015:[]
+001156_000019:[]
+020497_000015:[2, 7]
+018523_000000:[]
+008223_000020:[1, 2, 16, 17, 18]
+008929_000029:[]
+015332_000020:[]
+014100_000001:[]
+019709_000014:[]
+023566_000002:[]
+021893_000003:[9]
+017092_000028:[]
+006445_000007:[5]
+002299_000038:[]
+020270_000004:[0]
+011841_000017:[]
+020110_000014:[]
+010754_000000:[]
+012567_000011:[1]
+001159_000033:[10]
+021242_000016:[]
+005397_000004:[]
+013166_000016:[]
+002941_000017:[]
+000197_000023:[0, 12]
+013409_000027:[]
+004502_000006:[16]
+009358_000021:[19]
+012827_000003:[]
+000628_000006:[]
+005781_000033:[2]
+013417_000008:[]
+006491_000007:[]
+002004_000035:[]
+011302_000038:[]
+024495_000020:[]
+019820_000026:[]
+001820_000032:[6, 7]
+006520_000006:[14]
+002259_000025:[]
+003278_000035:[13]
+006297_000005:[]
+019270_000005:[9]
+009747_000031:[]
+012817_000024:[6]
+006620_000033:[]
+019908_000035:[9]
+015176_000002:[]
+016766_000019:[17]
+018970_000000:[1, 18]
+001889_000018:[]
+024336_000004:[]
+000615_000002:[]
+009655_000026:[]
+024414_000023:[5, 13]
+024577_000008:[7, 18, 19]
+017835_000032:[9]
+003157_000020:[]
+014352_000008:[5]
+019163_000007:[]
+024963_000009:[2]
+001779_000035:[]
+005268_000039:[]
+013336_000018:[]
+010561_000028:[]
+002165_000030:[]
+000390_000025:[]
+024190_000030:[]
+021207_000036:[17]
+019395_000035:[]
+007198_000015:[9]
+014969_000003:[]
+000560_000036:[]
+000675_000010:[]
+015481_000035:[0, 3, 9, 12, 14, 18, 19]
+007301_000016:[]
+016375_000029:[]
+022115_000005:[16]
+019458_000005:[]
+008108_000029:[2, 7, 15, 16]
+022420_000019:[10, 18]
+024705_000019:[]
+001826_000010:[5, 13]
+019393_000017:[]
+018113_000035:[]
+007556_000014:[]
+023353_000037:[]
+020842_000004:[]
+021672_000005:[]
+012348_000000:[8, 13]
+016137_000001:[]
+009574_000037:[]
+015140_000007:[]
+006589_000020:[15]
+004853_000004:[8]
+019952_000038:[]
+009957_000002:[5, 9, 10]
+006184_000022:[]
+002707_000010:[3, 4, 13, 17]
+018055_000007:[8, 10, 12, 13, 16, 17, 18, 19]
+001534_000003:[1, 2, 4, 7]
+022783_000035:[14]
+008725_000028:[0, 2, 9]
+007551_000008:[]
+022148_000026:[0]
+001529_000013:[]
+016737_000036:[19]
+018737_000013:[]
+006581_000005:[7, 8, 11, 14]
+016236_000015:[15, 19]
+022880_000002:[]
+009247_000011:[]
+011412_000018:[9]
+020078_000014:[]
+019990_000013:[]
+008417_000005:[]
+008065_000028:[2]
+000269_000011:[]
+022476_000007:[15]
+008288_000010:[1]
+007190_000023:[4]
+012948_000000:[]
+019692_000037:[]
+016911_000038:[]
+020403_000019:[]
+020827_000020:[]
+014901_000027:[7]
+005240_000031:[]
+010645_000004:[4]
+011696_000025:[]
+017095_000037:[17]
+007914_000022:[]
+003846_000039:[]
+017255_000019:[1, 19]
+004670_000033:[]
+003030_000013:[]
+020411_000018:[11]
+002314_000030:[]
+012911_000034:[]
+001606_000031:[]
+000131_000023:[]
+000294_000017:[17]
+007566_000037:[3, 6]
+002415_000000:[1]
+002291_000015:[6, 17]
+014678_000009:[]
+009759_000027:[3]
+016688_000009:[]
+013238_000017:[]
+006008_000026:[7]
+016245_000020:[]
+005785_000018:[]
+006910_000023:[]
+015721_000025:[]
+009517_000003:[]
+014023_000029:[]
+010591_000031:[]
+009924_000033:[]
+009956_000023:[]
+022715_000021:[]
+020813_000022:[]
+023020_000020:[]
+016420_000035:[]
+016055_000038:[]
+011022_000027:[7, 15]
+020358_000025:[]
+022631_000011:[1, 14]
+014470_000030:[]
+020405_000038:[1]
+009507_000009:[]
+024077_000034:[14]
+015650_000022:[]
+022840_000034:[]
+016081_000031:[]
+014817_000002:[]
+009445_000037:[]
+009834_000007:[7, 10]
+005352_000014:[3, 18]
+012225_000039:[]
+022083_000033:[17, 19]
+012307_000025:[6, 13]
+012927_000009:[18]
+011623_000008:[]
+000778_000000:[]
+019703_000028:[]
+005380_000024:[]
+018606_000035:[5]
+003619_000008:[2, 4, 8, 17]
+002752_000020:[]
+015072_000012:[]
+006901_000009:[]
+013977_000035:[]
+004882_000002:[0, 5]
+009738_000029:[]
+002497_000039:[]
+017170_000037:[12]
+012271_000024:[]
+000000_000008:[7, 19]
+018098_000029:[]
+017862_000002:[]
+016475_000021:[0, 4, 11, 12, 18]
+001673_000000:[3, 8, 18]
+006000_000021:[]
+010727_000012:[]
+005915_000010:[15]
+014976_000004:[]
+013008_000018:[8, 10, 17]
+021121_000030:[3, 4, 12]
+005078_000016:[]
+009712_000023:[]
+012721_000023:[]
+005916_000011:[0]
+023112_000021:[0, 3, 12, 17]
+005641_000002:[8]
+022876_000024:[1, 12]
+012496_000028:[]
+014892_000017:[4]
+006030_000030:[0, 14, 15]
+018972_000033:[]
+020640_000039:[]
+001381_000004:[]
+020549_000006:[5]
+014793_000037:[3, 7]
+012125_000038:[]
+011741_000007:[6, 14, 19]
+007355_000015:[]
+015670_000018:[]
+014145_000036:[0]
+003590_000005:[]
+014230_000036:[4, 14]
+012068_000020:[]
+021606_000033:[4, 8, 11, 12, 13, 14, 17]
+003778_000008:[]
+003962_000018:[1, 4, 7, 10]
+022589_000033:[1, 3, 4, 5, 10, 13, 15, 16, 18]
+009139_000001:[10]
+003710_000021:[]
+023716_000038:[]
+006746_000036:[]
+013580_000024:[]
+006779_000005:[9]
+003016_000032:[]
+005832_000035:[]
+022151_000014:[]
+000241_000013:[1, 5]
+011404_000012:[7]
+006919_000010:[13]
+020463_000032:[]
+000521_000037:[]
+023791_000021:[]
+013465_000000:[10]
+001634_000026:[]
+018416_000037:[0, 5, 6, 7, 11, 13, 19]
+000489_000032:[]
+000971_000036:[]
+004306_000009:[]
+009653_000002:[]
+014962_000000:[3, 5, 11, 14, 19]
+004435_000005:[]
+015267_000002:[12, 16]
+022989_000015:[]
+015348_000016:[1, 11]
+008312_000020:[4, 12, 14]
+015708_000019:[12]
+000962_000032:[]
+005563_000005:[2, 4, 12, 16, 18]
+010677_000036:[]
+000004_000023:[]
+018973_000006:[3, 11]
+007764_000015:[]
+007527_000018:[3]
+000850_000014:[]
+020417_000036:[]
+024536_000002:[2]
+007933_000036:[]
+012720_000003:[]
+000413_000028:[2, 6, 7, 16]
+023197_000011:[]
+002004_000000:[]
+017017_000030:[12]
+005887_000033:[]
+019863_000020:[]
+023175_000008:[12, 14]
+011542_000006:[10]
+014777_000016:[3, 17]
+017699_000009:[]
+012484_000002:[]
+005905_000012:[3]
+015388_000006:[13]
+018298_000020:[]
+018661_000015:[]
+007802_000015:[]
+009392_000029:[0]
+015619_000036:[]
+024813_000037:[]
+007393_000037:[10, 15]
+023012_000005:[16]
+022718_000013:[]
+021311_000013:[3, 5, 8, 9]
+006124_000027:[]
+003095_000037:[]
+009907_000029:[]
+003543_000011:[9]
+008251_000013:[]
+012651_000031:[]
+017588_000031:[5, 6]
+023709_000028:[]
+009770_000032:[3, 9, 18]
+017503_000024:[15]
+008202_000000:[]
+009069_000028:[]
+007373_000014:[]
+006257_000021:[14]
+000176_000018:[]
+004261_000026:[5, 9]
+010668_000036:[]
+013004_000020:[5, 10]
+013855_000021:[]
+011017_000003:[]
+014697_000004:[]
+011992_000003:[]
+000227_000031:[]
+002108_000028:[]
+008388_000037:[17]
+005127_000014:[]
+002383_000024:[]
+016116_000000:[]
+015833_000020:[]
+007550_000038:[]
+004002_000002:[4, 13, 17, 18]
+022011_000010:[14]
+008559_000008:[13]
+002908_000031:[]
+022115_000028:[4, 6, 7, 10, 14, 16]
+002225_000013:[]
+011204_000020:[]
+004937_000034:[]
+018792_000031:[]
+008958_000010:[]
+012309_000006:[]
+004878_000039:[]
+010885_000023:[]
+012552_000002:[]
+008484_000007:[]
+019170_000007:[]
+008138_000036:[14]
+015891_000025:[11, 12, 16]
+015468_000002:[]
+023693_000003:[0]
+018043_000017:[]
+007822_000022:[13, 14]
+013373_000031:[]
+015850_000004:[]
+009248_000002:[]
+023751_000012:[]
+007683_000025:[]
+004517_000030:[15]
+007182_000000:[0]
+006864_000000:[18]
+016187_000033:[18]
+000527_000004:[]
+002660_000010:[]
+023637_000009:[]
+005405_000013:[]
+015934_000006:[]
+018785_000006:[5, 10]
+004340_000016:[]
+023088_000015:[11]
+023990_000027:[11, 19]
+001247_000006:[]
+024558_000034:[]
+019105_000010:[]
+006314_000036:[]
+024169_000028:[]
+014722_000017:[]
+019556_000012:[8, 10]
+006777_000025:[]
+016826_000018:[]
+019978_000026:[]
+008706_000007:[]
+021974_000009:[2, 6, 14]
+017383_000030:[]
+019281_000001:[]
+017990_000036:[]
+014985_000022:[5, 10]
+014842_000003:[15]
+008542_000001:[]
+018079_000022:[19]
+023841_000039:[]
+018457_000005:[]
+000825_000018:[]
+007268_000029:[4, 5, 9, 10, 11]
+004793_000032:[]
+018332_000021:[]
+019171_000017:[6]
+013591_000024:[]
+013417_000001:[]
+009903_000031:[]
+013077_000037:[10]
+000250_000007:[]
+008620_000013:[]
+011344_000025:[]
+017414_000007:[0, 1, 2, 6, 11, 12, 13, 19]
+013076_000018:[3, 9]
+012598_000017:[6, 13]
+024170_000014:[]
+003459_000010:[]
+004878_000000:[]
+018100_000036:[]
+018010_000039:[]
+000410_000001:[]
+011545_000017:[5]
+008900_000025:[15]
+024070_000000:[]
+024384_000005:[17]
+004762_000010:[8]
+022908_000033:[]
+014060_000025:[9]
+024816_000030:[4]
+004493_000037:[6, 14]
+011529_000037:[]
+009697_000015:[0, 1, 4, 6, 14, 18]
+018884_000028:[3, 15, 19]
+002083_000028:[]
+001752_000032:[]
+010193_000020:[]
+005089_000009:[]
+017866_000005:[]
+004630_000031:[6, 10, 12]
+003345_000001:[]
+017646_000033:[]
+015977_000016:[]
+006366_000037:[]
+022193_000025:[]
+004541_000018:[]
+019724_000023:[5]
+014595_000033:[0]
+008486_000034:[3, 4, 8, 16]
+010668_000010:[]
+003344_000009:[]
+004249_000034:[]
+009483_000028:[]
+017703_000034:[]
+019137_000015:[]
+019411_000014:[2, 13, 17, 18]
+016296_000012:[]
+019384_000032:[]
+009830_000000:[]
+013394_000003:[1, 3, 6, 9, 13]
+015848_000033:[5]
+023340_000007:[0]
+022500_000016:[]
+001171_000037:[5]
+000737_000015:[]
+024099_000007:[12, 15]
+022045_000038:[]
+009852_000000:[5, 12, 14, 15, 16]
+024353_000038:[]
+009667_000005:[]
+024424_000006:[2]
+020378_000019:[13]
+018132_000018:[]
+021587_000009:[]
+019292_000038:[]
+006418_000026:[3, 4, 9, 12]
+010273_000037:[]
+003284_000014:[]
+010006_000002:[0, 5]
+014077_000038:[]
+021426_000000:[]
+016464_000000:[]
+003922_000036:[]
+000012_000038:[6, 13]
+019233_000018:[]
+017225_000010:[]
+013551_000030:[5]
+024253_000019:[4, 5, 6, 12, 14, 15, 16]
+021750_000029:[1]
+011617_000031:[]
+003129_000012:[2, 12]
+014473_000013:[9, 11, 19]
+000993_000000:[]
+002283_000017:[]
+010497_000037:[]
+019467_000028:[1, 4, 6, 8, 12, 14, 18]
+008071_000023:[]
+018713_000035:[]
+013128_000039:[]
+024408_000009:[4, 9, 12, 14, 16, 17]
+010008_000029:[]
+009730_000021:[]
+011896_000019:[]
+015211_000020:[]
+007222_000015:[]
+005711_000000:[]
+015074_000025:[17]
+017729_000026:[1]
+021219_000037:[17]
+018428_000028:[]
+022573_000036:[16]
+001856_000012:[16]
+023235_000015:[17]
+016885_000008:[]
+001779_000027:[]
+018738_000007:[1, 19]
+000437_000028:[9, 11, 13]
+018815_000017:[]
+004096_000020:[]
+019833_000017:[]
+005821_000021:[]
+007946_000026:[]
+017172_000014:[]
+012934_000008:[]
+017693_000034:[2, 10]
+008246_000033:[]
+015460_000009:[]
+005159_000014:[]
+015783_000038:[]
+001456_000011:[5]
+014548_000000:[]
+001337_000038:[2, 14]
+013355_000031:[]
+023762_000025:[0, 2]
+006225_000034:[]
+005425_000036:[0]
+017547_000022:[1]
+024287_000039:[]
+000805_000039:[15, 17]
+004298_000015:[]
+020874_000028:[]
+024409_000034:[]
+013376_000014:[19]
+006242_000022:[]
+006556_000013:[0, 2, 6, 10, 19]
+002321_000024:[1, 3, 4, 6, 17]
+000457_000012:[]
+006207_000028:[10]
+023967_000019:[]
+010282_000019:[]
+004275_000005:[]
+013925_000035:[2, 3, 16]
+009906_000036:[]
+019244_000026:[]
+001188_000008:[1, 4, 16]
+001690_000014:[]
+016195_000002:[]
+011842_000017:[14]
+016994_000037:[1, 5]
+018086_000002:[]
+011412_000001:[]
+020424_000014:[]
+003801_000023:[]
+021619_000000:[]
+011995_000006:[]
+011295_000012:[]
+017431_000002:[]
+024451_000024:[3]
+016878_000005:[]
+013558_000013:[7]
+016924_000006:[2, 13]
+001186_000013:[]
+020489_000005:[7, 19]
+015854_000024:[2]
+017433_000035:[]
+017949_000037:[]
+004202_000027:[]
+000219_000011:[0, 6, 9]
+001195_000031:[]
+018648_000016:[]
+018229_000028:[]
+016733_000024:[]
+006605_000003:[]
+024499_000032:[]
+004995_000031:[]
+023515_000033:[0, 3, 4, 9, 13, 14, 17]
+020335_000035:[]
+013545_000031:[14]
+000323_000008:[11]
+000930_000024:[3]
+002514_000004:[6]
+000568_000017:[]
+009327_000025:[]
+004827_000020:[9]
+020124_000025:[0, 5]
+021280_000030:[]
+002645_000022:[]
+003153_000014:[4, 14, 16, 17]
+018677_000030:[]
+012042_000025:[4, 11, 12, 13, 17, 19]
+022243_000019:[4]
+006644_000010:[]
+005964_000003:[]
+000831_000005:[]
+008495_000025:[]
+015196_000033:[5]
+024302_000019:[]
+021982_000031:[13]
+013604_000004:[0, 9]
+013813_000003:[11, 12]
+003711_000025:[]
+002221_000017:[13]
+019352_000004:[]
+006788_000034:[15]
+014188_000003:[]
+015809_000039:[3]
+006932_000006:[7]
+016983_000024:[]
+023271_000039:[]
+019514_000001:[]
+006295_000021:[6, 9, 17]
+016410_000011:[]
+020793_000002:[14]
+005357_000038:[9, 10, 15]
+021842_000003:[]
+018037_000005:[7]
+009533_000029:[7, 8, 16, 17, 18]
+020094_000031:[]
+021469_000011:[]
+019712_000022:[17]
+004239_000000:[1, 2, 4, 11, 19]
+003878_000026:[1, 2, 3, 6, 9, 10, 12, 14, 15]
+002441_000002:[]
+002338_000014:[]
+004844_000029:[17]
+019090_000030:[9, 17]
+004164_000037:[]
+023855_000001:[3]
+000145_000021:[3, 8, 10]
+010366_000012:[]
+021036_000020:[]
+020556_000006:[5, 7, 18, 19]
+003622_000018:[4, 7]
+011818_000013:[]
+009392_000036:[]
+023265_000007:[]
+005160_000034:[9, 18]
+020088_000007:[4, 8, 10, 12]
+010005_000019:[13]
+016530_000023:[]
+012891_000020:[]
+012060_000031:[]
+021188_000002:[2, 5, 13]
+018838_000027:[]
+018524_000014:[12]
+022432_000023:[0, 2, 4, 6, 8]
+023920_000026:[8, 9, 13]
+002822_000033:[8, 9, 13, 16]
+005582_000017:[16]
+021942_000018:[]
+002011_000007:[]
+000298_000011:[]
+020711_000023:[]
+006887_000025:[]
+024283_000005:[1, 3, 7, 9, 11, 17, 18, 19]
+019349_000039:[7]
+003794_000003:[]
+009374_000009:[10, 11, 14]
+014711_000037:[4]
+005510_000007:[]
+013103_000026:[]
+003894_000015:[3, 8]
+019974_000007:[]
+010672_000021:[5]
+022285_000013:[6]
+024914_000039:[9]
+004424_000028:[]
+009826_000021:[]
+003315_000001:[]
+016603_000028:[0]
+013168_000036:[]
+016524_000001:[]
+007982_000034:[]
+000693_000026:[]
+012770_000039:[1]
+020573_000002:[]
+022786_000037:[]
+016297_000010:[7, 12]
+011101_000023:[2, 5, 7, 14, 16, 17]
+008543_000003:[]
+000981_000028:[4, 12]
+009862_000017:[5, 17]
+005129_000032:[]
+017349_000021:[3]
+018263_000030:[6]
+005905_000020:[16]
+000619_000009:[3]
+017655_000024:[1, 10]
+002245_000000:[3, 10, 11]
+015512_000005:[11]
+017046_000023:[]
+011886_000028:[5]
+005448_000031:[]
+022648_000004:[2]
+004785_000001:[7]
+014037_000038:[]
+012462_000002:[]
+021901_000020:[]
+015269_000015:[]
+002563_000023:[]
+001777_000019:[]
+020984_000003:[3, 4, 5, 7, 14, 16, 18]
+000846_000028:[]
+014524_000036:[3, 8, 17, 18]
+004415_000002:[13, 17]
+022433_000018:[0, 14]
+007056_000003:[]
+015655_000024:[]
+006841_000027:[3, 9, 11, 13, 15, 16, 17, 19]
+023428_000030:[]
+004545_000027:[0, 11, 19]
+004337_000001:[]
+023290_000014:[]
+010753_000023:[4, 10, 13]
+021127_000014:[]
+006975_000007:[19]
+003849_000027:[]
+005960_000034:[]
+011027_000036:[6, 13, 15, 18]
+024285_000001:[]
+023825_000033:[]
+006196_000030:[1, 4]
+010632_000022:[]
+002162_000007:[]
+002582_000025:[]
+004070_000003:[]
+005679_000035:[4, 16, 18]
+004078_000006:[1]
+006925_000033:[]
+005574_000030:[7]
+014390_000020:[3, 7, 19]
+019133_000017:[]
+012154_000025:[]
+017815_000035:[2, 8, 9, 10, 12, 18]
+008505_000012:[]
+012762_000002:[12]
+016228_000037:[]
+018447_000025:[]
+011027_000006:[14, 18]
+019606_000020:[7, 10]
+010531_000017:[]
+011672_000029:[3, 10, 11, 17]
+010207_000030:[]
+006540_000029:[3, 17]
+011185_000008:[]
+024799_000025:[]
+007354_000023:[4, 19]
+005178_000027:[3]
+016713_000039:[]
+022784_000009:[10, 14]
+019406_000017:[]
+003735_000021:[]
+019995_000023:[11]
+012851_000025:[2, 11]
+003607_000037:[]
+021443_000019:[]
+016657_000005:[]
+019732_000032:[9]
+003683_000027:[0, 3, 6, 15]
+014166_000000:[]
+022054_000011:[]
+022746_000014:[]
+018971_000012:[4]
+000244_000010:[6]
+017058_000026:[]
+001626_000017:[18]
+007711_000029:[]
+012185_000023:[]
+015222_000002:[]
+003400_000022:[]
+002033_000023:[8]
+014667_000030:[14]
+022654_000023:[17]
+012213_000006:[9, 13, 15]
+018418_000030:[9]
+011745_000031:[]
+003159_000003:[]
+004423_000018:[5, 18]
+013884_000016:[]
+011361_000004:[16]
+004457_000007:[2, 3, 5, 7, 8, 14, 15]
+010782_000008:[]
+021934_000024:[10, 11]
+004582_000017:[]
+008528_000028:[13, 15]
+010600_000020:[]
+006695_000014:[1, 14]
+001555_000038:[2]
+014844_000020:[4, 14, 19]
+008017_000023:[]
+022094_000019:[0]
+003510_000036:[]
+011958_000037:[10, 14]
+002263_000002:[]
+007266_000017:[]
+014388_000026:[]
+007827_000025:[2]
+024856_000034:[]
+014804_000011:[]
+002116_000024:[]
+016055_000001:[6]
+017753_000018:[]
+000604_000005:[]
+019155_000026:[17]
+008125_000016:[5, 10, 14]
+001355_000016:[]
+000441_000008:[]
+023141_000016:[]
+006206_000030:[5]
+016019_000009:[18]
+014880_000001:[10, 19]
+019690_000003:[12, 13]
+019819_000018:[11, 15, 19]
+001828_000019:[]
+004127_000003:[]
+018185_000032:[]
+015651_000036:[5]
+010833_000004:[]
+002115_000031:[3]
+011482_000008:[16, 19]
+005828_000012:[3]
+007178_000000:[]
+010974_000020:[5, 9, 14]
+006038_000012:[]
+019357_000032:[11, 16]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000976_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000976_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1a1b3699b920773828be57d855ac0f89a3d3e6d4
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000976_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+016612_000030:[3, 13, 15]
+001605_000039:[]
+012184_000036:[]
+002440_000037:[]
+005694_000039:[14]
+021417_000025:[]
+023532_000030:[6]
+003253_000013:[]
+009068_000033:[]
+009544_000012:[12]
+023560_000001:[]
+021949_000039:[]
+019095_000039:[17, 19]
+017140_000001:[]
+010915_000028:[]
+008771_000032:[0, 15, 16, 19]
+017313_000006:[1, 11]
+014553_000005:[]
+015825_000020:[0]
+003673_000000:[3, 7, 10]
+018336_000012:[1, 13]
+005936_000001:[3, 4, 10, 14, 16, 19]
+005031_000033:[]
+005608_000027:[3, 4]
+020783_000020:[2, 6, 8, 15]
+024829_000008:[]
+017629_000013:[]
+019478_000021:[]
+001789_000005:[]
+010145_000003:[]
+009529_000021:[2, 3]
+018916_000013:[17]
+001507_000021:[0, 6, 10, 12, 14, 19]
+008047_000007:[0]
+000010_000002:[]
+024465_000011:[17]
+010898_000008:[]
+002757_000037:[1]
+016125_000010:[]
+001324_000037:[]
+012448_000024:[2, 3, 5, 14, 15, 18]
+005235_000030:[0, 3, 4, 8, 12, 15, 17, 19]
+010998_000005:[14]
+022208_000035:[14]
+002677_000008:[4, 17]
+010318_000022:[13]
+008955_000013:[13]
+009790_000030:[]
+015441_000037:[6, 10, 13, 19]
+024296_000039:[14]
+024178_000009:[]
+023948_000006:[3, 10]
+007362_000038:[1, 3, 13]
+019408_000018:[12]
+021112_000000:[14]
+011730_000015:[19]
+006115_000016:[16]
+020552_000012:[0]
+005700_000026:[11]
+021517_000004:[14]
+018518_000031:[]
+016868_000023:[12]
+001790_000038:[]
+020778_000017:[]
+012448_000006:[0, 1, 2, 3, 5, 14, 15, 18]
+003837_000032:[]
+018458_000036:[]
+018744_000010:[]
+003628_000015:[5]
+008526_000027:[]
+013076_000035:[]
+012069_000010:[]
+011260_000005:[4, 9]
+000618_000026:[]
+018637_000032:[17]
+020799_000009:[]
+008839_000008:[15, 16]
+003548_000004:[11]
+016502_000026:[5]
+021068_000033:[2]
+015515_000022:[]
+011134_000005:[4]
+011943_000025:[]
+017253_000036:[1, 16]
+006522_000005:[]
+006031_000001:[16]
+001264_000029:[8]
+014934_000012:[]
+023453_000016:[]
+016953_000022:[]
+020530_000036:[]
+024002_000015:[]
+024118_000001:[19]
+011377_000033:[14]
+005444_000030:[]
+014373_000028:[18]
+010638_000014:[]
+016076_000031:[]
+004594_000000:[]
+008928_000035:[]
+016487_000004:[]
+022111_000031:[4, 8]
+016395_000024:[]
+016068_000023:[17]
+015040_000028:[]
+016375_000023:[6]
+011264_000015:[]
+015198_000031:[]
+023201_000016:[]
+001574_000028:[]
+006098_000026:[]
+007973_000007:[]
+013264_000033:[]
+008957_000009:[12]
+015269_000005:[]
+004957_000031:[2, 4, 12, 17, 19]
+021879_000017:[8]
+016769_000012:[]
+024623_000015:[]
+000880_000026:[4, 6, 9, 10, 19]
+011615_000030:[4, 9]
+009516_000002:[]
+013621_000013:[]
+020058_000018:[7]
+021725_000013:[]
+007867_000005:[]
+008142_000034:[]
+000279_000018:[2]
+023678_000021:[]
+018780_000016:[3]
+013800_000027:[]
+021221_000002:[0, 1, 4, 8, 9, 12, 17, 18]
+010279_000002:[]
+018228_000002:[14]
+006804_000037:[]
+011766_000014:[]
+009356_000039:[2, 6, 14, 16, 18]
+021807_000020:[11]
+006613_000017:[]
+004714_000005:[]
+000403_000007:[]
+004677_000037:[1]
+005674_000024:[]
+001526_000033:[]
+008195_000013:[]
+001377_000022:[]
+006499_000001:[4]
+002520_000023:[]
+014681_000000:[]
+008054_000017:[1, 11]
+015694_000002:[0]
+015014_000019:[5]
+024129_000001:[3, 12, 13, 17, 18]
+016807_000018:[]
+006357_000016:[]
+010841_000012:[]
+017201_000023:[5]
+005216_000034:[4]
+009258_000025:[15]
+014023_000015:[]
+019119_000033:[2, 13]
+017005_000026:[]
+002789_000007:[]
+013419_000028:[]
+024652_000039:[6]
+009704_000013:[8]
+012607_000023:[]
+023912_000031:[]
+010866_000033:[]
+010803_000019:[14]
+003977_000037:[]
+000141_000024:[19]
+000677_000028:[]
+000773_000011:[6, 16]
+000464_000017:[]
+006024_000016:[3, 5, 9, 10, 12, 19]
+019700_000004:[]
+023542_000000:[5]
+013739_000000:[0, 8, 9]
+001102_000037:[11, 18]
+005676_000002:[]
+002697_000017:[]
+021490_000007:[8, 19]
+002588_000012:[]
+007316_000004:[13]
+005073_000000:[7, 17]
+019658_000039:[9]
+009013_000038:[1, 5, 7, 10, 11, 12, 13, 14, 15]
+007962_000028:[]
+006947_000005:[18]
+017216_000007:[3, 4, 7, 10, 14, 18, 19]
+012896_000005:[]
+018919_000009:[5, 18]
+018990_000015:[]
+015829_000039:[]
+007077_000013:[]
+013001_000012:[]
+020392_000039:[]
+023133_000030:[]
+000619_000001:[]
+005792_000039:[]
+011611_000027:[4, 6]
+010407_000020:[1, 8, 12, 13, 15, 18]
+017024_000010:[]
+013304_000033:[]
+002940_000032:[]
+012602_000016:[7, 13]
+011545_000036:[]
+008769_000006:[13, 15, 16]
+004366_000020:[]
+021646_000005:[]
+023933_000013:[13]
+005406_000005:[]
+002895_000026:[8]
+001053_000032:[]
+018422_000000:[]
+024392_000025:[15]
+011694_000000:[14]
+016181_000033:[10, 18]
+020393_000005:[]
+012449_000021:[]
+009820_000039:[4]
+016937_000023:[3, 9, 14]
+014838_000012:[]
+011901_000011:[14, 17]
+014923_000034:[]
+023855_000026:[]
+012940_000004:[]
+010283_000007:[]
+003807_000005:[]
+007690_000013:[]
+017820_000017:[0, 12, 18]
+024265_000028:[]
+017983_000029:[]
+009771_000000:[]
+023998_000020:[7]
+012327_000026:[]
+014361_000003:[14, 17]
+015497_000011:[]
+005751_000015:[]
+012197_000039:[]
+005638_000002:[13]
+013555_000011:[]
+012169_000006:[14]
+002048_000032:[9, 17]
+006211_000033:[]
+012874_000029:[]
+008155_000022:[0]
+016908_000029:[]
+000992_000038:[]
+003948_000033:[1]
+004543_000017:[19]
+006209_000004:[]
+023990_000022:[]
+011717_000036:[]
+021502_000032:[]
+011336_000039:[]
+016955_000016:[6]
+022173_000037:[19]
+006860_000037:[]
+004512_000019:[]
+021599_000021:[]
+015506_000001:[]
+003676_000001:[8, 9]
+019150_000030:[]
+002013_000018:[]
+023322_000004:[]
+004097_000003:[18]
+004708_000022:[1, 5, 6, 8, 14, 18]
+009798_000004:[10]
+008126_000020:[16]
+003420_000035:[]
+010316_000029:[]
+002678_000020:[]
+001197_000007:[]
+009202_000036:[5]
+005204_000039:[0]
+018736_000034:[0, 1, 2, 9, 10, 18]
+000431_000011:[]
+000943_000007:[]
+007471_000033:[]
+023551_000034:[]
+013878_000034:[]
+000248_000028:[16]
+007642_000015:[]
+013305_000023:[]
+010732_000024:[4, 12]
+001886_000038:[]
+004511_000038:[4]
+008766_000001:[14]
+001092_000017:[]
+005002_000035:[]
+010114_000037:[]
+012138_000021:[]
+010970_000006:[1]
+007445_000032:[7]
+013966_000000:[0]
+011347_000026:[]
+020483_000012:[0]
+017045_000039:[1]
+020339_000034:[0, 1, 10, 12]
+007588_000035:[]
+005242_000037:[12, 15, 18]
+012193_000022:[19]
+024619_000011:[]
+017208_000021:[]
+001511_000002:[3, 5]
+001337_000012:[2, 3, 14]
+008650_000039:[8]
+002798_000018:[]
+005176_000007:[]
+020014_000005:[15]
+006646_000008:[]
+024759_000024:[10]
+000414_000018:[]
+001279_000018:[]
+023571_000012:[]
+016597_000026:[0, 1, 3, 8, 10, 11, 16]
+006613_000039:[]
+004937_000023:[]
+003635_000015:[15]
+024578_000005:[0]
+023416_000012:[]
+008338_000033:[0, 2, 6, 10, 14, 15]
+007914_000013:[]
+022113_000031:[]
+020193_000003:[3]
+013458_000007:[11, 17]
+004964_000027:[0, 6, 19]
+013452_000017:[]
+020565_000002:[9]
+002136_000020:[18]
+005547_000028:[1, 14]
+007705_000006:[]
+009929_000035:[10, 14]
+024524_000001:[]
+023120_000004:[11]
+009639_000001:[]
+007927_000015:[19]
+014636_000031:[1]
+009008_000005:[6]
+006730_000039:[]
+012230_000030:[]
+010914_000024:[]
+023036_000014:[9, 19]
+024851_000003:[]
+001382_000014:[]
+010803_000010:[14]
+006218_000001:[]
+021391_000035:[]
+009762_000038:[1]
+016236_000011:[0, 9, 19]
+020062_000007:[]
+011633_000031:[]
+023946_000029:[]
+004127_000016:[9]
+001877_000001:[]
+018692_000006:[]
+011228_000015:[1]
+001294_000002:[]
+012661_000013:[0, 7]
+002165_000009:[]
+017105_000039:[]
+008535_000006:[0]
+015786_000010:[]
+023317_000022:[]
+017979_000010:[]
+005761_000024:[19]
+020264_000010:[2, 4]
+015855_000000:[]
+024148_000033:[0]
+012737_000026:[1, 4, 12]
+019956_000017:[]
+018388_000018:[]
+014250_000005:[1]
+001811_000001:[]
+015567_000030:[]
+003770_000038:[18]
+019096_000009:[]
+024242_000017:[]
+015694_000033:[]
+005251_000005:[]
+014408_000036:[]
+006899_000002:[]
+021322_000033:[]
+023375_000009:[5, 17]
+022094_000030:[0, 2, 10, 11, 14, 15, 19]
+013588_000008:[5, 7, 18]
+006889_000038:[]
+020760_000028:[7]
+007037_000002:[]
+008738_000009:[3, 9, 13, 15]
+000263_000037:[0, 15, 16]
+005505_000033:[4, 5, 10, 19]
+002723_000006:[]
+007133_000021:[]
+022103_000015:[0, 18]
+016112_000021:[]
+007556_000038:[]
+014893_000032:[1, 8, 9, 12, 18]
+021428_000001:[]
+009281_000016:[]
+021576_000004:[]
+004586_000021:[]
+022419_000031:[15, 19]
+023367_000014:[]
+014123_000010:[13, 14, 17, 18]
+015014_000039:[5]
+001430_000025:[]
+013962_000013:[8]
+001184_000006:[11]
+010175_000025:[]
+008451_000034:[3]
+006895_000027:[18]
+011337_000021:[7, 11]
+014886_000026:[]
+014006_000019:[2]
+023293_000013:[]
+017846_000032:[2, 5, 7, 10, 11, 12, 13, 16]
+009771_000029:[]
+017700_000037:[]
+017121_000015:[1, 2, 6, 8, 9, 11, 16]
+010771_000006:[3, 4, 9, 12, 13, 15]
+022967_000029:[]
+000987_000037:[]
+014142_000010:[4]
+001534_000002:[]
+015901_000027:[1, 5, 9, 14, 18]
+013069_000024:[]
+019068_000006:[2]
+009961_000012:[]
+003762_000007:[]
+021612_000007:[]
+023747_000020:[4, 7]
+014610_000016:[0, 1, 6, 11, 14]
+002438_000005:[]
+012429_000014:[3, 14]
+005360_000006:[]
+018974_000020:[]
+013430_000023:[1, 2, 10]
+015266_000023:[]
+017869_000004:[1]
+014787_000019:[0]
+020735_000008:[]
+014965_000039:[]
+003774_000008:[10]
+024243_000036:[3]
+012945_000035:[2, 16]
+009664_000013:[]
+013301_000021:[]
+000605_000039:[]
+019311_000018:[12]
+014530_000027:[6]
+020572_000025:[1, 7, 18]
+003304_000027:[]
+021456_000034:[]
+008510_000013:[]
+019500_000029:[17, 19]
+015064_000030:[3, 4, 7]
+015099_000030:[1, 2, 5]
+011637_000027:[12]
+005553_000031:[13, 15]
+009636_000037:[]
+017084_000005:[]
+021031_000039:[]
+022879_000033:[]
+004322_000030:[]
+010817_000022:[]
+022642_000026:[]
+015042_000005:[]
+005234_000018:[7, 8]
+009429_000018:[]
+004956_000032:[0, 5, 9, 12]
+010399_000001:[18]
+019127_000036:[]
+002020_000020:[9]
+003878_000019:[7]
+013524_000031:[]
+022960_000001:[]
+005019_000014:[9]
+002195_000019:[0, 10, 13]
+023821_000027:[2, 7, 11]
+014043_000012:[2, 4, 6, 7, 12, 15]
+021163_000010:[4]
+008865_000029:[]
+021295_000019:[11]
+012211_000026:[]
+018632_000007:[3, 7, 19]
+001669_000029:[]
+024485_000008:[]
+019386_000036:[2]
+009701_000014:[11]
+016962_000039:[0, 16]
+001481_000039:[]
+016643_000030:[2]
+016968_000014:[9]
+023404_000003:[10]
+023843_000015:[19]
+013409_000029:[0, 10, 14]
+017740_000030:[]
+005382_000039:[]
+002444_000005:[1, 13, 16, 17]
+013903_000033:[]
+000226_000001:[]
+000863_000029:[6, 11]
+004425_000035:[]
+012290_000018:[3, 15]
+014500_000023:[2]
+015133_000032:[]
+002355_000034:[0, 4, 7, 16, 18]
+008206_000012:[15]
+023571_000002:[14]
+022113_000029:[]
+018073_000029:[]
+023246_000036:[]
+011166_000028:[]
+001355_000003:[]
+014075_000023:[]
+005700_000038:[]
+015134_000015:[0, 1, 8, 9, 11]
+007036_000034:[]
+000540_000027:[2, 15]
+007039_000035:[]
+003455_000004:[2, 8]
+024485_000019:[]
+006806_000031:[14]
+010222_000015:[]
+006485_000039:[]
+023873_000003:[0, 8, 10]
+024295_000027:[]
+015030_000027:[16]
+015773_000007:[]
+017688_000028:[]
+010939_000018:[]
+007214_000011:[]
+008197_000025:[]
+014652_000029:[]
+017670_000032:[8]
+020389_000008:[1]
+020512_000007:[]
+013015_000007:[]
+007514_000031:[0, 5]
+004370_000021:[12, 18]
+015479_000009:[12]
+014012_000028:[]
+009200_000011:[]
+018064_000013:[]
+024186_000033:[]
+004390_000027:[0, 9]
+009426_000016:[]
+004497_000039:[]
+004169_000001:[]
+011863_000005:[1]
+000257_000020:[]
+006150_000011:[1, 6]
+020813_000001:[]
+002679_000033:[]
+008134_000038:[1, 11, 14, 16, 19]
+005369_000006:[]
+020981_000038:[11]
+006811_000000:[4, 12, 19]
+024654_000017:[]
+015543_000022:[0, 2, 9, 13]
+020556_000039:[12]
+023043_000001:[0, 1]
+018523_000033:[]
+018396_000038:[13]
+011104_000019:[]
+006395_000010:[]
+004026_000030:[]
+023570_000005:[]
+010605_000035:[]
+018390_000007:[5]
+002084_000037:[0, 8, 16]
+021771_000001:[]
+001510_000030:[]
+001490_000007:[4, 9, 14, 15, 16]
+008268_000008:[]
+006738_000013:[10]
+015315_000011:[5]
+019944_000038:[4, 11]
+010862_000023:[]
+003870_000028:[9, 10]
+010429_000021:[]
+005113_000000:[18, 19]
+011124_000025:[]
+005038_000017:[]
+004920_000005:[5, 7, 9, 11]
+004896_000023:[6]
+000221_000028:[17]
+017128_000038:[]
+014284_000016:[]
+023873_000030:[0, 2, 3]
+009288_000024:[6]
+016419_000000:[]
+014699_000039:[]
+021345_000003:[3]
+012655_000002:[]
+020187_000016:[]
+021175_000016:[10]
+020878_000017:[0]
+013562_000036:[3, 8, 11, 16]
+000031_000033:[4, 9, 18, 19]
+020246_000013:[]
+003496_000037:[]
+005224_000028:[]
+024228_000007:[13]
+022771_000030:[4, 7, 13, 17]
+004015_000009:[1]
+009562_000014:[]
+017309_000038:[1]
+000017_000015:[12]
+013383_000008:[7]
+024457_000034:[19]
+022769_000035:[]
+015318_000010:[]
+008195_000032:[]
+013800_000009:[]
+008568_000029:[2, 17]
+003033_000039:[8]
+017698_000006:[18]
+015185_000033:[2]
+015176_000034:[]
+003899_000022:[14]
+018627_000003:[]
+009649_000019:[]
+000648_000019:[8, 10]
+009910_000034:[]
+005050_000030:[2, 13, 18]
+004457_000010:[14]
+003585_000007:[]
+000070_000012:[]
+007655_000006:[]
+000228_000022:[1]
+006852_000014:[]
+006813_000031:[17]
+005929_000031:[]
+006273_000006:[]
+018360_000022:[]
+014876_000011:[5, 10, 14, 15]
+017528_000025:[]
+006161_000038:[4, 9, 11, 15, 16, 18, 19]
+024585_000025:[9]
+002120_000000:[]
+001389_000033:[16]
+005371_000022:[0, 1, 4, 5, 6, 10, 17, 18, 19]
+002908_000025:[]
+011249_000010:[1, 19]
+002431_000037:[]
+020033_000017:[7]
+008214_000009:[]
+021168_000023:[9, 11, 12, 17]
+023248_000017:[16]
+014989_000031:[12, 18]
+001295_000007:[]
+001846_000037:[]
+022723_000037:[]
+019700_000023:[]
+024462_000029:[]
+009494_000029:[]
+005261_000017:[7]
+009387_000010:[0, 3, 7, 15]
+005218_000011:[]
+017839_000008:[4, 7]
+016899_000034:[]
+024451_000020:[]
+019306_000017:[]
+008080_000025:[5, 6, 11, 14, 16]
+017207_000019:[11, 13, 17]
+019254_000027:[6]
+001373_000028:[5, 7]
+019437_000005:[2, 17]
+019760_000005:[]
+024598_000009:[]
+008996_000023:[]
+009404_000007:[12]
+010367_000029:[]
+009889_000036:[]
+018847_000005:[6]
+018454_000018:[]
+014306_000005:[0]
+024353_000012:[]
+024773_000016:[11]
+015289_000024:[]
+001120_000011:[11]
+001037_000022:[]
+002816_000003:[]
+008015_000032:[2, 8]
+023969_000033:[]
+010058_000015:[]
+012795_000015:[3]
+014190_000023:[]
+024978_000034:[]
+020253_000021:[0, 1, 18]
+020376_000016:[]
+015132_000038:[]
+024439_000019:[8]
+009588_000033:[]
+011793_000032:[17]
+003401_000018:[]
+003478_000000:[7]
+011403_000021:[17]
+000136_000005:[12, 15]
+023965_000025:[2, 3, 4, 5]
+011883_000003:[]
+016485_000038:[4, 11]
+000165_000029:[]
+007275_000029:[1, 8, 14, 16, 18]
+013078_000016:[11]
+023985_000034:[]
+011535_000039:[]
+020724_000018:[0, 1, 3, 7, 15]
+003996_000024:[11, 19]
+016143_000038:[]
+015920_000016:[]
+006440_000029:[]
+001729_000018:[]
+004413_000005:[]
+001192_000036:[]
+014095_000024:[16]
+007709_000006:[17]
+000317_000001:[4, 11]
+017110_000022:[5, 6]
+014429_000024:[18, 19]
+016859_000025:[]
+018103_000035:[0, 1, 4, 5, 7, 11, 17]
+023875_000002:[12]
+023345_000032:[]
+010594_000011:[]
+003327_000036:[]
+001958_000019:[8]
+015915_000003:[1]
+012912_000016:[3, 5, 9, 13, 14, 15, 19]
+006030_000004:[]
+000617_000031:[11]
+011873_000033:[3, 5]
+013034_000032:[]
+020114_000005:[0, 3, 6, 17, 18, 19]
+006773_000021:[9, 14]
+001937_000006:[]
+001537_000013:[]
+007286_000013:[]
+009514_000033:[]
+009945_000032:[7, 13]
+020703_000028:[]
+012579_000034:[]
+001076_000038:[]
+005325_000020:[13]
+004040_000017:[4, 19]
+006751_000013:[]
+008077_000003:[]
+007700_000026:[2, 3, 5, 6, 8, 10, 12]
+020895_000035:[3, 9, 10, 11, 17]
+014268_000005:[]
+004980_000023:[]
+013597_000039:[7]
+024066_000005:[10]
+005255_000011:[11]
+019738_000002:[]
+010070_000000:[]
+020742_000025:[0, 13]
+022949_000020:[6, 9, 12, 15, 18]
+001961_000039:[]
+002386_000015:[0, 4, 11, 14, 15, 18]
+004910_000012:[1, 10, 13]
+022462_000003:[]
+018555_000037:[]
+007102_000036:[]
+012941_000002:[]
+024376_000015:[]
+015851_000037:[3]
+002681_000011:[]
+004273_000020:[5, 19]
+007656_000034:[2, 6, 9, 10, 11]
+023821_000036:[]
+022003_000024:[18]
+011777_000039:[]
+015683_000010:[4]
+012937_000021:[]
+001627_000030:[]
+007958_000013:[2]
+001485_000003:[5, 12]
+019061_000031:[]
+011017_000009:[0, 6, 10, 14, 15, 18]
+010008_000038:[]
+003475_000030:[2]
+021395_000003:[]
+018356_000007:[8, 12, 15]
+001118_000001:[]
+016383_000032:[1]
+021321_000009:[1, 18]
+004451_000019:[]
+005247_000004:[]
+002912_000020:[]
+023706_000023:[19]
+001340_000036:[]
+009604_000007:[2]
+000782_000005:[]
+011508_000010:[5, 7, 10, 12, 13, 15, 19]
+013690_000012:[]
+011593_000000:[16]
+006880_000028:[]
+002799_000017:[3, 11]
+016409_000000:[]
+004436_000035:[7]
+009576_000021:[]
+017284_000032:[14]
+021361_000018:[]
+003315_000006:[]
+001323_000015:[]
+022555_000006:[]
+015328_000007:[]
+010341_000004:[18, 19]
+007953_000009:[3]
+003039_000023:[2]
+001384_000013:[2, 4, 5, 8, 14, 17]
+017654_000036:[0, 4, 6]
+023143_000034:[4, 5]
+022789_000011:[]
+023458_000034:[]
+003534_000012:[19]
+017530_000016:[]
+024403_000018:[]
+003657_000006:[4]
+002300_000020:[]
+006410_000024:[0, 7, 13]
+008316_000004:[]
+004146_000000:[]
+018449_000019:[3, 6, 8]
+018811_000000:[]
+013254_000010:[]
+012145_000020:[0, 3, 5, 15]
+011766_000030:[]
+018216_000004:[]
+014256_000006:[]
+000609_000022:[]
+018252_000021:[]
+015761_000005:[]
+022189_000003:[0]
+018265_000028:[5, 8, 11, 13]
+009134_000027:[9, 11]
+018938_000030:[9]
+009157_000005:[]
+005589_000024:[13]
+023592_000011:[]
+003395_000021:[1, 15, 16, 17]
+001078_000035:[14]
+021581_000039:[]
+013497_000010:[]
+009388_000017:[]
+019792_000014:[]
+008059_000032:[8]
+000560_000010:[3]
+008019_000009:[19]
+013393_000024:[]
+007158_000011:[4]
+011661_000030:[9, 14]
+002517_000007:[7, 9, 11]
+010403_000014:[]
+015598_000035:[]
+010934_000027:[]
+000219_000017:[]
+000929_000028:[0, 16]
+007431_000034:[13]
+012593_000015:[]
+019587_000004:[3, 4, 9]
+021591_000005:[]
+017843_000039:[11, 12]
+007595_000001:[7]
+000722_000008:[]
+021994_000012:[6]
+021211_000025:[]
+002707_000037:[3, 4, 13, 17]
+002670_000038:[]
+023022_000001:[]
+002105_000007:[]
+004361_000036:[18]
+002592_000034:[]
+012905_000023:[]
+012991_000035:[]
+005130_000005:[1]
+006434_000026:[]
+018629_000008:[]
+008370_000020:[18, 19]
+013412_000004:[]
+009057_000022:[10]
+022137_000001:[5]
+016423_000007:[]
+000375_000035:[17, 18]
+014740_000035:[17]
+022742_000021:[]
+019120_000004:[17]
+024585_000013:[]
+015908_000000:[]
+017217_000030:[]
+022755_000002:[]
+006846_000013:[0, 3, 7, 9, 11, 12, 14, 18, 19]
+012096_000006:[3]
+002311_000020:[5]
+000718_000032:[]
+003980_000027:[0, 3, 4, 7, 9, 10, 12, 13, 14, 16, 17]
+015062_000034:[7, 17]
+003911_000020:[1, 14]
+020833_000004:[]
+006331_000030:[8]
+001924_000033:[13]
+004093_000025:[]
+002096_000033:[4, 11]
+000397_000037:[]
+000815_000016:[1, 8, 12]
+002107_000005:[]
+015216_000000:[]
+015504_000013:[11]
+004215_000030:[]
+017732_000000:[]
+022762_000000:[]
+016442_000027:[2, 3, 4, 11, 15, 18]
+003971_000030:[7, 15]
+011432_000036:[0, 2, 3, 12, 17]
+018066_000033:[6]
+013215_000019:[]
+003445_000007:[]
+006128_000015:[]
+009274_000004:[]
+000076_000031:[]
+023070_000002:[2]
+005324_000036:[]
+001689_000026:[]
+011573_000038:[5, 14]
+003224_000034:[2, 10]
+006347_000007:[]
+010138_000006:[]
+015714_000019:[11, 15]
+022953_000015:[]
+019840_000022:[]
+019329_000002:[5, 6, 8]
+005157_000004:[]
+023748_000012:[]
+023542_000006:[]
+012645_000018:[]
+019904_000009:[]
+004859_000025:[]
+004914_000005:[]
+009986_000031:[1, 14, 16]
+000505_000021:[]
+023938_000023:[]
+017902_000014:[2, 7]
+019534_000026:[6]
+015791_000030:[11]
+008878_000018:[11]
+008179_000025:[11]
+013526_000015:[]
+016534_000011:[6]
+024080_000001:[11]
+007677_000027:[]
+001926_000030:[]
+011073_000031:[]
+003458_000037:[]
+004879_000032:[]
+004280_000023:[]
+014010_000025:[]
+011813_000036:[]
+003069_000016:[]
+024458_000038:[]
+010763_000000:[]
+023420_000009:[15]
+009375_000027:[]
+002768_000037:[5, 9]
+009970_000032:[]
+021451_000033:[0, 7, 13]
+012266_000025:[]
+020939_000014:[1]
+001826_000005:[6, 12]
+001712_000018:[]
+013379_000020:[]
+022704_000035:[8, 15]
+015521_000020:[]
+022992_000002:[]
+002509_000030:[3]
+000175_000026:[]
+013101_000025:[]
+009186_000030:[]
+003426_000004:[2]
+024133_000034:[12]
+013473_000026:[]
+019088_000039:[2, 9, 10]
+012154_000021:[]
+007071_000021:[]
+024698_000039:[4]
+019580_000037:[6]
+001557_000020:[8, 12, 13, 18]
+024599_000038:[2, 6, 12]
+014124_000014:[11]
+002396_000037:[0, 2, 6, 11, 14]
+010480_000015:[]
+008252_000009:[12]
+021214_000008:[]
+009319_000037:[12]
+005013_000003:[]
+002324_000015:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000985_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000985_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..737c66b0787f4571dd39721b1714dbe916ec105d
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_000985_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+017443_000017:[7]
+019520_000022:[]
+016159_000022:[9, 13, 15]
+014021_000015:[]
+021526_000024:[]
+008128_000027:[]
+010638_000019:[7]
+000584_000027:[0, 1]
+024912_000012:[]
+013335_000005:[]
+009039_000037:[]
+016132_000005:[6, 14]
+018321_000035:[10]
+018153_000021:[]
+023419_000032:[]
+000483_000024:[]
+016732_000028:[]
+007424_000021:[]
+011686_000022:[2]
+005001_000004:[]
+018449_000025:[3, 6]
+003522_000015:[8]
+004776_000009:[]
+009531_000010:[]
+013478_000019:[]
+021585_000004:[]
+016666_000038:[]
+007917_000030:[]
+004613_000015:[]
+008572_000038:[8, 13, 19]
+006592_000000:[]
+010564_000029:[1, 13]
+005673_000000:[]
+012440_000013:[17]
+019869_000005:[]
+024004_000020:[4, 15]
+007238_000014:[5, 9]
+010911_000024:[]
+006842_000038:[5]
+020749_000012:[1, 10, 14, 19]
+004924_000039:[2]
+004625_000037:[]
+022067_000023:[18]
+024013_000005:[]
+014764_000000:[1, 5]
+000424_000032:[]
+020512_000030:[]
+001036_000024:[]
+022529_000000:[]
+017201_000004:[0]
+024074_000021:[]
+005780_000000:[]
+013392_000004:[]
+011692_000018:[]
+005093_000009:[12]
+001360_000012:[9]
+009654_000033:[]
+020046_000012:[9, 13]
+009687_000016:[7]
+022563_000016:[]
+002156_000036:[2, 4]
+012935_000035:[3, 6]
+010625_000019:[]
+003457_000012:[4, 19]
+021571_000027:[4]
+006489_000031:[]
+004615_000014:[]
+001604_000035:[]
+018410_000001:[15]
+004070_000039:[6, 7, 17, 19]
+015084_000015:[16, 19]
+021488_000026:[]
+010728_000028:[2, 4, 10, 14, 16, 17]
+019772_000004:[]
+002803_000015:[5, 10]
+006735_000035:[]
+023739_000013:[]
+011448_000003:[0, 4, 7]
+006799_000033:[]
+022086_000014:[]
+008964_000012:[]
+014704_000017:[15]
+020222_000028:[3, 8, 10, 11, 14, 17]
+011132_000037:[1, 10, 11]
+019079_000029:[3]
+009419_000029:[0, 1, 9, 11]
+015314_000016:[2, 5, 8, 16]
+022437_000016:[10]
+003377_000023:[]
+001891_000007:[9, 15, 19]
+007946_000030:[0, 3, 5, 18]
+010996_000003:[]
+004063_000014:[]
+019447_000035:[]
+002785_000033:[]
+019745_000026:[]
+023253_000017:[]
+004258_000029:[]
+011387_000031:[]
+008644_000019:[3]
+016725_000034:[13]
+017218_000016:[]
+014495_000028:[]
+012180_000005:[4, 5, 13, 18]
+000589_000009:[]
+002371_000024:[]
+023326_000031:[6]
+010170_000004:[]
+013784_000028:[]
+012180_000014:[7]
+014132_000014:[0, 4, 7, 11, 12, 13, 16]
+008067_000030:[]
+001612_000022:[3, 6, 8, 10, 15]
+016682_000019:[12, 18]
+021232_000028:[]
+004705_000029:[]
+010182_000027:[14, 15, 16]
+017903_000020:[]
+000305_000037:[]
+020441_000023:[3, 19]
+000755_000020:[18]
+020297_000032:[]
+002779_000019:[]
+004342_000029:[3, 6, 10]
+015958_000035:[]
+019017_000038:[9]
+015742_000020:[]
+021813_000029:[0]
+006210_000039:[]
+021045_000014:[]
+000946_000023:[]
+017506_000035:[]
+004816_000035:[]
+007245_000014:[]
+006417_000023:[]
+023881_000004:[]
+023410_000020:[16, 19]
+001895_000023:[]
+009595_000013:[0, 14]
+021696_000001:[]
+023249_000029:[]
+015458_000009:[4, 5, 11]
+002918_000018:[]
+008086_000014:[1, 17]
+021911_000022:[]
+012534_000022:[0, 4, 10, 15, 19]
+016738_000023:[13]
+005574_000039:[]
+005166_000002:[]
+009400_000011:[2]
+006088_000014:[]
+022397_000025:[0, 7]
+005850_000036:[9]
+003956_000004:[]
+023797_000008:[]
+000153_000031:[]
+012336_000013:[7]
+008117_000018:[]
+000784_000014:[]
+001408_000033:[6, 16]
+019481_000020:[]
+017601_000033:[1, 6, 9, 11, 13, 17, 19]
+014504_000032:[7, 14]
+023076_000013:[]
+011410_000027:[7]
+009300_000027:[8]
+020790_000038:[7]
+001539_000013:[]
+001870_000005:[]
+011424_000036:[1, 6, 7, 8, 12, 17, 18]
+022335_000008:[12]
+004663_000014:[2]
+014680_000039:[]
+024523_000029:[4, 6]
+010410_000000:[4]
+003506_000015:[]
+007363_000001:[11]
+008105_000005:[11]
+015220_000012:[12]
+024328_000016:[8]
+000987_000011:[]
+011714_000018:[11]
+000134_000004:[]
+005999_000018:[]
+022256_000038:[]
+000428_000020:[]
+011966_000013:[]
+023183_000009:[]
+001397_000033:[1, 2, 16]
+024227_000033:[3, 4, 6, 8, 12, 13]
+000582_000032:[]
+024537_000002:[]
+011735_000022:[13, 15, 16]
+001804_000004:[1, 3]
+002395_000027:[13, 18]
+007770_000017:[14]
+005921_000000:[]
+024552_000009:[]
+018812_000025:[9]
+012858_000038:[]
+001515_000026:[]
+014807_000012:[]
+014997_000011:[0]
+017331_000010:[]
+005544_000026:[]
+004150_000038:[2, 4, 6, 10, 11, 14, 15, 16]
+024997_000028:[]
+012283_000006:[2, 5, 7, 19]
+012827_000039:[]
+014953_000027:[0, 1, 2, 7, 10, 13, 14, 16]
+008944_000015:[3, 15, 17]
+002078_000033:[5, 15]
+022893_000015:[16, 18]
+006312_000001:[]
+006992_000010:[14]
+001495_000001:[0, 2, 6, 9, 11, 12]
+003954_000025:[8]
+003262_000021:[17]
+003480_000005:[]
+011063_000021:[]
+001888_000002:[]
+020374_000038:[]
+019412_000021:[3]
+017495_000039:[]
+010266_000021:[]
+009926_000029:[]
+012947_000010:[]
+011733_000013:[]
+002562_000019:[2, 7]
+012155_000018:[]
+013366_000020:[]
+018028_000032:[]
+001614_000007:[]
+007594_000006:[]
+013411_000007:[]
+002751_000003:[0, 2, 3, 7, 9, 11, 16, 18, 19]
+011763_000039:[18]
+002801_000034:[3]
+015319_000027:[]
+002315_000005:[11]
+010291_000004:[]
+015395_000007:[2]
+021171_000023:[]
+004685_000012:[]
+008778_000016:[]
+000917_000012:[14]
+024217_000011:[4, 7, 9, 19]
+019285_000000:[]
+004540_000025:[]
+020520_000025:[]
+015651_000039:[4, 9, 19]
+007998_000015:[0, 8]
+016305_000032:[]
+001438_000039:[]
+005685_000036:[]
+002174_000030:[]
+005633_000027:[11]
+000243_000005:[]
+014614_000019:[]
+011385_000005:[5, 6, 7]
+023795_000033:[]
+004424_000009:[]
+019095_000034:[]
+014765_000015:[]
+009953_000001:[3, 6, 7, 17]
+017270_000032:[]
+014111_000000:[0]
+008129_000013:[]
+020887_000008:[0, 5]
+014631_000029:[]
+016298_000028:[]
+010134_000025:[8, 11, 12]
+008614_000022:[]
+015495_000026:[]
+008648_000024:[]
+002794_000000:[]
+018458_000015:[]
+014908_000037:[]
+006547_000038:[9]
+007954_000006:[]
+005583_000008:[1, 7]
+012893_000017:[]
+015518_000007:[15]
+016838_000037:[]
+004614_000008:[]
+001237_000017:[]
+004206_000030:[]
+014156_000013:[]
+024851_000020:[6]
+023912_000020:[16]
+016503_000006:[0, 5, 12, 18]
+014492_000021:[]
+023608_000016:[10]
+009301_000001:[]
+020068_000004:[1, 7, 15, 17]
+004100_000026:[]
+003916_000010:[]
+024449_000010:[]
+006812_000039:[6, 12, 13, 15]
+005763_000028:[0, 10]
+011209_000029:[]
+003702_000039:[]
+012874_000014:[]
+003604_000030:[]
+022035_000008:[3]
+007417_000033:[]
+006057_000008:[4, 14, 18, 19]
+005628_000013:[]
+015971_000039:[4, 7]
+024673_000018:[]
+014142_000037:[2, 17]
+009023_000038:[]
+005409_000015:[17]
+010812_000001:[11]
+005467_000027:[]
+005127_000003:[]
+008002_000029:[]
+000247_000000:[]
+023684_000031:[]
+016220_000006:[]
+019452_000021:[1, 5, 8]
+016799_000028:[]
+022251_000029:[2, 9]
+018571_000034:[]
+015567_000037:[]
+010680_000018:[]
+013671_000031:[3]
+008567_000036:[]
+014305_000028:[4, 6, 8, 18]
+008914_000003:[]
+006289_000000:[]
+002621_000023:[]
+002884_000016:[]
+009363_000014:[]
+003420_000010:[1, 2, 6, 15, 19]
+001153_000016:[10, 15]
+019440_000039:[11]
+017957_000024:[]
+016102_000022:[3, 10]
+012581_000024:[15]
+021213_000008:[]
+015219_000017:[11]
+002883_000029:[]
+011544_000022:[]
+009503_000012:[]
+005604_000028:[]
+013543_000024:[15]
+007143_000020:[]
+012191_000024:[7]
+022608_000002:[]
+014808_000025:[10, 11, 17]
+002161_000004:[]
+009734_000013:[5, 7, 10, 11, 18]
+019052_000032:[]
+009210_000005:[]
+002634_000031:[]
+015071_000006:[5]
+006099_000010:[]
+024188_000005:[]
+022487_000001:[]
+010781_000006:[]
+003283_000027:[1, 9, 11, 13, 16, 18]
+021226_000036:[]
+018418_000018:[2, 9, 12, 14]
+017437_000028:[18]
+001527_000030:[2]
+016093_000024:[]
+021132_000038:[0, 1, 5, 8, 12, 15]
+007907_000032:[2, 8]
+020266_000036:[]
+003609_000035:[11]
+003411_000023:[]
+021950_000017:[10]
+021987_000029:[2]
+015349_000029:[]
+018974_000022:[]
+013820_000007:[]
+013821_000000:[]
+017848_000036:[]
+009880_000000:[]
+011183_000000:[]
+015800_000015:[]
+015749_000031:[15]
+017415_000015:[]
+013159_000024:[]
+004393_000002:[6, 7, 8, 9, 14, 16]
+019502_000020:[16]
+021215_000003:[1, 5]
+002670_000028:[]
+012758_000013:[]
+014302_000033:[]
+015373_000039:[2, 4]
+002274_000011:[]
+008410_000031:[15]
+013105_000003:[8]
+005598_000004:[4, 8, 9, 12]
+003150_000032:[]
+002095_000015:[17]
+018949_000007:[]
+008383_000023:[]
+001279_000034:[]
+011398_000024:[]
+009849_000022:[]
+013790_000019:[]
+019051_000005:[11]
+002640_000006:[]
+023652_000015:[]
+004975_000000:[]
+009371_000035:[7, 19]
+018177_000039:[]
+000394_000035:[]
+007181_000001:[]
+011926_000033:[]
+024119_000024:[]
+005179_000010:[]
+019475_000024:[]
+024821_000008:[]
+018628_000014:[]
+018675_000003:[3, 12]
+016306_000028:[]
+017432_000001:[]
+012775_000004:[6]
+010253_000026:[]
+022036_000002:[12]
+021680_000006:[]
+000806_000024:[]
+015792_000012:[10, 17]
+015174_000036:[13]
+005700_000015:[13, 17]
+005663_000032:[1]
+012591_000022:[17]
+008595_000030:[16]
+014833_000001:[7]
+023724_000018:[]
+019180_000001:[]
+008450_000003:[]
+015423_000002:[]
+021192_000012:[4]
+005878_000025:[]
+008574_000006:[1, 3, 4, 8, 14]
+008997_000038:[]
+005482_000030:[]
+000767_000009:[]
+023529_000015:[6, 9]
+008362_000009:[]
+020015_000026:[]
+009476_000037:[]
+008423_000039:[19]
+018389_000021:[]
+019936_000038:[9]
+015537_000025:[]
+001399_000032:[]
+011802_000022:[]
+023444_000026:[]
+004603_000010:[]
+002749_000011:[]
+003768_000002:[13, 16]
+006968_000024:[1, 16]
+014851_000017:[]
+002533_000035:[4, 7, 8, 13, 15]
+015984_000036:[]
+023282_000024:[12]
+004790_000026:[]
+000375_000034:[]
+010881_000000:[11]
+001509_000026:[]
+006800_000005:[13]
+017137_000038:[4, 14]
+018572_000001:[]
+024538_000029:[5, 13, 16]
+014293_000013:[]
+020708_000010:[3]
+016984_000013:[]
+003196_000007:[4, 11]
+014661_000006:[]
+015582_000005:[]
+009440_000035:[]
+009060_000024:[]
+006105_000002:[19]
+008436_000023:[5, 8, 11, 12, 13]
+008683_000007:[1, 8, 11, 12, 19]
+014622_000001:[]
+019854_000026:[]
+003647_000015:[]
+019321_000007:[]
+004390_000003:[]
+008159_000022:[8]
+003976_000030:[]
+010044_000014:[]
+023541_000027:[]
+006306_000035:[]
+017341_000016:[12]
+000462_000011:[7]
+019254_000021:[]
+022274_000034:[7]
+013443_000011:[]
+018576_000032:[6, 17]
+024360_000012:[]
+004255_000036:[]
+004552_000022:[]
+002245_000024:[7]
+016034_000013:[]
+017937_000025:[0, 9]
+020441_000027:[]
+005656_000014:[]
+016945_000010:[]
+016994_000026:[1, 5]
+018497_000021:[1, 3, 6, 8, 11, 12]
+002618_000022:[4]
+000591_000022:[]
+021325_000012:[]
+002100_000028:[]
+021331_000005:[18]
+006836_000036:[4]
+010936_000014:[12]
+000407_000036:[8]
+007554_000034:[]
+015933_000025:[14]
+009129_000029:[]
+023848_000002:[17]
+013434_000011:[5]
+020968_000031:[0, 2, 7, 12, 14, 17, 19]
+020559_000023:[]
+001400_000004:[]
+012267_000019:[4]
+021174_000015:[]
+017200_000017:[1, 2, 4, 5, 7, 9, 12, 13]
+016721_000025:[]
+015227_000002:[0]
+012823_000037:[]
+019977_000003:[2]
+012913_000001:[]
+021677_000017:[1]
+018955_000005:[]
+014447_000017:[1]
+005796_000029:[]
+000189_000011:[]
+014043_000007:[]
+009582_000032:[]
+021491_000018:[]
+005877_000017:[]
+012520_000024:[]
+006820_000033:[10]
+012323_000030:[8, 15]
+003439_000010:[]
+023052_000003:[]
+014541_000030:[]
+019081_000017:[]
+022143_000008:[1, 4, 13, 16, 18]
+013017_000032:[]
+000199_000000:[8]
+008193_000031:[]
+015822_000036:[]
+020583_000010:[1]
+003200_000007:[1, 5, 13]
+010709_000003:[]
+018490_000030:[17]
+002975_000011:[]
+016869_000014:[]
+018771_000016:[6, 9, 16, 18]
+024420_000019:[]
+001118_000008:[]
+006648_000018:[]
+001978_000005:[11, 12]
+022213_000017:[]
+013936_000031:[]
+006919_000004:[]
+022044_000034:[]
+011175_000035:[]
+006781_000000:[]
+020787_000024:[13, 18, 19]
+006473_000000:[7, 14, 16]
+015546_000002:[]
+002956_000030:[]
+003084_000007:[]
+023539_000030:[13]
+018248_000037:[2]
+001180_000028:[]
+016075_000037:[5, 7, 9, 12, 19]
+021139_000030:[0, 9, 11, 14]
+012254_000013:[5]
+009905_000018:[]
+014095_000017:[]
+019501_000012:[5]
+003341_000011:[0, 13]
+003923_000038:[]
+008432_000012:[]
+010333_000005:[9, 10]
+013838_000027:[8, 10]
+019833_000030:[]
+005907_000017:[]
+024273_000027:[]
+023199_000001:[]
+021255_000015:[7, 16]
+010201_000016:[5, 10, 15, 18]
+007864_000003:[1]
+002601_000038:[12]
+002554_000017:[]
+013015_000031:[]
+010444_000015:[2]
+010841_000017:[]
+006830_000028:[]
+022038_000001:[]
+010355_000032:[11]
+009903_000005:[]
+000287_000027:[]
+006454_000013:[]
+018162_000029:[14]
+020342_000036:[]
+019114_000000:[0]
+017451_000004:[]
+001994_000023:[]
+013267_000032:[]
+011684_000037:[]
+020420_000016:[3, 4, 7, 11, 14, 16]
+022353_000024:[4]
+006107_000021:[1, 14, 15, 18]
+008218_000016:[]
+009705_000005:[10, 12]
+014923_000023:[11, 12]
+009144_000021:[]
+001500_000002:[]
+010436_000011:[]
+005297_000036:[11, 12]
+015109_000035:[]
+000031_000006:[]
+006417_000024:[2]
+017399_000030:[6]
+020558_000001:[6]
+010718_000035:[]
+005919_000012:[19]
+007005_000002:[]
+001834_000000:[]
+008388_000031:[10]
+008985_000031:[]
+011578_000030:[]
+006487_000032:[18]
+009163_000010:[]
+021009_000034:[3, 15]
+019131_000016:[]
+024927_000022:[6, 8]
+002581_000016:[]
+018759_000011:[1]
+009947_000026:[]
+024868_000025:[]
+006258_000026:[]
+012921_000039:[1, 11, 17]
+000403_000026:[]
+016140_000034:[1, 12, 13]
+011399_000022:[]
+011888_000033:[]
+006468_000013:[11]
+020729_000022:[]
+021104_000022:[1]
+014272_000016:[]
+003862_000008:[]
+024240_000037:[]
+013572_000013:[]
+002577_000022:[3]
+020647_000018:[2]
+011202_000039:[]
+004528_000027:[]
+018794_000023:[1, 5, 9, 10]
+007225_000009:[11]
+003108_000014:[7, 12, 18]
+010703_000006:[1, 9, 13]
+006503_000027:[]
+006472_000028:[12]
+004893_000001:[]
+007938_000031:[]
+005334_000003:[11, 13]
+012371_000011:[2, 10]
+018046_000038:[]
+007743_000015:[]
+016085_000006:[]
+022323_000032:[]
+015575_000015:[4]
+001592_000026:[]
+000492_000024:[10]
+013419_000003:[]
+002428_000027:[6]
+016057_000032:[]
+004813_000015:[]
+024367_000002:[14]
+024166_000029:[]
+001116_000002:[]
+009832_000024:[4, 13, 16]
+018358_000036:[6]
+014699_000022:[]
+009604_000000:[]
+010119_000015:[]
+018012_000030:[]
+009733_000013:[]
+017256_000001:[]
+005590_000031:[2, 3, 11, 16]
+005806_000016:[]
+006612_000015:[]
+002978_000039:[3]
+021864_000005:[8]
+000311_000038:[]
+007368_000026:[0]
+001837_000035:[19]
+003093_000019:[]
+002572_000033:[0]
+001714_000036:[]
+014882_000013:[4, 5, 13, 14]
+009829_000024:[14]
+013584_000033:[6, 19]
+001748_000002:[11]
+020589_000022:[10]
+007789_000024:[]
+015646_000007:[]
+001565_000013:[14]
+014955_000010:[]
+007610_000024:[]
+012054_000004:[]
+003168_000039:[2]
+019550_000015:[]
+004654_000017:[]
+022925_000013:[8]
+022321_000002:[9]
+001196_000037:[12]
+005422_000020:[14]
+005621_000017:[]
+024994_000019:[]
+014174_000008:[13]
+016311_000012:[10, 11]
+013327_000027:[]
+006061_000029:[]
+006369_000015:[0, 1, 9, 11, 13, 19]
+010306_000012:[]
+022426_000000:[16]
+010056_000033:[0, 19]
+018063_000039:[]
+000808_000000:[]
+006713_000013:[]
+017401_000006:[]
+014486_000014:[]
+019598_000022:[]
+006462_000014:[]
+022452_000033:[]
+022344_000006:[15]
+003695_000024:[]
+019884_000027:[]
+007591_000038:[]
+004435_000004:[]
+019058_000031:[]
+024109_000016:[]
+021964_000008:[1, 4, 6, 9]
+016720_000016:[]
+002955_000035:[]
+013133_000037:[15]
+022280_000021:[2]
+023343_000015:[]
+003494_000015:[]
+019381_000028:[]
+017524_000028:[]
+001386_000025:[8, 9]
+017658_000009:[]
+002742_000036:[]
+008417_000021:[]
+016679_000019:[13]
+010109_000037:[]
+007959_000038:[]
+005446_000018:[]
+003224_000019:[12]
+023621_000021:[0]
+016847_000008:[7, 10]
+002816_000001:[]
+006927_000030:[]
+001641_000010:[7]
+003432_000004:[5]
+019851_000013:[13, 16]
+000142_000022:[]
+002892_000016:[5]
+004866_000033:[2]
+006909_000002:[]
+003448_000021:[4]
+016630_000026:[]
+003637_000000:[]
+018052_000007:[]
+022624_000016:[]
+016855_000015:[4]
+022078_000013:[]
+001955_000031:[]
+010689_000010:[]
+013881_000005:[4, 15]
+006562_000018:[]
+014938_000018:[12]
+024689_000027:[13]
+007851_000006:[]
+013166_000018:[]
+008219_000027:[]
+016842_000020:[1]
+021601_000028:[]
+019302_000024:[]
+016987_000022:[]
+013601_000004:[]
+013916_000033:[]
+013434_000028:[5]
+021084_000015:[]
+017550_000008:[]
+000669_000009:[]
+024395_000038:[0, 2, 4, 9, 11, 15]
+010798_000025:[]
+020161_000028:[2, 3, 16]
+016700_000026:[]
+020928_000033:[16]
+023371_000024:[16]
+017432_000024:[]
+001194_000020:[]
+011912_000019:[10]
+006451_000023:[]
+006395_000030:[19]
+015463_000038:[]
+000671_000032:[1, 9]
+019955_000027:[1]
+010177_000004:[6, 7]
+002062_000032:[]
+024586_000031:[]
+023219_000035:[]
+016521_000018:[]
+015136_000026:[1, 19]
+003122_000017:[4, 7, 14]
+010477_000026:[]
+003708_000019:[]
+013482_000009:[10]
+008484_000031:[4]
+024062_000028:[]
+024191_000024:[]
+013814_000020:[11]
+007209_000014:[0]
+001495_000037:[2, 9, 11, 12]
+023332_000005:[2]
+024141_000005:[7, 16, 17, 18]
+011147_000009:[8]
+013657_000004:[]
+011639_000009:[]
+009780_000019:[1, 19]
+001132_000015:[]
+011982_000027:[]
+017122_000019:[0]
+022231_000033:[9]
+021754_000017:[]
+005161_000036:[16]
+022193_000007:[]
+018885_000002:[]
+012977_000021:[]
+015479_000000:[12]
+023251_000009:[1, 9]
+022930_000026:[]
+022284_000038:[13, 14, 18]
+020963_000024:[4, 5]
+013290_000037:[]
+014644_000003:[]
+017068_000027:[]
+018294_000035:[0, 14]
+016735_000009:[]
+008981_000030:[4, 19]
+020704_000029:[]
+015952_000001:[]
+022719_000008:[]
+024666_000033:[11, 19]
+023760_000017:[1, 2, 3, 8, 9, 12, 19]
+000565_000008:[]
+007341_000001:[15]
+016331_000012:[]
+018151_000012:[9]
+021808_000012:[]
+013049_000006:[]
+016403_000002:[]
+023087_000039:[]
+002953_000028:[]
+014200_000017:[]
+019243_000034:[14]
+009319_000039:[18]
+017052_000024:[5]
+007535_000031:[]
+017678_000003:[]
+024966_000023:[8]
+008748_000024:[]
+011016_000036:[13]
+012346_000009:[]
+000539_000023:[3, 5, 7, 8, 11, 14, 16]
+002300_000001:[14, 19]
+019284_000005:[]
+016757_000013:[10]
+010251_000009:[]
+000976_000000:[]
+014310_000022:[0, 1, 5, 6, 7, 8, 9, 15, 18, 19]
+001442_000013:[3, 13, 15]
+011216_000024:[]
+003729_000009:[5]
+019307_000013:[12]
+004514_000025:[1, 2, 6, 15]
+013289_000003:[]
+014882_000016:[9]
+018392_000036:[]
+004602_000007:[8, 10]
+010066_000013:[]
+001047_000038:[3, 17]
+001095_000006:[1, 2, 7, 8, 10, 14, 16]
+014199_000007:[1, 8, 14]
+005678_000017:[2, 3, 4]
+003213_000011:[4, 7, 8, 13]
+018024_000006:[]
+014737_000035:[]
+020574_000018:[0, 14]
+015670_000001:[17, 18]
+017434_000039:[13]
+005212_000001:[]
+012761_000012:[0, 18]
+001854_000008:[4, 14]
+017474_000011:[0]
+012144_000015:[]
+011905_000011:[]
+008652_000004:[]
+022303_000022:[12, 16]
+000011_000011:[]
+006507_000003:[]
+017179_000014:[10, 18, 19]
+015550_000030:[]
+007892_000025:[3, 8]
+019687_000002:[7, 8, 11, 12, 13, 16]
+005305_000025:[]
+011624_000002:[]
+023732_000017:[]
+019336_000011:[]
+023452_000004:[9]
+012969_000016:[9, 11]
+000881_000011:[]
+002109_000036:[18]
+006902_000018:[5]
+021630_000019:[10]
+009554_000033:[14]
+022691_000039:[13]
+022671_000022:[]
+023541_000011:[]
+016504_000008:[]
+018286_000039:[9]
+012106_000023:[2, 15]
+010835_000026:[]
+006383_000037:[2]
+021168_000035:[]
+022208_000003:[17]
+001967_000034:[3, 18]
+007390_000005:[]
+021072_000009:[15]
+013755_000018:[]
+014820_000000:[9]
+005567_000039:[]
+023601_000027:[1, 4, 9, 10, 14, 17, 19]
+020122_000031:[]
+002880_000025:[1, 18, 19]
+001343_000019:[]
+003474_000024:[4]
+015682_000003:[16]
+015211_000000:[]
+001493_000018:[6, 15, 18]
+017565_000018:[]
+017293_000028:[12]
+008247_000027:[6]
+007952_000031:[]
+005403_000034:[]
+008371_000002:[1, 2, 8, 12]
+008817_000018:[9, 13]
+002771_000019:[]
+015779_000006:[]
+021874_000010:[]
+022950_000007:[]
+012472_000004:[]
+000091_000030:[]
+021240_000034:[]
+023067_000027:[]
+017839_000035:[4, 16]
+013605_000029:[10]
+019170_000032:[]
+017656_000020:[]
+006407_000002:[]
+016588_000022:[4]
+006691_000036:[]
+017189_000035:[]
+007213_000023:[]
+013428_000012:[1]
+007112_000024:[3]
+014030_000017:[]
+004661_000030:[6]
+021378_000022:[2, 13]
+021099_000023:[5, 19]
+005792_000028:[5, 19]
+014168_000021:[6]
+000789_000031:[]
+003414_000016:[]
+017777_000036:[2, 10, 16, 17]
+009756_000004:[]
+000077_000003:[]
+007006_000009:[3]
+022230_000011:[8, 12, 14, 17, 18]
+009979_000034:[]
+007117_000012:[]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_001015_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_001015_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0077cef33b757d21779e376e291beb765cf86154
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_001015_corrupted_depths.txt
@@ -0,0 +1,1000 @@
+006582_000037:[]
+008424_000031:[]
+002688_000012:[]
+020369_000007:[]
+015830_000001:[]
+008808_000011:[]
+003446_000028:[]
+023661_000003:[]
+016615_000004:[]
+020794_000031:[8]
+004783_000038:[6]
+012263_000013:[]
+013686_000012:[15, 16]
+018799_000013:[0, 3, 8, 14]
+022412_000032:[]
+008963_000027:[]
+023052_000011:[7]
+020984_000008:[3, 4, 14]
+012895_000020:[]
+013711_000002:[0]
+019851_000018:[]
+023257_000009:[]
+002378_000018:[]
+009903_000018:[]
+022591_000035:[2]
+004482_000016:[]
+013234_000003:[]
+017432_000017:[16]
+011605_000022:[]
+003379_000036:[4, 7, 13]
+016553_000003:[3]
+008064_000017:[]
+023902_000035:[]
+019273_000035:[]
+000384_000021:[]
+011588_000032:[]
+024686_000013:[0, 1, 2, 3, 7, 8, 9, 10, 12, 14, 16, 17, 19]
+019140_000016:[7]
+019631_000013:[12]
+004299_000029:[]
+001964_000006:[]
+011689_000018:[]
+021717_000035:[7]
+000477_000037:[15]
+023291_000032:[2, 10, 11, 19]
+000640_000010:[4, 16]
+019309_000019:[13]
+007702_000037:[]
+022407_000014:[]
+006411_000022:[]
+008742_000028:[12]
+011804_000007:[]
+007854_000025:[]
+017707_000001:[10]
+006920_000027:[7]
+005078_000022:[]
+019519_000011:[16]
+015488_000011:[]
+008925_000030:[2]
+023603_000025:[]
+005066_000022:[]
+021872_000024:[]
+004274_000025:[]
+002758_000023:[14]
+006824_000031:[]
+008320_000013:[15]
+024502_000009:[15, 16]
+004429_000003:[]
+017027_000003:[12]
+003080_000013:[]
+011128_000001:[]
+011881_000022:[]
+019630_000030:[]
+007859_000022:[]
+001065_000009:[]
+016445_000034:[]
+007070_000029:[]
+019586_000005:[1, 8, 18]
+003836_000002:[]
+010571_000025:[8, 13, 15]
+012925_000024:[5]
+013810_000030:[9, 10]
+016331_000032:[18]
+001990_000025:[12]
+003032_000031:[5, 13, 14]
+020990_000026:[]
+013257_000023:[]
+000928_000022:[10]
+013421_000023:[]
+015823_000019:[1]
+010633_000003:[]
+019500_000005:[]
+006223_000024:[8, 15, 18]
+021490_000021:[]
+007366_000020:[]
+006686_000039:[3, 6, 16]
+016964_000037:[18]
+014074_000032:[8, 11]
+013099_000006:[]
+003655_000033:[0]
+007159_000033:[]
+002065_000015:[7]
+017013_000014:[]
+000447_000019:[]
+009510_000005:[]
+012847_000030:[4, 18]
+020143_000017:[2, 13, 15]
+018792_000007:[]
+022056_000017:[7, 18]
+002399_000037:[13]
+003679_000011:[0]
+023096_000001:[9]
+008455_000019:[12]
+011310_000015:[]
+006633_000010:[4]
+024632_000013:[]
+006091_000025:[5, 7, 16]
+018408_000037:[13]
+015615_000003:[2, 4, 9]
+010486_000032:[]
+007560_000010:[]
+019314_000002:[5]
+022931_000035:[9]
+021371_000027:[5, 7, 12]
+010971_000026:[]
+014183_000011:[4, 17]
+022549_000002:[8, 19]
+022801_000036:[]
+022930_000029:[17]
+002204_000027:[]
+016592_000016:[]
+005447_000034:[3]
+022943_000031:[1, 18]
+019564_000035:[10]
+020771_000021:[0, 11, 18]
+018012_000003:[]
+013925_000020:[12]
+013794_000018:[10]
+013019_000023:[]
+003731_000008:[0, 4]
+017405_000034:[]
+020236_000013:[]
+006245_000027:[11]
+006374_000026:[]
+012215_000014:[9]
+006068_000007:[]
+008686_000008:[0]
+006210_000033:[]
+008085_000033:[0, 10]
+005280_000034:[]
+021119_000018:[]
+001464_000036:[]
+000120_000012:[]
+021726_000032:[]
+018602_000034:[]
+000959_000007:[]
+022274_000010:[]
+024069_000036:[]
+021543_000002:[]
+018041_000038:[]
+007234_000016:[]
+012208_000012:[7, 17]
+013463_000007:[13]
+017701_000029:[]
+008363_000032:[]
+024788_000019:[0]
+002979_000037:[10]
+011053_000030:[]
+000884_000025:[]
+004222_000017:[9]
+022998_000003:[5, 14]
+017446_000006:[]
+022095_000027:[16]
+014684_000027:[]
+008828_000005:[]
+020103_000008:[13]
+014224_000011:[]
+024131_000012:[]
+010802_000000:[]
+005977_000023:[]
+024125_000020:[]
+008338_000009:[0, 2, 6]
+016646_000013:[4, 17]
+006925_000014:[5, 16]
+008385_000018:[7, 15, 17]
+018152_000034:[12]
+007553_000005:[]
+022679_000015:[]
+004271_000019:[]
+004249_000033:[1]
+003786_000009:[1]
+000001_000026:[19]
+018046_000030:[9, 13]
+003762_000026:[]
+016805_000024:[]
+000511_000018:[]
+017626_000004:[]
+006345_000027:[9]
+024664_000003:[]
+013795_000008:[]
+012388_000014:[]
+021700_000013:[]
+019721_000030:[]
+001256_000020:[]
+020291_000035:[6]
+006394_000012:[]
+004320_000037:[0, 1, 2, 7, 8, 9, 10, 13, 15, 18]
+013137_000008:[]
+019877_000039:[]
+016352_000027:[]
+005649_000038:[]
+021487_000034:[2, 5, 7]
+005004_000022:[]
+017429_000009:[7]
+005366_000013:[]
+017319_000021:[]
+013435_000004:[]
+004282_000039:[]
+013851_000001:[12]
+000174_000016:[]
+009634_000032:[]
+008023_000008:[]
+007024_000011:[7]
+010147_000001:[1, 16, 17]
+000500_000006:[]
+007073_000008:[]
+020753_000032:[]
+006659_000026:[13, 15]
+002866_000001:[]
+024776_000002:[]
+021403_000023:[]
+024301_000006:[4, 5, 19]
+001547_000001:[2]
+016156_000013:[]
+023264_000002:[5]
+024692_000009:[]
+001575_000020:[12]
+019999_000018:[14]
+011018_000011:[]
+020004_000037:[]
+014143_000017:[]
+015561_000005:[]
+003100_000007:[]
+012506_000028:[6]
+002446_000016:[]
+016301_000011:[]
+000042_000035:[]
+022760_000009:[]
+012408_000026:[6, 11]
+017876_000010:[9, 15]
+001110_000021:[6]
+017562_000007:[2, 19]
+014431_000012:[]
+020101_000005:[]
+015169_000011:[]
+016385_000022:[6, 9, 17]
+024076_000015:[]
+009004_000033:[]
+002114_000019:[1, 14, 18]
+000557_000038:[]
+004668_000021:[0, 8, 11]
+002428_000004:[]
+020109_000009:[1]
+016176_000013:[15]
+024362_000024:[15]
+010622_000008:[]
+004397_000011:[10, 13]
+023716_000025:[]
+023986_000024:[]
+002348_000039:[]
+017650_000001:[]
+000892_000004:[18]
+010386_000003:[]
+015408_000036:[]
+019378_000013:[9]
+020139_000019:[]
+012481_000018:[10]
+012855_000027:[]
+016991_000014:[]
+018387_000027:[18]
+014674_000028:[]
+005732_000020:[5, 11, 14, 18]
+004460_000021:[14, 16, 18]
+005554_000009:[]
+013758_000033:[]
+010429_000006:[]
+024540_000016:[1]
+002693_000037:[13]
+008017_000029:[4, 5, 11]
+004191_000019:[]
+005958_000031:[]
+008581_000009:[]
+002208_000035:[11]
+016138_000037:[]
+018207_000005:[6, 8, 10, 11, 14, 19]
+000434_000021:[]
+004757_000000:[2, 5, 7, 12, 13]
+000676_000020:[]
+003171_000038:[]
+002407_000025:[8]
+004087_000038:[]
+021705_000033:[]
+007292_000002:[]
+018064_000014:[]
+006591_000021:[13]
+023036_000015:[12]
+024078_000015:[11]
+017880_000037:[6]
+009778_000014:[]
+016146_000008:[17]
+005349_000011:[]
+002611_000028:[]
+022564_000036:[8]
+006751_000030:[]
+017462_000039:[8, 9, 10]
+004577_000018:[]
+024648_000001:[]
+005929_000025:[]
+020051_000006:[]
+016193_000039:[]
+023576_000022:[18]
+009046_000010:[0, 5, 7, 17]
+006271_000023:[1, 15, 16]
+016995_000011:[11, 13, 15, 18]
+005003_000039:[]
+010999_000026:[14]
+021306_000036:[0, 7, 18]
+024373_000036:[]
+002721_000018:[]
+017637_000015:[13, 14]
+018602_000007:[]
+024107_000005:[5, 6]
+009148_000019:[1, 3, 12]
+009019_000023:[6]
+010520_000037:[]
+023974_000023:[]
+015501_000033:[]
+007039_000039:[]
+014792_000013:[]
+003276_000016:[17]
+002981_000031:[]
+000027_000028:[5, 8, 9, 14]
+019919_000032:[16, 17]
+000546_000023:[]
+022963_000017:[]
+013871_000036:[0, 5]
+023108_000038:[]
+023471_000038:[2, 9, 15, 17]
+006413_000037:[6]
+001008_000039:[0, 5, 14, 16, 17, 19]
+002655_000004:[]
+020878_000030:[]
+010907_000012:[1]
+021831_000032:[]
+007028_000004:[]
+013455_000034:[]
+022916_000032:[5, 8, 19]
+014666_000029:[6]
+003789_000003:[]
+001417_000033:[]
+019929_000022:[]
+018581_000028:[]
+008409_000012:[]
+008038_000028:[]
+009347_000033:[4]
+008591_000027:[4]
+002607_000000:[0, 10]
+009971_000000:[]
+016237_000029:[]
+009272_000006:[7]
+013152_000008:[]
+004620_000035:[6, 12, 17]
+017406_000039:[]
+021981_000018:[]
+015586_000008:[10, 12]
+011655_000039:[]
+024084_000031:[]
+015920_000014:[4]
+014851_000011:[]
+018238_000034:[]
+004594_000031:[14, 16, 19]
+009933_000023:[7]
+007852_000019:[1]
+017760_000036:[]
+007831_000031:[]
+017025_000014:[]
+019236_000003:[]
+020869_000037:[1, 2, 4, 8, 11, 14, 16, 17]
+021434_000029:[3, 10]
+001610_000002:[19]
+012216_000033:[]
+007262_000032:[5, 18]
+003452_000029:[0, 8, 15, 17]
+008230_000003:[]
+017260_000038:[8, 14]
+019022_000032:[]
+013233_000007:[]
+003963_000030:[]
+004012_000025:[]
+008194_000020:[]
+006620_000022:[18, 19]
+004469_000023:[16]
+001886_000006:[]
+008757_000025:[]
+014404_000008:[]
+024962_000017:[6, 8, 14]
+001081_000036:[0, 2, 10, 15]
+002117_000004:[]
+016121_000035:[]
+020562_000027:[]
+012385_000032:[3]
+014953_000001:[6, 7]
+007617_000010:[]
+020472_000014:[17]
+016485_000023:[19]
+002954_000015:[]
+005927_000006:[]
+024545_000026:[7]
+016658_000036:[]
+012894_000030:[]
+000082_000013:[]
+002014_000018:[]
+005156_000015:[4, 15, 19]
+011898_000013:[6]
+004845_000027:[]
+001401_000014:[]
+022004_000022:[13, 17]
+006202_000035:[12]
+015586_000023:[]
+015508_000031:[0]
+006746_000023:[]
+022857_000002:[]
+007744_000005:[6, 9, 10, 13]
+011476_000018:[]
+009742_000003:[]
+011067_000003:[]
+016215_000023:[13, 15]
+003280_000012:[]
+016077_000035:[]
+011347_000027:[]
+019825_000034:[]
+021335_000007:[]
+022285_000036:[]
+003310_000010:[6, 7, 19]
+005567_000008:[2]
+017516_000038:[3]
+013554_000006:[]
+019141_000003:[]
+005107_000003:[]
+024501_000016:[]
+004365_000037:[]
+007266_000023:[]
+015621_000039:[]
+017230_000012:[1]
+021927_000039:[12, 16]
+000426_000032:[3]
+009938_000023:[12, 17]
+024229_000007:[]
+014452_000016:[]
+019623_000000:[5]
+011072_000004:[16]
+022872_000005:[]
+021057_000035:[11]
+015187_000011:[]
+015910_000010:[]
+012998_000032:[]
+002126_000035:[]
+013831_000037:[]
+001887_000010:[10]
+013104_000037:[]
+015694_000006:[11]
+010148_000007:[]
+021683_000020:[7]
+005441_000007:[]
+012398_000027:[2]
+018691_000025:[]
+008760_000021:[]
+013529_000005:[3, 10, 13, 16, 17]
+003835_000032:[]
+012708_000030:[1, 8, 14, 16, 18]
+001075_000008:[0]
+023956_000004:[]
+001735_000037:[5, 15]
+016906_000032:[]
+012986_000021:[]
+014881_000030:[]
+008344_000012:[]
+011501_000027:[]
+024446_000007:[18]
+002788_000022:[2, 11, 12]
+022678_000011:[0]
+022500_000004:[]
+014700_000015:[4]
+005046_000027:[]
+017592_000034:[]
+012258_000022:[]
+022600_000026:[17]
+001090_000031:[]
+017959_000011:[]
+018268_000030:[18]
+016136_000028:[1]
+021329_000018:[16]
+000638_000011:[0, 18]
+006056_000009:[]
+012757_000027:[2, 14]
+012857_000034:[1]
+015668_000001:[]
+005309_000031:[0, 9, 16, 18]
+012876_000024:[2, 5, 6, 9, 15, 18, 19]
+022797_000035:[7]
+004231_000024:[3, 6, 8, 13, 15, 17, 18, 19]
+002438_000002:[15, 19]
+018776_000024:[]
+014980_000012:[]
+001757_000039:[]
+005673_000018:[]
+009851_000025:[2, 9, 12, 15]
+005988_000002:[]
+022526_000004:[2, 4]
+000855_000002:[]
+008724_000012:[6, 7, 14, 15, 18]
+011398_000003:[]
+008362_000006:[]
+007347_000032:[9, 10, 15]
+019036_000027:[3, 9]
+001258_000008:[]
+012411_000028:[]
+006477_000003:[6, 11]
+008673_000011:[]
+019997_000038:[]
+013590_000039:[9]
+002448_000022:[11, 19]
+019727_000006:[17]
+020537_000019:[3, 8]
+011207_000011:[4, 10]
+015933_000004:[]
+022888_000014:[]
+015912_000008:[7]
+021375_000017:[]
+007584_000006:[]
+007702_000024:[5]
+005590_000001:[10]
+000137_000001:[]
+017019_000015:[]
+003310_000039:[3]
+018189_000039:[]
+018349_000036:[]
+005167_000037:[16]
+022332_000026:[]
+008470_000003:[]
+008461_000014:[]
+016978_000005:[]
+001280_000020:[0]
+001768_000011:[1]
+008730_000030:[]
+017967_000017:[16]
+001713_000008:[]
+014192_000009:[]
+002601_000016:[1, 2, 10, 14, 18]
+018408_000008:[]
+007861_000034:[]
+011560_000003:[2]
+021452_000031:[]
+015860_000002:[]
+022809_000029:[14]
+021816_000026:[2, 6, 8, 10, 11]
+018989_000037:[0, 12]
+001567_000028:[]
+002080_000031:[]
+007000_000013:[8, 9]
+018995_000027:[]
+018134_000028:[]
+023509_000009:[]
+014165_000016:[3]
+001498_000024:[]
+011289_000007:[]
+021380_000009:[]
+002482_000035:[18]
+011625_000005:[5, 8, 11]
+007903_000036:[]
+003790_000036:[]
+002105_000023:[15]
+006109_000001:[]
+018777_000031:[]
+001699_000027:[]
+017418_000031:[3, 7]
+024763_000006:[11, 15]
+023417_000007:[]
+022555_000033:[]
+021033_000014:[3, 8]
+003350_000012:[2, 4]
+000334_000013:[]
+011365_000023:[]
+005388_000024:[1]
+010273_000008:[4]
+019952_000034:[]
+021045_000018:[]
+021600_000024:[]
+019676_000013:[]
+017419_000005:[]
+022579_000013:[]
+006693_000007:[]
+007520_000037:[12]
+020693_000004:[]
+013346_000031:[16]
+006506_000009:[]
+003776_000008:[]
+018645_000031:[]
+006104_000012:[]
+003737_000001:[]
+017679_000012:[5]
+024019_000015:[2, 3, 13, 18]
+002363_000018:[]
+010572_000036:[]
+012020_000013:[]
+008859_000013:[]
+006695_000002:[]
+023213_000008:[]
+018212_000011:[9]
+022625_000036:[]
+004143_000003:[]
+023226_000014:[0, 12]
+017283_000003:[]
+006042_000021:[8]
+007822_000009:[13, 18]
+022755_000033:[]
+019806_000010:[16]
+017558_000001:[2, 6, 15]
+004647_000006:[]
+014321_000016:[]
+006093_000014:[]
+018841_000031:[15]
+016600_000024:[3, 5, 15, 19]
+003751_000021:[]
+009899_000021:[]
+021858_000030:[]
+010821_000039:[3, 5, 7, 8, 10]
+000925_000008:[]
+003573_000031:[9]
+004573_000016:[14]
+021981_000031:[]
+014257_000037:[]
+023471_000016:[2, 5, 9, 17]
+007074_000019:[7]
+018341_000034:[]
+000615_000008:[]
+023215_000000:[]
+015716_000020:[]
+014546_000018:[]
+004203_000038:[]
+013589_000011:[]
+023333_000033:[5, 12]
+004003_000031:[]
+001714_000022:[13]
+004125_000008:[3]
+018904_000036:[0, 2, 7, 10, 11, 12, 14]
+016909_000019:[]
+005063_000005:[]
+019163_000006:[]
+015076_000005:[]
+004521_000028:[]
+005892_000017:[0]
+002736_000019:[]
+024917_000030:[]
+013469_000028:[1]
+017145_000026:[]
+014115_000019:[3, 4, 9, 10, 12, 14, 15, 17, 18]
+013117_000024:[2, 5, 17]
+007729_000015:[]
+015758_000018:[]
+022932_000036:[4]
+013151_000001:[]
+023236_000013:[0]
+007352_000033:[6]
+000513_000007:[2, 16]
+012992_000023:[9]
+002699_000035:[14]
+023370_000013:[]
+009774_000028:[4, 5, 7, 9, 11, 14, 15]
+020984_000009:[3, 4, 5, 11, 14, 16]
+005485_000012:[]
+000118_000017:[]
+020034_000038:[]
+003885_000009:[]
+010162_000033:[]
+012976_000023:[]
+015527_000021:[]
+007888_000029:[]
+005704_000004:[]
+020347_000023:[]
+005006_000012:[]
+019938_000038:[2, 18]
+008549_000034:[13, 17]
+011419_000013:[0, 3, 13]
+024048_000012:[10, 11]
+003990_000004:[]
+014726_000018:[6, 13]
+024516_000003:[]
+003442_000038:[]
+007124_000002:[8]
+023426_000012:[13, 14]
+024885_000002:[1, 6]
+023570_000019:[]
+009936_000008:[]
+013247_000027:[]
+021095_000023:[]
+021642_000032:[]
+002304_000030:[0, 4, 8, 17]
+006443_000011:[8]
+023271_000025:[1, 4, 13, 15, 19]
+011841_000039:[]
+019337_000034:[9]
+023167_000026:[]
+012835_000009:[]
+009802_000032:[5]
+016449_000030:[8]
+018433_000038:[]
+015277_000036:[14]
+020486_000012:[]
+011464_000019:[]
+020110_000023:[]
+001971_000027:[7]
+002204_000032:[2, 15]
+016744_000013:[]
+012076_000028:[]
+017559_000026:[2, 4, 10]
+004740_000039:[11, 16, 17]
+021613_000009:[17]
+024936_000008:[]
+021231_000021:[]
+000249_000022:[]
+010351_000016:[4, 8, 9, 12, 15, 17, 19]
+010184_000009:[]
+022507_000030:[]
+008200_000036:[]
+022248_000023:[]
+020632_000031:[]
+003551_000009:[3]
+023014_000009:[]
+020888_000023:[]
+010582_000001:[]
+004109_000000:[11, 15]
+005737_000006:[]
+010178_000039:[]
+018164_000000:[5]
+024616_000021:[]
+010006_000031:[]
+013581_000013:[15]
+000411_000034:[]
+003075_000034:[]
+011027_000032:[6]
+011830_000023:[]
+002949_000005:[]
+006474_000032:[14]
+010026_000021:[]
+009130_000020:[]
+015571_000025:[3, 11]
+017645_000032:[2, 9, 14]
+002015_000012:[2, 12]
+018887_000003:[]
+022924_000036:[]
+005824_000020:[]
+018337_000004:[]
+003338_000027:[]
+009472_000025:[15]
+007467_000026:[0, 6, 16, 18, 19]
+019539_000004:[]
+012288_000007:[19]
+024299_000037:[2, 6, 14]
+008598_000006:[]
+023240_000027:[3, 9]
+013449_000004:[]
+020348_000037:[]
+002873_000001:[]
+018528_000008:[]
+008298_000026:[]
+019918_000037:[0]
+021059_000021:[0]
+008103_000016:[0, 1, 6, 7]
+008428_000029:[]
+019623_000003:[3, 5, 6, 12, 14, 17, 18]
+001782_000002:[]
+009877_000026:[]
+008918_000037:[]
+019807_000031:[0]
+023295_000032:[]
+023505_000039:[0, 5, 11]
+015605_000020:[]
+002276_000009:[]
+021133_000004:[18]
+020702_000034:[]
+017374_000004:[]
+013973_000022:[]
+006948_000034:[]
+023957_000008:[6, 10, 13, 14, 16, 18]
+009821_000026:[]
+001900_000033:[15]
+024941_000025:[]
+010797_000039:[]
+022794_000032:[]
+018397_000025:[]
+013020_000019:[]
+004509_000019:[2, 14, 15]
+017369_000008:[]
+020182_000015:[]
+016035_000037:[1]
+007115_000011:[]
+007206_000031:[4]
+021943_000010:[]
+021832_000014:[0, 2]
+010883_000031:[]
+022523_000036:[7, 18]
+016208_000020:[]
+012810_000007:[]
+023623_000039:[]
+007141_000028:[]
+007953_000014:[2]
+023533_000006:[]
+006510_000005:[]
+009678_000034:[]
+012242_000035:[0, 10]
+022343_000027:[]
+004487_000029:[]
+018923_000012:[1, 16]
+022277_000026:[3]
+016253_000039:[13]
+017903_000004:[]
+008508_000008:[]
+012394_000033:[6]
+017737_000033:[]
+003418_000019:[0]
+003999_000014:[3]
+020055_000011:[]
+012495_000026:[2]
+005419_000016:[]
+021710_000032:[]
+020068_000019:[12, 15]
+007715_000013:[]
+010523_000008:[]
+021168_000033:[]
+016486_000032:[1, 16]
+000402_000026:[16]
+005074_000019:[]
+013219_000029:[15]
+008621_000031:[]
+013711_000020:[]
+008905_000032:[7]
+010978_000022:[]
+007815_000010:[]
+017114_000033:[]
+019726_000004:[4]
+010246_000019:[]
+017834_000006:[16]
+008228_000037:[]
+008323_000016:[]
+006643_000036:[4, 8, 12, 18]
+010810_000010:[11, 19]
+009158_000019:[18]
+016262_000034:[10]
+001267_000035:[7]
+019604_000034:[12]
+008222_000004:[]
+019884_000002:[19]
+005449_000001:[]
+005042_000021:[]
+005771_000031:[3, 6, 9, 13]
+004022_000000:[]
+011544_000006:[]
+008241_000024:[11]
+018397_000038:[0, 14]
+005266_000011:[]
+020844_000020:[]
+016362_000027:[]
+024658_000034:[]
+004184_000007:[11]
+015072_000003:[]
+014413_000020:[0]
+022992_000015:[16]
+007198_000027:[]
+012119_000003:[]
+004730_000014:[9]
+023289_000001:[]
+017339_000008:[]
+007468_000010:[]
+021223_000022:[1, 4, 5, 6]
+023357_000039:[]
+002543_000028:[]
+004203_000003:[7]
+006350_000037:[]
+007650_000026:[]
+008763_000016:[]
+012759_000032:[13, 19]
+023642_000031:[]
+000586_000001:[15]
+007747_000003:[]
+006521_000024:[12]
+003543_000018:[]
+006669_000014:[]
+011221_000037:[]
+019221_000002:[6]
+013896_000010:[9]
+023437_000039:[14]
+019719_000003:[0, 8]
+011930_000011:[]
+009824_000001:[]
+024821_000032:[]
+015566_000038:[7, 9]
+013216_000011:[]
+005335_000002:[13]
+004612_000011:[19]
+021012_000005:[]
+006143_000037:[]
+008405_000006:[9]
+018480_000035:[]
+006321_000027:[5]
+008634_000033:[16]
+006885_000002:[]
+006685_000037:[]
+001672_000038:[]
+013919_000017:[9]
+019077_000021:[12]
+004054_000028:[0, 2, 12]
+006551_000018:[]
+004462_000015:[]
+014917_000023:[]
+016110_000016:[1, 6, 10, 11, 18, 19]
+003586_000008:[7]
+024069_000027:[]
+004233_000005:[7, 16]
+012500_000001:[0, 2, 11, 14]
+013888_000023:[5]
+012095_000026:[]
+002535_000004:[]
+012345_000000:[]
+015091_000022:[]
+023000_000039:[]
+013355_000007:[]
+007059_000001:[]
+017283_000007:[]
+010536_000011:[15]
+013118_000003:[14]
+003340_000033:[]
+003827_000008:[8]
+008261_000014:[]
+019517_000015:[19]
+024568_000010:[]
+006929_000028:[]
+023307_000007:[7, 12, 17]
+009459_000032:[]
+016718_000033:[]
+018135_000021:[2]
+004312_000000:[4]
+018432_000034:[]
+001439_000031:[]
+022328_000036:[]
+020449_000035:[]
+013377_000026:[]
+022435_000017:[2, 4, 13]
+006986_000029:[]
+015023_000039:[]
+020673_000036:[5, 8, 17]
+011302_000001:[11, 13]
+004652_000029:[12, 17]
+008168_000030:[13]
+016310_000004:[]
+007961_000021:[13, 17]
+024442_000029:[1, 11, 16]
+009962_000019:[]
+024526_000013:[4]
+024319_000015:[]
+016137_000011:[]
+015500_000028:[0]
+022940_000039:[]
+022357_000016:[]
+023978_000008:[]
+005861_000023:[]
+015231_000035:[]
+001067_000030:[0, 2, 3, 4, 8, 9, 11, 16]
+002197_000001:[1, 8, 11]
+005677_000008:[]
+004479_000006:[]
+015816_000022:[]
+005491_000030:[14]
+020389_000027:[]
+001043_000012:[1, 4]
+011279_000016:[]
+010703_000038:[1, 13, 17]
+018009_000000:[19]
+001084_000039:[]
+014284_000027:[4, 8, 13, 15]
+021670_000002:[]
+011108_000023:[1, 14]
+007654_000012:[9, 11]
+000649_000021:[2]
+024926_000008:[]
+001309_000023:[3]
+009740_000019:[1, 5, 16]
+017793_000010:[]
+003729_000011:[4, 5, 8]
+020785_000006:[1, 3, 6]
diff --git a/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_001026_corrupted_depths.txt b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_001026_corrupted_depths.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6deabda461249a1bc9a51f363021e8c6e724f942
--- /dev/null
+++ b/MegaPose-GSO-fixed/GSO_broken_depth_maps/gso_1M_extr_shard_001026_corrupted_depths.txt
@@ -0,0 +1,500 @@
+013667_000015:[8]
+018485_000027:[0, 15]
+020000_000021:[]
+011438_000004:[]
+019312_000010:[]
+024344_000011:[]
+011210_000013:[]
+014036_000037:[]
+009079_000024:[6]
+019983_000010:[]
+013539_000031:[10]
+005553_000025:[2]
+020286_000012:[3, 12, 19]
+002181_000039:[]
+002636_000016:[0, 6, 7, 16]
+004422_000027:[]
+017321_000031:[]
+009014_000002:[1, 6, 12]
+011492_000029:[4]
+000099_000012:[]
+003951_000021:[]
+008415_000022:[8]
+019243_000011:[]
+008919_000010:[]
+007359_000019:[16]
+019568_000021:[1]
+016182_000036:[]
+011910_000026:[]
+003190_000036:[0]
+004825_000005:[8]
+022517_000030:[3, 14]
+017919_000030:[]
+001636_000014:[6, 10]
+007711_000019:[]
+017065_000019:[]
+021094_000032:[]
+014485_000021:[11, 13]
+015194_000038:[13, 14, 17]
+020048_000004:[1, 3]
+005284_000028:[]
+019606_000018:[0, 5, 13]
+017688_000018:[]
+017712_000008:[3]
+022561_000001:[]
+018832_000026:[]
+011302_000029:[]
+015787_000014:[9, 11, 19]
+018598_000011:[]
+023871_000030:[]
+005520_000021:[0, 2, 11, 13, 15, 19]
+022092_000003:[]
+001755_000029:[]
+008363_000036:[]
+015689_000008:[]
+018634_000021:[1, 19]
+023262_000028:[1, 11]
+011462_000024:[7]
+006949_000006:[12, 16, 17]
+023486_000025:[]
+015769_000000:[19]
+008587_000015:[6, 11, 18]
+019445_000028:[]
+003906_000014:[]
+013627_000036:[]
+006404_000000:[]
+003390_000008:[0, 8, 10, 11, 12, 15, 16]
+001657_000022:[]
+008237_000034:[]
+019808_000023:[0, 2, 6, 8, 9]
+005119_000016:[2, 11, 12]
+015059_000007:[4, 6, 17]
+018826_000034:[1, 2, 5, 16]
+008238_000020:[]
+020228_000031:[]
+010358_000035:[]
+002537_000006:[0, 6, 19]
+004405_000005:[]
+004715_000034:[1, 3, 4, 5, 9, 14, 18]
+000815_000037:[4, 6]
+001953_000031:[]
+014679_000018:[3, 14]
+010255_000004:[9]
+014001_000034:[11]
+013502_000031:[]
+001622_000039:[5]
+010921_000031:[16]
+002004_000011:[]
+008849_000003:[2, 5, 6, 7]
+017724_000006:[]
+003353_000039:[]
+008478_000020:[]
+013865_000012:[10]
+014815_000023:[]
+000387_000024:[]
+023427_000033:[8, 19]
+011609_000022:[1, 2, 5, 6, 11, 12, 15, 16, 17, 18]
+003677_000015:[14]
+009831_000015:[]
+006764_000018:[]
+019741_000029:[8]
+001088_000023:[]
+022834_000014:[]
+006172_000018:[15]
+003780_000035:[8]
+020210_000020:[19]
+009856_000001:[]
+002303_000034:[]
+008686_000011:[2]
+001809_000028:[2]
+023835_000014:[]
+003612_000010:[0]
+015434_000007:[]
+012036_000024:[]
+003158_000005:[]
+013585_000015:[]
+015492_000035:[]
+012249_000037:[0, 17]
+021350_000003:[18]
+013695_000038:[]
+006367_000001:[18]
+014156_000012:[]
+014027_000039:[]
+013697_000014:[]
+007124_000029:[]
+013217_000008:[16]
+021350_000022:[]
+018288_000033:[]
+018027_000017:[]
+016089_000028:[16]
+013062_000023:[10]
+014097_000024:[]
+011132_000029:[]
+005646_000015:[2, 8, 11, 16, 19]
+003212_000009:[6]
+002182_000039:[18]
+012333_000003:[]
+010710_000014:[]
+009958_000005:[]
+002939_000021:[10, 18]
+007774_000013:[]
+015670_000036:[]
+008703_000031:[]
+013570_000009:[]
+008037_000026:[]
+000505_000025:[4, 11]
+009656_000034:[3, 7, 15, 18]
+011818_000020:[]
+000177_000022:[15]
+000737_000037:[]
+010422_000006:[]
+023300_000038:[7]
+015980_000001:[2, 5]
+008355_000034:[5]
+018641_000034:[]
+008897_000030:[10, 12]
+023120_000027:[]
+024545_000029:[]
+002278_000026:[]
+010133_000036:[3]
+005177_000039:[12]
+016059_000031:[]
+016119_000024:[2]
+005853_000015:[1, 2, 5, 9, 13, 14]
+013263_000017:[]
+015980_000013:[]
+009829_000036:[2]
+023373_000019:[]
+019074_000021:[]
+006165_000028:[0, 2]
+009664_000025:[3, 11, 16]
+011531_000031:[]
+022372_000032:[]
+021372_000007:[]
+024735_000034:[12, 13]
+017389_000016:[]
+000112_000016:[0, 16, 17]
+007584_000033:[8]
+000478_000039:[]
+000909_000006:[18]
+007333_000001:[16]
+022961_000007:[]
+013633_000013:[]
+008283_000024:[0, 2, 7, 9, 10, 17]
+018142_000010:[]
+010174_000028:[0, 3, 4, 7, 10, 13]
+019434_000038:[]
+022818_000020:[17]
+008902_000001:[]
+017368_000009:[]
+014139_000011:[0, 1, 2, 6, 9, 12, 15, 16]
+024885_000021:[]
+024345_000011:[5, 15]
+006692_000011:[]
+019607_000013:[8]
+016650_000032:[6, 9, 11, 13, 16, 18]
+006151_000029:[0, 3, 11]
+006729_000006:[0, 12, 14]
+017205_000002:[7, 16]
+017815_000018:[6]
+002562_000030:[5, 9, 19]
+024531_000003:[]
+014359_000033:[11, 18]
+001058_000023:[6, 7, 8, 11, 15, 18]
+013464_000002:[]
+013272_000008:[]
+000617_000019:[11]
+012942_000036:[]
+017663_000032:[]
+003655_000038:[]
+001871_000012:[12]
+020537_000030:[14]
+011027_000021:[]
+017401_000025:[4, 12, 19]
+014265_000025:[16]
+002972_000001:[]
+000939_000007:[2]
+004466_000023:[9, 11]
+002475_000005:[]
+007241_000005:[]
+009374_000016:[10]
+021777_000015:[]
+001315_000010:[]
+020288_000032:[]
+015280_000011:[17]
+005727_000017:[12]
+020129_000022:[]
+003963_000029:[]
+005745_000013:[]
+020070_000023:[2, 9]
+019727_000011:[]
+006611_000037:[11]
+012818_000033:[]
+004160_000016:[]
+021789_000036:[5]
+017722_000020:[14]
+016804_000023:[]
+009495_000006:[]
+003682_000002:[]
+000106_000008:[]
+016583_000003:[]
+016583_000024:[16]
+000102_000025:[]
+003769_000022:[]
+018729_000036:[]
+003456_000035:[]
+021845_000020:[2]
+022104_000022:[]
+017858_000001:[12]
+000033_000038:[9, 16]
+009712_000009:[]
+007875_000018:[]
+007213_000000:[12]
+005913_000038:[]
+020268_000004:[]
+004434_000022:[12]
+006798_000019:[10]
+017388_000016:[]
+011037_000033:[]
+011918_000020:[6]
+016875_000031:[]
+012767_000010:[1, 6, 11]
+015126_000032:[4]
+000628_000024:[11, 15, 19]
+001136_000016:[12]
+004050_000031:[2]
+021968_000018:[0, 1]
+020687_000021:[]
+016463_000022:[]
+015025_000036:[13]
+016711_000020:[]
+005781_000003:[]
+013508_000023:[]
+018182_000001:[11]
+016401_000025:[8, 10]
+003349_000012:[]
+021958_000003:[14]
+020820_000024:[]
+002175_000013:[5]
+021989_000001:[]
+022127_000012:[6]
+011749_000004:[]
+014192_000036:[]
+020983_000027:[0]
+015482_000025:[16]
+018855_000021:[13]
+006764_000020:[]
+000722_000033:[17, 19]
+006784_000015:[]
+002406_000000:[]
+016387_000031:[5, 7]
+004700_000026:[]
+024732_000025:[]
+013356_000006:[3, 11, 15]
+006457_000034:[]
+022497_000033:[12]
+022974_000002:[]
+021972_000004:[15]
+015815_000029:[]
+023583_000037:[11]
+014075_000030:[]
+005064_000022:[3, 17]
+016589_000027:[]
+022512_000008:[]
+014493_000003:[]
+015799_000015:[2, 19]
+021779_000019:[9]
+015901_000001:[]
+004002_000000:[]
+012445_000036:[0, 13]
+011373_000013:[]
+007813_000036:[]
+011910_000021:[]
+016024_000006:[]
+016057_000009:[14, 19]
+014929_000036:[10, 12]
+002211_000027:[0, 5, 8, 12, 17]
+012634_000036:[3]
+019839_000036:[]
+006015_000005:[4]
+018825_000015:[]
+007898_000011:[]
+001321_000003:[2, 16]
+013016_000009:[7, 19]
+009896_000037:[13, 19]
+015680_000032:[]
+019518_000024:[]
+011923_000015:[4]
+012383_000016:[]
+013715_000037:[6, 11]
+007020_000010:[1, 4, 8, 9, 18]
+004672_000022:[13]
+009145_000005:[]
+011969_000016:[0]
+012202_000004:[]
+003924_000019:[10]
+019770_000016:[9, 19]
+023217_000015:[]
+001149_000030:[]
+004695_000014:[]
+004586_000025:[14]
+008597_000018:[]
+017578_000032:[]
+024550_000035:[1]
+023920_000032:[0, 13]
+000074_000001:[0]
+001971_000026:[]
+019969_000014:[]
+022702_000009:[]
+004310_000032:[]
+000710_000020:[]
+009932_000006:[]
+022626_000018:[0, 1, 14]
+018264_000038:[]
+015041_000021:[]
+014848_000013:[]
+005770_000008:[]
+022447_000038:[16]
+015573_000011:[5]
+023253_000015:[16, 17]
+009456_000021:[]
+017453_000006:[]
+010180_000014:[0, 6, 9, 11, 13, 15]
+023020_000018:[]
+005266_000039:[12]
+002767_000019:[]
+016269_000001:[13]
+011963_000038:[2, 13]
+001223_000022:[]
+002728_000016:[]
+004279_000003:[10, 15, 18]
+002229_000033:[]
+006116_000034:[]
+013662_000023:[]
+022420_000021:[3, 4, 7, 9]
+000182_000002:[5, 9]
+010370_000016:[3]
+011525_000030:[]
+003945_000021:[]
+021864_000002:[]
+021363_000031:[1, 5]
+020317_000037:[]
+024414_000031:[]
+021139_000011:[]
+024327_000035:[]
+005686_000008:[]
+024045_000013:[]
+008321_000001:[6]
+014607_000027:[]
+001838_000036:[15, 19]
+023063_000024:[10]
+005510_000008:[]
+011789_000023:[18]
+010990_000002:[0]
+016657_000015:[12]
+015728_000006:[]
+000950_000035:[]
+006239_000006:[18]
+002905_000006:[]
+012669_000032:[]
+008713_000002:[12]
+021134_000029:[15]
+012868_000004:[11]
+020678_000026:[0, 2, 11, 13, 14]
+004053_000028:[]
+022846_000005:[10, 13, 16]
+013689_000028:[15]
+017759_000003:[6, 15]
+013041_000036:[10]
+019148_000026:[]
+006053_000023:[]
+019442_000039:[13]
+017632_000027:[9, 16]
+008164_000026:[]
+017665_000000:[3]
+017085_000020:[18]
+004423_000001:[]
+008400_000025:[1]
+016601_000009:[]
+006104_000014:[]
+024346_000026:[1]
+017975_000001:[]
+015588_000003:[]
+017210_000028:[2, 12, 15, 18]
+023267_000034:[3]
+017998_000017:[0, 4]
+024047_000033:[]
+020820_000033:[]
+016272_000024:[5, 8, 18]
+004992_000000:[]
+005297_000004:[6, 9, 11, 12, 18]
+016301_000001:[1]
+017136_000017:[7, 19]
+012098_000023:[6, 7, 9, 19]
+021210_000011:[16]
+006948_000022:[]
+012470_000026:[]
+009218_000019:[]
+016255_000009:[]
+015890_000008:[15, 19]
+007502_000021:[3, 4, 8, 9]
+017004_000018:[]
+001282_000009:[19]
+020015_000019:[]
+021976_000034:[4, 18]
+021635_000014:[5]
+005290_000030:[]
+015155_000008:[]
+014162_000006:[]
+001701_000022:[]
+001868_000032:[]
+019905_000014:[]
+015094_000020:[]
+000898_000034:[]
+010713_000037:[2, 9]
+024806_000012:[3]
+006192_000019:[]
+001634_000029:[]
+024917_000012:[]
+009050_000000:[]
+006180_000025:[5]
+018291_000031:[]
+014796_000026:[8, 12]
+023852_000004:[]
+020457_000017:[]
+004367_000004:[]
+020768_000024:[]
+013555_000002:[3, 17]
+004532_000033:[7]
+021605_000011:[]
+010080_000030:[2, 8, 16, 18]
+006400_000021:[17]
+009453_000029:[4]
+016149_000021:[3]
+004603_000025:[]
+022199_000010:[]
+020393_000016:[6]
+001897_000037:[]
+008249_000037:[]
+006604_000026:[]
+002857_000020:[17]
+004021_000027:[]
+003596_000027:[]
+011011_000022:[]
+018464_000011:[18]
+010889_000014:[]
+018347_000000:[]
+012534_000020:[0, 5, 19]
+004608_000037:[]
+023737_000037:[14]
+006706_000039:[0, 6, 12]
+020348_000004:[19]
+018946_000035:[]
+012713_000034:[]
+002956_000038:[]
+002658_000026:[3]
+003418_000036:[3, 11]
+006422_000021:[]
+014179_000007:[16]
+018875_000010:[8]
+013867_000003:[5]