diff --git a/metadata/033d0b9343_metadata.json b/metadata/033d0b9343_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4024f24cdc5675da0f19f934344e917344d3a27e
--- /dev/null
+++ b/metadata/033d0b9343_metadata.json
@@ -0,0 +1,170 @@
+{
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+  "pointcloud_file": "033d0b9343.pt",
+  "indices_file": "033d0b9343_indices.pt",
+  "transform_to_world_file": "033d0b9343_to_world.npy",
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\ No newline at end of file
diff --git a/metadata/053a94cf68_metadata.json b/metadata/053a94cf68_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..18f3a16fa9add345cdb37cc5b2890c80810a5ace
--- /dev/null
+++ b/metadata/053a94cf68_metadata.json
@@ -0,0 +1,170 @@
+{
+  "scene_name": "053a94cf68",
+  "total_frames_in_dataset": 6696,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
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+    432,
+    3
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+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
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+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "053a94cf68.pt",
+  "indices_file": "053a94cf68_indices.pt",
+  "transform_to_world_file": "053a94cf68_to_world.npy",
+  "coordinate_system": "first_camera_frame",
+  "first_valid_frame": {
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+}
\ No newline at end of file
diff --git a/metadata/068ba2946c_metadata.json b/metadata/068ba2946c_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a7009df9e9dcac3d8ed03714d69762e73254647
--- /dev/null
+++ b/metadata/068ba2946c_metadata.json
@@ -0,0 +1,170 @@
+{
+  "scene_name": "068ba2946c",
+  "total_frames_in_dataset": 10812,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
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+    432,
+    432,
+    3
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+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
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+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "068ba2946c.pt",
+  "indices_file": "068ba2946c_indices.pt",
+  "transform_to_world_file": "068ba2946c_to_world.npy",
+  "coordinate_system": "first_camera_frame",
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+}
\ No newline at end of file
diff --git a/metadata/06bc6d1b24_metadata.json b/metadata/06bc6d1b24_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1183a110801dc8d385f743e7ff8b17e5568849d
--- /dev/null
+++ b/metadata/06bc6d1b24_metadata.json
@@ -0,0 +1,170 @@
+{
+  "scene_name": "06bc6d1b24",
+  "total_frames_in_dataset": 9770,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
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+    432,
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+    3
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+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
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+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "06bc6d1b24.pt",
+  "indices_file": "06bc6d1b24_indices.pt",
+  "transform_to_world_file": "06bc6d1b24_to_world.npy",
+  "coordinate_system": "first_camera_frame",
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+}
\ No newline at end of file
diff --git a/metadata/07f5b601ee_metadata.json b/metadata/07f5b601ee_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9180e5683325f6113280ac3fe03ac64992448382
--- /dev/null
+++ b/metadata/07f5b601ee_metadata.json
@@ -0,0 +1,170 @@
+{
+  "scene_name": "07f5b601ee",
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+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
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+    432,
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+    3
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+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "07f5b601ee.pt",
+  "indices_file": "07f5b601ee_indices.pt",
+  "transform_to_world_file": "07f5b601ee_to_world.npy",
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+    "sampling_method": "uniform"
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+}
\ No newline at end of file
diff --git a/metadata/09a6767fc2_metadata.json b/metadata/09a6767fc2_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..83e2c6e1d44b3d89a1a032773a8a6b31c869344b
--- /dev/null
+++ b/metadata/09a6767fc2_metadata.json
@@ -0,0 +1,170 @@
+{
+  "scene_name": "09a6767fc2",
+  "total_frames_in_dataset": 6053,
+  "valid_frames_count": 32,
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+  "output_shape": [
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+    432,
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+    3
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+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
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+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "09a6767fc2.pt",
+  "indices_file": "09a6767fc2_indices.pt",
+  "transform_to_world_file": "09a6767fc2_to_world.npy",
+  "coordinate_system": "first_camera_frame",
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diff --git a/metadata/0d41f3a279_metadata.json b/metadata/0d41f3a279_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca20afe57436a076660eeac9350c3bed50d0a394
--- /dev/null
+++ b/metadata/0d41f3a279_metadata.json
@@ -0,0 +1,170 @@
+{
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diff --git a/metadata/0d8ead0038_metadata.json b/metadata/0d8ead0038_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bbaf76b719e478d21dc5d782784bbb5118445c7
--- /dev/null
+++ b/metadata/0d8ead0038_metadata.json
@@ -0,0 +1,170 @@
+{
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diff --git a/metadata/0e28968c1f_metadata.json b/metadata/0e28968c1f_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9538c1b4eb39d1df528f2a250a7f4b53719fea9d
--- /dev/null
+++ b/metadata/0e28968c1f_metadata.json
@@ -0,0 +1,170 @@
+{
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diff --git a/metadata/0f69aefe3d_metadata.json b/metadata/0f69aefe3d_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5223a7194d7e22976f3667ecc9c84274e92a7859
--- /dev/null
+++ b/metadata/0f69aefe3d_metadata.json
@@ -0,0 +1,170 @@
+{
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diff --git a/metadata/108ec0b806_metadata.json b/metadata/108ec0b806_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..10907775b2daae67bcafa1e1cd99517e4ddd215e
--- /dev/null
+++ b/metadata/108ec0b806_metadata.json
@@ -0,0 +1,170 @@
+{
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\ No newline at end of file
diff --git a/metadata/17268bec90_metadata.json b/metadata/17268bec90_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3046671c349f839401f15cea817f6d8272acfa33
--- /dev/null
+++ b/metadata/17268bec90_metadata.json
@@ -0,0 +1,170 @@
+{
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diff --git a/metadata/196876abd7_metadata.json b/metadata/196876abd7_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6503e28c18374ac7c61d6936d40bc0a4d3e19af2
--- /dev/null
+++ b/metadata/196876abd7_metadata.json
@@ -0,0 +1,170 @@
+{
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diff --git a/metadata/19cfd590f4_metadata.json b/metadata/19cfd590f4_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..aee13c41f673a9159685efefb784fe5f187da4f7
--- /dev/null
+++ b/metadata/19cfd590f4_metadata.json
@@ -0,0 +1,170 @@
+{
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\ No newline at end of file
diff --git a/metadata/20207b4844_metadata.json b/metadata/20207b4844_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c00db3c6d33a51c0ed0506562bb306df6f87f6ec
--- /dev/null
+++ b/metadata/20207b4844_metadata.json
@@ -0,0 +1,170 @@
+{
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\ No newline at end of file
diff --git a/metadata/246fe09e98_metadata.json b/metadata/246fe09e98_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b40c907cc1163e284b3c1d8562538a087a8e5d6
--- /dev/null
+++ b/metadata/246fe09e98_metadata.json
@@ -0,0 +1,170 @@
+{
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+}
\ No newline at end of file
diff --git a/metadata/260fa55d50_metadata.json b/metadata/260fa55d50_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e40bb1b1d489e5e3995dc5d60c6ce13d9b22555
--- /dev/null
+++ b/metadata/260fa55d50_metadata.json
@@ -0,0 +1,170 @@
+{
+  "scene_name": "260fa55d50",
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diff --git a/metadata/2779f8f9e2_metadata.json b/metadata/2779f8f9e2_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0a6ce785572e6c370875674f29958ae08d3ef64
--- /dev/null
+++ b/metadata/2779f8f9e2_metadata.json
@@ -0,0 +1,170 @@
+{
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diff --git a/metadata/2a496183e1_metadata.json b/metadata/2a496183e1_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2edb35c7208556c0824fbde7628b1536143320e5
--- /dev/null
+++ b/metadata/2a496183e1_metadata.json
@@ -0,0 +1,170 @@
+{
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diff --git a/metadata/2c7c10379b_metadata.json b/metadata/2c7c10379b_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3428f4ae5f9026715ad9beafdf94ebc9f29b89df
--- /dev/null
+++ b/metadata/2c7c10379b_metadata.json
@@ -0,0 +1,170 @@
+{
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\ No newline at end of file
diff --git a/metadata/2e5c249de3_metadata.json b/metadata/2e5c249de3_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ccd29127a01421097e77744ea3f5441808f7528
--- /dev/null
+++ b/metadata/2e5c249de3_metadata.json
@@ -0,0 +1,170 @@
+{
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\ No newline at end of file
diff --git a/metadata/320c3af000_metadata.json b/metadata/320c3af000_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..26934d369be0f6438f0bab4227a9883f205dd9f9
--- /dev/null
+++ b/metadata/320c3af000_metadata.json
@@ -0,0 +1,170 @@
+{
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\ No newline at end of file
diff --git a/metadata/3549335582_metadata.json b/metadata/3549335582_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd6f7e62dfd3c9b07d1ef59ccf010a538084241f
--- /dev/null
+++ b/metadata/3549335582_metadata.json
@@ -0,0 +1,170 @@
+{
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\ No newline at end of file
diff --git a/metadata/3928249b53_metadata.json b/metadata/3928249b53_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b2fd9571acfbcfc608e3eeb7c0b2ca7fdf587f2
--- /dev/null
+++ b/metadata/3928249b53_metadata.json
@@ -0,0 +1,170 @@
+{
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\ No newline at end of file
diff --git a/metadata/394a542a19_metadata.json b/metadata/394a542a19_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d1698a55e6c569e8d74d578bd55245edd392d16
--- /dev/null
+++ b/metadata/394a542a19_metadata.json
@@ -0,0 +1,170 @@
+{
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+  "pointcloud_file": "394a542a19.pt",
+  "indices_file": "394a542a19_indices.pt",
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+}
\ No newline at end of file
diff --git a/metadata/39580e2a43_metadata.json b/metadata/39580e2a43_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a50e449f16d5616590ddb8c768dd0c412db6eb2
--- /dev/null
+++ b/metadata/39580e2a43_metadata.json
@@ -0,0 +1,170 @@
+{
+  "scene_name": "39580e2a43",
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+}
\ No newline at end of file
diff --git a/metadata/3cb9f85891_metadata.json b/metadata/3cb9f85891_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..45afcec34f3aebc2f2f6953a9d7ac0fd497ba3dd
--- /dev/null
+++ b/metadata/3cb9f85891_metadata.json
@@ -0,0 +1,170 @@
+{
+  "scene_name": "3cb9f85891",
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+}
\ No newline at end of file
diff --git a/metadata/41b00feddb_metadata.json b/metadata/41b00feddb_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5f398282d252e7e15e14f77e959e4877ace20db
--- /dev/null
+++ b/metadata/41b00feddb_metadata.json
@@ -0,0 +1,170 @@
+{
+  "scene_name": "41b00feddb",
+  "total_frames_in_dataset": 7122,
+  "valid_frames_count": 32,
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+  "output_shape": [
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+    432,
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+  "output_dtype": "bfloat16",
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+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "41b00feddb.pt",
+  "indices_file": "41b00feddb_indices.pt",
+  "transform_to_world_file": "41b00feddb_to_world.npy",
+  "coordinate_system": "first_camera_frame",
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diff --git a/metadata/442b144761_metadata.json b/metadata/442b144761_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8fade1dc659d8c300c9190d1dd2dd86f7326b66
--- /dev/null
+++ b/metadata/442b144761_metadata.json
@@ -0,0 +1,170 @@
+{
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diff --git a/metadata/480ddaadc0_metadata.json b/metadata/480ddaadc0_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..016f31b808a0c7a5871b99e52b90d5ce8a4422fa
--- /dev/null
+++ b/metadata/480ddaadc0_metadata.json
@@ -0,0 +1,170 @@
+{
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diff --git a/metadata/48701abb21_metadata.json b/metadata/48701abb21_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba3aacfa1b66324660476a036be1f5f95e1523f5
--- /dev/null
+++ b/metadata/48701abb21_metadata.json
@@ -0,0 +1,170 @@
+{
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\ No newline at end of file
diff --git a/metadata/4d451d9c36_metadata.json b/metadata/4d451d9c36_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3dcd81a33a6b22ab29d2376e7497369d3716b04c
--- /dev/null
+++ b/metadata/4d451d9c36_metadata.json
@@ -0,0 +1,170 @@
+{
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\ No newline at end of file
diff --git a/metadata/4e0b8cbd33_metadata.json b/metadata/4e0b8cbd33_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..935568d46f9fe70478f29633b0044b3550dacd16
--- /dev/null
+++ b/metadata/4e0b8cbd33_metadata.json
@@ -0,0 +1,170 @@
+{
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diff --git a/metadata/56a0ec536c_metadata.json b/metadata/56a0ec536c_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b8a37ae1570cdf6c2ce40354b24fa17d6efea38
--- /dev/null
+++ b/metadata/56a0ec536c_metadata.json
@@ -0,0 +1,170 @@
+{
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diff --git a/metadata/5aeac3800a_metadata.json b/metadata/5aeac3800a_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7a717660889a18c2b3f877a0e7a2a4faf311228
--- /dev/null
+++ b/metadata/5aeac3800a_metadata.json
@@ -0,0 +1,170 @@
+{
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\ No newline at end of file
diff --git a/metadata/5d591ff74d_metadata.json b/metadata/5d591ff74d_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5dc35d10e02a75c47b19898c35fd68d59c5163a5
--- /dev/null
+++ b/metadata/5d591ff74d_metadata.json
@@ -0,0 +1,170 @@
+{
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\ No newline at end of file
diff --git a/metadata/6391f0f921_metadata.json b/metadata/6391f0f921_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d286c91e28761181bd899de48bbfb69473718840
--- /dev/null
+++ b/metadata/6391f0f921_metadata.json
@@ -0,0 +1,170 @@
+{
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\ No newline at end of file
diff --git a/metadata/654a4f341b_metadata.json b/metadata/654a4f341b_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..988c0ad49c4afbc4587462d9ebad845a7f9fe1a5
--- /dev/null
+++ b/metadata/654a4f341b_metadata.json
@@ -0,0 +1,170 @@
+{
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\ No newline at end of file
diff --git a/metadata/6ad6cef000_metadata.json b/metadata/6ad6cef000_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ce19c443b0d130e44c5e081cb2221b2543b0b5a
--- /dev/null
+++ b/metadata/6ad6cef000_metadata.json
@@ -0,0 +1,170 @@
+{
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diff --git a/metadata/6ea60e282a_metadata.json b/metadata/6ea60e282a_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a8a2f109cca880952be18ec90215d5cee5a46ee
--- /dev/null
+++ b/metadata/6ea60e282a_metadata.json
@@ -0,0 +1,170 @@
+{
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diff --git a/metadata/712b9ae775_metadata.json b/metadata/712b9ae775_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2726a49dfad24387f106be6514edb861056d2cf0
--- /dev/null
+++ b/metadata/712b9ae775_metadata.json
@@ -0,0 +1,170 @@
+{
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diff --git a/metadata/73f9370962_metadata.json b/metadata/73f9370962_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e0f2e95713f1f84660dbdb18f70138f493eaaa7
--- /dev/null
+++ b/metadata/73f9370962_metadata.json
@@ -0,0 +1,170 @@
+{
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\ No newline at end of file
diff --git a/metadata/791a5c253d_metadata.json b/metadata/791a5c253d_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2d29057063d2bea882fd92c6fcfe43f9cb9ff5e
--- /dev/null
+++ b/metadata/791a5c253d_metadata.json
@@ -0,0 +1,170 @@
+{
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\ No newline at end of file
diff --git a/metadata/7dab70c8c8_metadata.json b/metadata/7dab70c8c8_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..65ffa6c68e78b1058d85c43fa0a9b1ec034c7d06
--- /dev/null
+++ b/metadata/7dab70c8c8_metadata.json
@@ -0,0 +1,170 @@
+{
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diff --git a/metadata/7efa3f6b1b_metadata.json b/metadata/7efa3f6b1b_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..efa24d7b4e6b41a2e2624c40963e7208775719d9
--- /dev/null
+++ b/metadata/7efa3f6b1b_metadata.json
@@ -0,0 +1,170 @@
+{
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diff --git a/metadata/8254184bfc_metadata.json b/metadata/8254184bfc_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f500f02b62b6b833cde1adef0a4f045355cf14a
--- /dev/null
+++ b/metadata/8254184bfc_metadata.json
@@ -0,0 +1,170 @@
+{
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\ No newline at end of file
diff --git a/metadata/82bf847c8b_metadata.json b/metadata/82bf847c8b_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..92ad8c6d84405f380d17529bfd4c7103509cdc30
--- /dev/null
+++ b/metadata/82bf847c8b_metadata.json
@@ -0,0 +1,170 @@
+{
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\ No newline at end of file
diff --git a/metadata/85dc2702b7_metadata.json b/metadata/85dc2702b7_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d023b316e339a8c11c107e1be4ec8b01ce1ed1a4
--- /dev/null
+++ b/metadata/85dc2702b7_metadata.json
@@ -0,0 +1,170 @@
+{
+  "scene_name": "85dc2702b7",
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+}
\ No newline at end of file
diff --git a/metadata/87f6d7d564_metadata.json b/metadata/87f6d7d564_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab961ff8acc5a895a25e379706ed9471dccba283
--- /dev/null
+++ b/metadata/87f6d7d564_metadata.json
@@ -0,0 +1,170 @@
+{
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+  "pointcloud_file": "87f6d7d564.pt",
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\ No newline at end of file
diff --git a/metadata/8bafc0c9d6_metadata.json b/metadata/8bafc0c9d6_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..34e60bf565de45e0635a209ad38c58942b997d96
--- /dev/null
+++ b/metadata/8bafc0c9d6_metadata.json
@@ -0,0 +1,170 @@
+{
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+  "pointcloud_file": "8bafc0c9d6.pt",
+  "indices_file": "8bafc0c9d6_indices.pt",
+  "transform_to_world_file": "8bafc0c9d6_to_world.npy",
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\ No newline at end of file
diff --git a/metadata/909a9ea5fc_metadata.json b/metadata/909a9ea5fc_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..00dac48a692435f5f90e146cc494b9694e010b05
--- /dev/null
+++ b/metadata/909a9ea5fc_metadata.json
@@ -0,0 +1,170 @@
+{
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+  "invalid_frames_count": 0,
+  "output_shape": [
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+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "909a9ea5fc.pt",
+  "indices_file": "909a9ea5fc_indices.pt",
+  "transform_to_world_file": "909a9ea5fc_to_world.npy",
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\ No newline at end of file
diff --git a/metadata/961911d451_metadata.json b/metadata/961911d451_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fc3f3b6e12331055b8390aac094fd9ef3af5967
--- /dev/null
+++ b/metadata/961911d451_metadata.json
@@ -0,0 +1,170 @@
+{
+  "scene_name": "961911d451",
+  "total_frames_in_dataset": 5895,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
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+    432,
+    3
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+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
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+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "961911d451.pt",
+  "indices_file": "961911d451_indices.pt",
+  "transform_to_world_file": "961911d451_to_world.npy",
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+}
\ No newline at end of file
diff --git a/metadata/992cd74f2c_metadata.json b/metadata/992cd74f2c_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cb65f41bb554df39624228b87c609d3ae323939
--- /dev/null
+++ b/metadata/992cd74f2c_metadata.json
@@ -0,0 +1,170 @@
+{
+  "scene_name": "992cd74f2c",
+  "total_frames_in_dataset": 19249,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
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+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "992cd74f2c.pt",
+  "indices_file": "992cd74f2c_indices.pt",
+  "transform_to_world_file": "992cd74f2c_to_world.npy",
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+}
\ No newline at end of file
diff --git a/metadata/9ef5fc6271_metadata.json b/metadata/9ef5fc6271_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee7133dae1d63aacb9993636cb8e53b2a361c7aa
--- /dev/null
+++ b/metadata/9ef5fc6271_metadata.json
@@ -0,0 +1,170 @@
+{
+  "scene_name": "9ef5fc6271",
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+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
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+    3
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+  "valid_indices_shape": [
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+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "9ef5fc6271.pt",
+  "indices_file": "9ef5fc6271_indices.pt",
+  "transform_to_world_file": "9ef5fc6271_to_world.npy",
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+  "data_format": "pose_intrinsic_imu",
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+    "sampling_method": "uniform"
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+}
\ No newline at end of file
diff --git a/metadata/9f79564dbf_metadata.json b/metadata/9f79564dbf_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c30aead922336f032192620fb52e76d5fa8d2a13
--- /dev/null
+++ b/metadata/9f79564dbf_metadata.json
@@ -0,0 +1,170 @@
+{
+  "scene_name": "9f79564dbf",
+  "total_frames_in_dataset": 14908,
+  "valid_frames_count": 32,
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+  "output_shape": [
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+    432,
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+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
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+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "9f79564dbf.pt",
+  "indices_file": "9f79564dbf_indices.pt",
+  "transform_to_world_file": "9f79564dbf_to_world.npy",
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diff --git a/metadata/a003a6585e_metadata.json b/metadata/a003a6585e_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..8589fc055b97ccf99e870209b95d686d1fa89d77
--- /dev/null
+++ b/metadata/a003a6585e_metadata.json
@@ -0,0 +1,170 @@
+{
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diff --git a/metadata/ad562ce09b_metadata.json b/metadata/ad562ce09b_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..365fe0f1886d6740e2e6d421eeef49f0c15bf2a0
--- /dev/null
+++ b/metadata/ad562ce09b_metadata.json
@@ -0,0 +1,170 @@
+{
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diff --git a/metadata/b24697b3a1_metadata.json b/metadata/b24697b3a1_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b16c9f48159c70d01a764a81457b490ec8c787ab
--- /dev/null
+++ b/metadata/b24697b3a1_metadata.json
@@ -0,0 +1,170 @@
+{
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diff --git a/metadata/c24f94007b_metadata.json b/metadata/c24f94007b_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..263f113177efd7a4466841802e9cb26be19119ff
--- /dev/null
+++ b/metadata/c24f94007b_metadata.json
@@ -0,0 +1,170 @@
+{
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\ No newline at end of file
diff --git a/metadata/c29b5e479c_metadata.json b/metadata/c29b5e479c_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b4f639a533172855684765aaad2f9ed1ebfbac0
--- /dev/null
+++ b/metadata/c29b5e479c_metadata.json
@@ -0,0 +1,170 @@
+{
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\ No newline at end of file
diff --git a/metadata/c4aaedcfd1_metadata.json b/metadata/c4aaedcfd1_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f36c72c6c361d3796d477de231d1fba1f22198a9
--- /dev/null
+++ b/metadata/c4aaedcfd1_metadata.json
@@ -0,0 +1,170 @@
+{
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\ No newline at end of file
diff --git a/metadata/c601466b77_metadata.json b/metadata/c601466b77_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e4213136855c8f179eedd4428471205673fdf3e
--- /dev/null
+++ b/metadata/c601466b77_metadata.json
@@ -0,0 +1,170 @@
+{
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+  "pointcloud_file": "c601466b77.pt",
+  "indices_file": "c601466b77_indices.pt",
+  "transform_to_world_file": "c601466b77_to_world.npy",
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\ No newline at end of file
diff --git a/metadata/c8eeef6427_metadata.json b/metadata/c8eeef6427_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..76a6e60d7ac69f73ab4afba457cc6439270b839a
--- /dev/null
+++ b/metadata/c8eeef6427_metadata.json
@@ -0,0 +1,170 @@
+{
+  "scene_name": "c8eeef6427",
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+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
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+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "c8eeef6427.pt",
+  "indices_file": "c8eeef6427_indices.pt",
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+}
\ No newline at end of file
diff --git a/metadata/c9abde4c4b_metadata.json b/metadata/c9abde4c4b_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..049e6338c99cc267459261b5b796f74ec3da0e93
--- /dev/null
+++ b/metadata/c9abde4c4b_metadata.json
@@ -0,0 +1,170 @@
+{
+  "scene_name": "c9abde4c4b",
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+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
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+  "pointcloud_file": "c9abde4c4b.pt",
+  "indices_file": "c9abde4c4b_indices.pt",
+  "transform_to_world_file": "c9abde4c4b_to_world.npy",
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+}
\ No newline at end of file
diff --git a/metadata/d14b81c0c2_metadata.json b/metadata/d14b81c0c2_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b687763cdb0cd2da03db8ff80a2d73977b6ec2a
--- /dev/null
+++ b/metadata/d14b81c0c2_metadata.json
@@ -0,0 +1,170 @@
+{
+  "scene_name": "d14b81c0c2",
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+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
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+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "d14b81c0c2.pt",
+  "indices_file": "d14b81c0c2_indices.pt",
+  "transform_to_world_file": "d14b81c0c2_to_world.npy",
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+  "data_format": "pose_intrinsic_imu",
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+    "sampling_method": "uniform"
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+}
\ No newline at end of file
diff --git a/metadata/d7fc87324e_metadata.json b/metadata/d7fc87324e_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9996aeb47c661ff9b9a3737bd94345c12e819828
--- /dev/null
+++ b/metadata/d7fc87324e_metadata.json
@@ -0,0 +1,170 @@
+{
+  "scene_name": "d7fc87324e",
+  "total_frames_in_dataset": 6689,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
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+    432,
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+    3
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+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
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+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "d7fc87324e.pt",
+  "indices_file": "d7fc87324e_indices.pt",
+  "transform_to_world_file": "d7fc87324e_to_world.npy",
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diff --git a/metadata/d82aaa88dc_metadata.json b/metadata/d82aaa88dc_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6071d095c11d003357d52b5d370abb37704f6fc
--- /dev/null
+++ b/metadata/d82aaa88dc_metadata.json
@@ -0,0 +1,170 @@
+{
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diff --git a/metadata/dec0b11090_metadata.json b/metadata/dec0b11090_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..62c9dfd7327e56f49e89a8aef43e0bbc1e6f2ef4
--- /dev/null
+++ b/metadata/dec0b11090_metadata.json
@@ -0,0 +1,170 @@
+{
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diff --git a/metadata/e01b287af5_metadata.json b/metadata/e01b287af5_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..58981ae63e86ed4a0e8f75b647c9f6380964621d
--- /dev/null
+++ b/metadata/e01b287af5_metadata.json
@@ -0,0 +1,170 @@
+{
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diff --git a/metadata/e3e0617f98_metadata.json b/metadata/e3e0617f98_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..14cea6875f5ad070d22ea6182e8814c03f84e09e
--- /dev/null
+++ b/metadata/e3e0617f98_metadata.json
@@ -0,0 +1,170 @@
+{
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\ No newline at end of file
diff --git a/metadata/e6372539da_metadata.json b/metadata/e6372539da_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5184792b60a645c4377282dbf850244ee87687eb
--- /dev/null
+++ b/metadata/e6372539da_metadata.json
@@ -0,0 +1,170 @@
+{
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\ No newline at end of file
diff --git a/metadata/ea42cd27e6_metadata.json b/metadata/ea42cd27e6_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3dcb290f9fb2c3bba2b67a09561254f56fbd2628
--- /dev/null
+++ b/metadata/ea42cd27e6_metadata.json
@@ -0,0 +1,170 @@
+{
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+  "pointcloud_file": "ea42cd27e6.pt",
+  "indices_file": "ea42cd27e6_indices.pt",
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+}
\ No newline at end of file
diff --git a/metadata/ef69d58016_metadata.json b/metadata/ef69d58016_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..171a5eb9a9e70d3aa9290dad208b08b3e5720d35
--- /dev/null
+++ b/metadata/ef69d58016_metadata.json
@@ -0,0 +1,170 @@
+{
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+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
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+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "ef69d58016.pt",
+  "indices_file": "ef69d58016_indices.pt",
+  "transform_to_world_file": "ef69d58016_to_world.npy",
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+}
\ No newline at end of file
diff --git a/metadata/f847086d15_metadata.json b/metadata/f847086d15_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffa8b7b86e083cc7791fb67e77803876e1c9e540
--- /dev/null
+++ b/metadata/f847086d15_metadata.json
@@ -0,0 +1,170 @@
+{
+  "scene_name": "f847086d15",
+  "total_frames_in_dataset": 10246,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
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+    432,
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+    3
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+  "output_dtype": "bfloat16",
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+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "f847086d15.pt",
+  "indices_file": "f847086d15_indices.pt",
+  "transform_to_world_file": "f847086d15_to_world.npy",
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+}
\ No newline at end of file
diff --git a/metadata/faba6e97d7_metadata.json b/metadata/faba6e97d7_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..70e084088c501a6e010f23386f26ba03af33c55f
--- /dev/null
+++ b/metadata/faba6e97d7_metadata.json
@@ -0,0 +1,170 @@
+{
+  "scene_name": "faba6e97d7",
+  "total_frames_in_dataset": 4455,
+  "valid_frames_count": 32,
+  "invalid_frames_count": 0,
+  "output_shape": [
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+    432,
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+    3
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+  "output_dtype": "bfloat16",
+  "valid_indices_shape": [
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+  "valid_indices_dtype": "int32",
+  "pointcloud_file": "faba6e97d7.pt",
+  "indices_file": "faba6e97d7_indices.pt",
+  "transform_to_world_file": "faba6e97d7_to_world.npy",
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+}
\ No newline at end of file