diff --git a/.gitattributes b/.gitattributes
index 54970cb35b529c3bbd582eaafd876c4285ae9fa4..d1b695d56b7c146335204cfa77dc6451343a9cd6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2560,3 +2560,99 @@ green_tshirt/green_tshirt_fold_2025-07-28-18-29-24/segment_pcds/pointcloud_17536
 green_tshirt/green_tshirt_fold_2025-07-28-18-29-24/segment_pcds/pointcloud_1753698573.670424_segmented.pcd filter=lfs diff=lfs merge=lfs -text
 green_tshirt/green_tshirt_fold_2025-07-28-18-29-24/segment_pcds/pointcloud_1753698565.224932_segmented.pcd filter=lfs diff=lfs merge=lfs -text
 green_tshirt/green_tshirt_fold_2025-07-28-18-29-24/segment_pcds/pointcloud_1753698572.949793_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+green_tshirt/green_tshirt_fold_2025-07-28-18-29-24/segment_pcds/pointcloud_1753698574.871458_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+green_tshirt/green_tshirt_fold_2025-07-28-18-22-41/segment_pcds/pointcloud_1753698171.464664_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+green_tshirt/green_tshirt_fold_2025-07-28-18-22-41/segment_pcds/pointcloud_1753698166.646459_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+green_tshirt/green_tshirt_fold_2025-07-28-18-29-24/segment_pcds/pointcloud_1753698566.668013_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+green_tshirt/green_tshirt_fold_2025-07-28-18-29-24/segment_pcds/pointcloud_1753698568.363017_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+green_tshirt/green_tshirt_fold_2025-07-28-18-29-24/segment_pcds/pointcloud_1753698572.469413_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+green_tshirt/green_tshirt_fold_2025-07-28-18-29-24/segment_pcds/pointcloud_1753698571.260411_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+green_tshirt/green_tshirt_fold_2025-07-28-18-29-24/segment_pcds/pointcloud_1753698570.292910_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+green_tshirt/green_tshirt_fold_2025-07-28-18-29-24/segment_pcds/pointcloud_1753698570.533414_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+green_tshirt/green_tshirt_fold_2025-07-28-18-29-24/segment_pcds/pointcloud_1753698566.427524_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084872.996392_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084872.515343_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084876.363739_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084873.838206_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084876.483999_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084873.357185_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084874.078742_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084876.724507_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084876.243475_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084873.717940_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084874.680004_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084875.882657_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084876.844781_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084874.800264_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084874.920542_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084873.597692_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696786.398103_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084872.635593_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084875.040814_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084874.559761_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696775.802109_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084872.755842_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084874.199003_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084876.965055_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696787.360121_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696785.195586_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696777.492800_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696785.676597_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696780.384854_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696775.558786_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084873.116660_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696777.734667_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696783.030863_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696779.182319_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696780.865940_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696786.638623_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696778.701269_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696783.752576_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696783.512055_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696778.218733_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696787.841151_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696779.663355_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696778.460721_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084874.319260_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696777.252168_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084875.401607_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696776.289073_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696779.422820_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696784.955088_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696782.309015_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696781.106449_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696775.316898_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696783.271473_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696784.474043_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696779.903871_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696780.144372_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696776.045537_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696784.714574_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696776.771614_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696776.531289_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696777.976645_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696784.233567_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696780.625415_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696785.917115_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696781.827999_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696781.346942_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696777.011906_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696786.879139_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696782.068515_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696786.157619_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696336.392064_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696783.993081_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696348.378146_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696337.599657_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696343.626041_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696348.618681_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696349.580715_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696336.994555_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696787.600631_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696346.111897_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696343.145024_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696341.020420_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696337.396481_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696787.119639_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696347.515933_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696347.114784_segmented.pcd filter=lfs diff=lfs merge=lfs -text
diff --git a/brown_coat/brown_coat_fling_2025-07-21-16-01-11/joints/left_arm_joint_states_and_end_pose.pkl b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/joints/left_arm_joint_states_and_end_pose.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..92437835bd4adf01f200fab7375fe726083d49d5
--- /dev/null
+++ b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/joints/left_arm_joint_states_and_end_pose.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30da88e51782719e954af110299ba198114b1af28d6bc3683593fce2924871b7
+size 179907
diff --git a/brown_coat/brown_coat_fling_2025-07-21-16-01-11/joints/right_arm_joint_states_and_end_pose.pkl b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/joints/right_arm_joint_states_and_end_pose.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..71c3d57786c09000dc97957398d39e498d68df68
--- /dev/null
+++ b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/joints/right_arm_joint_states_and_end_pose.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47e87ccba4abc3cdee503ef974c2eced32e8f31efb97d546a38dda5cbe9159c9
+size 179187
diff --git a/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084872.515343_segmented.pcd b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084872.515343_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..55f765ac90dcfa84ae90a4434f33d1b626f7619a
--- /dev/null
+++ b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084872.515343_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e0bdc53da69bbf3048c53fbf62c43c570a03bb3b97a370cf3723aa219737203
+size 967302
diff --git a/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084872.635593_segmented.pcd b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084872.635593_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..58ad25fb5ecfa43d374a26fc4330212f00e85fa4
--- /dev/null
+++ b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084872.635593_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:333bf516fe7d13bd046e3d2ee5d6cc437cf60971e4bca5e71429a9b79bc7abb6
+size 993286
diff --git a/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084872.755842_segmented.pcd b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084872.755842_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..8a6e1b6664c3c42bf79ede52bdc916a656e28c4b
--- /dev/null
+++ b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084872.755842_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ac17bd7fa58128fe6027854eab51239efe36a086f52fc903496a3c59d73f587
+size 1010086
diff --git a/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084872.996392_segmented.pcd b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084872.996392_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..cafdb68410f9d449f2f7795631cef4b5864fdf3b
--- /dev/null
+++ b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084872.996392_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae1f2219ce2f075afd51ffa2657f97d8dbdc416dc2cd3526a8bdc0bee0dabcb8
+size 961014
diff --git a/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084873.116660_segmented.pcd b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084873.116660_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..7cf4626af0ff6d4c4986be822b5b48b593092fdc
--- /dev/null
+++ b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084873.116660_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b7fe7b570f46b87cd91d3cb4fd8119b9a64f8f20a63879bdea5079192b11334
+size 899462
diff --git a/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084873.357185_segmented.pcd b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084873.357185_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..a22035defd6db67f92397ce8ab957eb089a25389
--- /dev/null
+++ b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084873.357185_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6eca86f8c9447681f97d85294d05510af322d5ffb07c304fdf9c42439c8d96aa
+size 877542
diff --git a/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084873.597692_segmented.pcd b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084873.597692_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..6f2abe54a2896fa634d577cd4152b2a7f5e3269e
--- /dev/null
+++ b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084873.597692_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1484432511439bd28ec7b8d83b16de123ef83ad2c28c7eb18c527b336a0427ec
+size 1004550
diff --git a/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084873.717940_segmented.pcd b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084873.717940_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..0980dd74e3cf902fc42dd5d36ea1f6a6ba37318c
--- /dev/null
+++ b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084873.717940_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1fb30638a87a94400c2497cbb01f65f2898e14a10be957658e55f0e12e2f478
+size 1042182
diff --git a/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084873.838206_segmented.pcd b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084873.838206_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b684a811caa73cce51fcb003f85a27b56d8d600c
--- /dev/null
+++ b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084873.838206_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b647b5f2467e9c8cd0d1ab5b38b6a6f00fdeb93feb12da3880de0c0c1a27b2cc
+size 1090310
diff --git a/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084874.078742_segmented.pcd b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084874.078742_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b14900191bdf22041267d5e7c843d4757b49ce3d
--- /dev/null
+++ b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084874.078742_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b2d7f53fdb72824c2609bcb31e6a43a195bcc116ed5b29f40602a53fb81a5a0
+size 1174086
diff --git a/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084874.199003_segmented.pcd b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084874.199003_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..d7ed20a1572b294b7dbb56b01484a45b9a1c9d9e
--- /dev/null
+++ b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084874.199003_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7d6bd4ad4ed1fd521284bfa35ac660c57d86e66cb66bd754754ff3b4557a007
+size 1200870
diff --git a/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084874.319260_segmented.pcd b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084874.319260_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..8975ba950bcef5b373becce06721dbe3d689c133
--- /dev/null
+++ b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084874.319260_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dec3e4608ba0fe57c1029d16f775f0a49228da88eb75f6ba6286f48d68d57c72
+size 1209302
diff --git a/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084874.559761_segmented.pcd b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084874.559761_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..d6a1f9af047a65e968f45c0fe84f0472888b9f9c
--- /dev/null
+++ b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084874.559761_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edc0250f9b2dc288036bc9cc99ac83559fad824a3af79d6d715fc1c6c9042b8d
+size 1234950
diff --git a/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084874.680004_segmented.pcd b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084874.680004_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..fee98d998042692ae3f8df8fb9aaf80aa960fa55
--- /dev/null
+++ b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084874.680004_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c62c92eb6b02408e4a3dadc34188782d93d54be05742b5d1d2f42acdd7afcaf
+size 1180646
diff --git a/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084874.800264_segmented.pcd b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084874.800264_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ca8e63db593f310c00d032633cec3eba6275d143
--- /dev/null
+++ b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084874.800264_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8be67316d1e5ef76579facd5747c7b2b45f56dbc2bbcf940409301a44682f500
+size 1162646
diff --git a/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084874.920542_segmented.pcd b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084874.920542_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..3c1cc477d514f85f483f7d9f2c9d09304f1a4556
--- /dev/null
+++ b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084874.920542_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca2826a7931a97d236a07ca72677cab126bc22bef3d35055feceb61fa19143bd
+size 1133238
diff --git a/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084875.040814_segmented.pcd b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084875.040814_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..523ed90644e4b9fe431cf8d3ba087fbef37d9229
--- /dev/null
+++ b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084875.040814_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58223992205d35b539e850f934f36fed475e12145e4ff7470f356ab483b90038
+size 1047910
diff --git a/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084875.401607_segmented.pcd b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084875.401607_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..cef3082c48c7a6a78eea02ba381e4c402d07b3bf
--- /dev/null
+++ b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084875.401607_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b85f3065987d6437d1af3327d6bcafc8bf398715cd3a559e20608f9fc090eb5d
+size 885638
diff --git a/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084875.882657_segmented.pcd b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084875.882657_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..f8852506f0f179bec0383409599a079fee9344b9
--- /dev/null
+++ b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084875.882657_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ffcd15ce5ecf23214d728aad3aaa8f0b9b465d194a181842782cdbadbecc2f3
+size 822758
diff --git a/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084876.243475_segmented.pcd b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084876.243475_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..f60cecb543427b6aed1e06427a994342f5dc2139
--- /dev/null
+++ b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084876.243475_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9887199e321d1f2fa985eb5efb2e1637c7c26a70281b4701467a804fa9d65023
+size 875734
diff --git a/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084876.363739_segmented.pcd b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084876.363739_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..5168e8b6b433acd6df16a9a3ca9d2ee348859967
--- /dev/null
+++ b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084876.363739_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e44a35364f959ea16715e21f91c2e19c72a500c40000897efd6b9a69dc6eed3
+size 820422
diff --git a/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084876.483999_segmented.pcd b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084876.483999_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..656e7d7b8a1a33b80ec87a21618425c0b1b64a82
--- /dev/null
+++ b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084876.483999_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bbb4b223280748e5ae29475c5dde2dd2958254655a438f293599ced189e00b8
+size 864070
diff --git a/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084876.724507_segmented.pcd b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084876.724507_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..8b596745d1c96c81b5ca20771edd9f4687d50987
--- /dev/null
+++ b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084876.724507_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83d6973c2299507249776f0c5e56b42ebd2aeacf02bf59548f40fa64f3595b80
+size 881654
diff --git a/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084876.844781_segmented.pcd b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084876.844781_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..4290d03ff4fd87b71a666093d2b3fe48b3771b24
--- /dev/null
+++ b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084876.844781_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6535e24229705e117166f811cf2b1068038cb063618fa5750cd80b9d2d988a1
+size 887798
diff --git a/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084876.965055_segmented.pcd b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084876.965055_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..50c3bac0fc4e64bb85ba42f5ee3dcf2fca14e33f
--- /dev/null
+++ b/brown_coat/brown_coat_fling_2025-07-21-16-01-11/segment_pcds/pointcloud_1753084876.965055_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f444d5bd7a4290fd1211db6cf85c271af1d03cbcd666fc936b649d46faa0c70
+size 812998
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696336.392064_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696336.392064_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..54fa41941435b15a2321f5752e5836f1ae938f5e
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696336.392064_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:204a79a618bab39e7713c08ef143afd33a6e703aa1e1e15c9e4c33d046a44392
+size 1711192
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696336.994555_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696336.994555_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..6c7e87d3254e21e9e36c2cce79805bb9df160f72
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696336.994555_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8ed3fb94389d08f25841644665b66ed716acec6551449cf22379a638bdb6707
+size 1710840
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696337.396481_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696337.396481_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..69a8e21c0f67afb09372c7dc624f5b2c1d06f738
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696337.396481_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:412ce1f2384fb7c58c0a47e8e9f28e00849be4158b9bc86ea3974b49d2e82547
+size 1711480
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696337.599657_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696337.599657_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..80ceaa82a109355973e447c7203768b6be37877a
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696337.599657_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c1b996ae7c28ed3a0408bc4403429fa63aacf3878fef3156ad396ec78f13196
+size 1713384
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696341.020420_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696341.020420_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..26673d407d6e8e20ddb41f5efc37edacfdba1442
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696341.020420_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6230d929899f2b680b1e17dcb68ec6c1d6ce9d4143f14bc189e4b64d40f992c9
+size 1701192
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696343.145024_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696343.145024_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..d3e6fc2b47e856b4ca6b88083dfcfe48f40db584
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696343.145024_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e752ed2e977723fb02fe71d42cc865fc046e9c0a280ddf62bdde0fb2abb34aa
+size 1695896
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696343.626041_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696343.626041_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..805e878fd28fa3e7ab326129ec69872ee1440c93
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696343.626041_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28b903083c2fb80694954fa96b54b9610525e8e314be9d4cc5c70de6674e4bfd
+size 1693976
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696346.111897_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696346.111897_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..58152f5be26aab63dc99eeee4f41039f0d3c6316
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696346.111897_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0dfa77dcdff7814e092b9c392f61728101813597c6f61f1cc1fcbaeed506567c
+size 1862840
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696347.114784_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696347.114784_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..0fa44257d450615ff22b22e6fcb00dcbe3e75420
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696347.114784_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7bde190768b3d5906d4c265f06a5f174b5a0fef75b1df311b5c88290c4a46b2
+size 2017576
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696347.515933_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696347.515933_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..d1f22230d9ea53d8266436e100684a4761cf7e80
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696347.515933_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61c99b279ee81b285a02aa495b66818e0fad7a46ffb09783198e4393c7a399f1
+size 1838696
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696348.378146_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696348.378146_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..04e1905264eaedf8ec1e2f73625bfb33a28d3840
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696348.378146_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b22abd008e9cb2ad5a0338f403503f7f760a44ebbf584b202f36fe9bc5427101
+size 1292774
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696348.618681_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696348.618681_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b80f22be989c30b78f7bf8f6edbd758b781a64e3
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696348.618681_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4dd9b82686e7a1460cc7876a7b1bb8bd501527b1095efe68deb6f05eace7ec1
+size 1053782
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696349.580715_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696349.580715_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..8f8c3fad49acc10e9e23d4d978956020863b9d01
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-52-15/segment_pcds/pointcloud_1753696349.580715_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f677f57b7a1d3d15e4de3fb49d5c67a814d44adbd27283d36cb2b02f598c711c
+size 660230
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/joints/left_arm_joint_states_and_end_pose.pkl b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/joints/left_arm_joint_states_and_end_pose.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..0760b8483e01d4a8a3f0da5d66eb3c15d57a9964
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/joints/left_arm_joint_states_and_end_pose.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5857536c5ed5b88f2ad759a14c4f19b3a7ad53ae2fb515e66e038f688bdba09
+size 472640
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696775.316898_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696775.316898_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..c1b5b2d3961e538ebae3e12706e660aa1baffeb3
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696775.316898_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0151803f4afe246c5f2d7bd2e70e533050ac3652d0a230be20d11e2d841f090f
+size 1705720
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696775.558786_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696775.558786_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..3c24d511966137235395618163fa7d2d4a462322
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696775.558786_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6dad1a0a21baabc3ac157d93aa3231a38369344554d73a693c66872fea736cc
+size 1712808
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696775.802109_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696775.802109_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..983d905901681ab8b596bf381d15d930d1410fbd
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696775.802109_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b4d5a7b1b3cdf167128cc4c6f9f70f921605230ce73ae91d0a017e0430e3185
+size 1706968
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696776.045537_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696776.045537_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..94130f63f1299ca8ce19e6799612fed665156db9
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696776.045537_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad61118f3bb8e5a9031512fc07fe328cf6abb7d96dd4ee008086d9cac4b40d32
+size 1707608
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696776.289073_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696776.289073_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..93a998bbbe7eca2f411b8211e2254428c1fe4f32
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696776.289073_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65020a2dbcb4ac28ae73c5ac3114013e88a3e97433dbadf573f175d1d51c91eb
+size 1709592
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696776.531289_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696776.531289_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b5d86cee32e51714813ed8c10ab6975bdadcb253
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696776.531289_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:049f069eb85f4008f93911968655a61a98082aa63ea2685ac44c325fc7f2cfb1
+size 1720184
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696776.771614_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696776.771614_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..1917421c2d37b8a14ec0b594e0e252afd916f953
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696776.771614_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0a9acd00174f998b7d5e9d083c6a17f430df156baafd3645f9fc163351fe183
+size 1707032
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696777.011906_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696777.011906_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..564c69a3ba3401eac561273e51870b8547ed0a93
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696777.011906_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c69171ecb4c83f77bd869eb75f9993047fb95f03ef03a847f2f08979383504ce
+size 1711544
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696777.252168_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696777.252168_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..bd7db227bb79a0a1a64c120aaeba169f75f79fbf
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696777.252168_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edf87b7e760409a36a8fe4a8c567ddf5189c80bdf2a54cf15c9bf91b87d3fb74
+size 1711480
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696777.492800_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696777.492800_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..26e4617547902b4d4b6f22e843ce10262ba50b40
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696777.492800_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b502514f37919243f4a948250ccfd354f50e3662e29ed4a34879d1e36dae180f
+size 1710008
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696777.734667_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696777.734667_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..00c39d4d3bfa4929242584e4606ee383df22cb01
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696777.734667_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37a0765dfac4691233ad053a8cd2e272c208c421c479a7af3c70ab5188348131
+size 1710328
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696777.976645_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696777.976645_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ce7b05dc77d3d983a38072acd5d6e4d932ecf046
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696777.976645_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:060ba12ae03df69090fe00d927ba492ecfd6ca88b25fd2cea227e5560093d275
+size 1686584
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696778.218733_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696778.218733_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..2058e75eb478089736250bef6ed13674e1508c0c
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696778.218733_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01df0712c95454f335e48f6b97c3d78d34e0c9bd1dccaaa1feb0fafa5bd9128f
+size 1694024
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696778.460721_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696778.460721_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b2563e1f0d9614cd000783ffe09979d559595008
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696778.460721_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bae72490ab0f993a53d3b81c89c4d6a675a2b3f2ad963840059852086fe00b6e
+size 1699000
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696778.701269_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696778.701269_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..fdfaafd20bf1f3ab97ff0fb053b0b25ac09bc96f
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696778.701269_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c6cb41125319d806a91b5885f04ee6cac971f4ba2720480b203e5b2cd04305e
+size 1689432
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696779.182319_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696779.182319_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..667692183a705c016ea41b1d51b122198388e823
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696779.182319_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c459656b5873aa221b56eee2cc80a32e5fbbdacf981748fe113c57f2244b35d1
+size 1676360
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696779.422820_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696779.422820_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..42dd9a305ce549f9dd49cc39d03e303d0e2dc70e
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696779.422820_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:064b6f5cb013473cb876040117ee12a4b0c7e1f3068a8f6632530ce6d57f1099
+size 1683912
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696779.663355_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696779.663355_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..bcb94b42a6979d319920abdf51638a5720d46c1f
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696779.663355_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2aa943aabe156300cdf1dfdbe4e9778a15afae7166b5ac5a7221a1bdb329df3b
+size 1690792
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696779.903871_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696779.903871_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..8a51414b6a20f8de84acf739614a0c20a2eafa9f
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696779.903871_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abc2ee785cb5dce6f916878a4f74b73c1c898ec73a3e53bffcd54bf9bd86b231
+size 1684376
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696780.144372_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696780.144372_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..017adaaab898c2ad799f8619c33247a71e80257f
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696780.144372_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2df32f33446b2dad2acd8620d40b7112f01bfb4085142aca27696a222fe69c90
+size 1693880
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696780.384854_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696780.384854_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..6d28c8983b710c0ee6d2aa0d69a8470444e37176
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696780.384854_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:664b34722615d75a96e777c7508ecf15d238daac57ecc84e60380c4b5e6e7922
+size 1695224
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696780.625415_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696780.625415_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..16956e684b21fb4f975dbeda24dfc5c22bbaab1e
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696780.625415_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9595d99e5863b363dc05ec8bd9f6a87ed325ab6693c5e5c51f320e2d5b21838
+size 1696104
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696780.865940_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696780.865940_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..97d46535cde504124ff5c568ddc0cbed10b65b3b
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696780.865940_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7db3c66c273807e874bb7d23b51cf1c6762f79da5a5973f9818d79cf8693ed88
+size 1691272
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696781.106449_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696781.106449_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..f33fa735a76104f032398236ca9906bee6a8ad81
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696781.106449_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87bce9155406d12324760d2e1dc392e806fdad6a8bffa00979ff44d0c5076c07
+size 1707576
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696781.346942_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696781.346942_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..c8f1614b670ae8e78d6c277298183945531140ce
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696781.346942_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54cd51d7137e058505466b56dc1c79fac321dd0e4d103b11ac3b71ebc8d08d2e
+size 1695864
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696781.827999_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696781.827999_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..f76261f0de133b960051f99e0bd305567a81b473
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696781.827999_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2281f31083545bf7d746a2aecc43e277c02043d3045f600c688399c815d2983d
+size 1689384
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696782.068515_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696782.068515_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..2ebb767552b03862ce88eb1deccdc9b7c4b204ba
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696782.068515_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f483ab94fc3c390cea9cd01ca7b539d5caaeb0550eaf85fb5788a4a8760cb4fe
+size 1699320
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696782.309015_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696782.309015_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..3c4c3243454ac0abf2bb232eb4003fc362f81bee
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696782.309015_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c23a2cbc5a767b1404dee994d8118a7950c57401b4a9bce87930d6ed9a771cda
+size 1700136
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696783.030863_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696783.030863_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b73df1d076a524318a1af080742a1f2f7f96aedb
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696783.030863_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3efddafd23a7fb8bf21c0306201dc9824bac1abf7af93b0de29b2797cc49f2e
+size 1780760
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696783.271473_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696783.271473_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..1488cf14c77f65aeb1385455e8c51db4724d94e8
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696783.271473_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3897e2befe1b46b61cb38169749ea895533b4eb166ecce4474fdd2355d0b055a
+size 1918616
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696783.512055_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696783.512055_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..7cbf9931afce8537f85257f04e4476a868396833
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696783.512055_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5f2210ba92ef8b286ec7429106de4b53fb8f61dc405bf534cd1c3824082193b
+size 1959128
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696783.752576_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696783.752576_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..78b65400848b49fa8a1a533adc748245a962d98f
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696783.752576_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:763353edd714e5b18ca7e63a8323f8c13c6d1b7ab3d48cb719c02dee6fc99495
+size 1894552
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696783.993081_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696783.993081_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b23eab74e526be029c2ea9257e25dc05fc231ed2
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696783.993081_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0419f0aea35f5d04f1f4495270ceab3b0151dc1c950c4578501f67dd85cab06a
+size 1876232
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696784.233567_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696784.233567_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..501685c99755d7e274611ce9b6e010b0a04fa33c
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696784.233567_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c44ae3b3c39bf1594dd292c3867823cc117cc3228831fc1e6aae1ab2dccdcb1
+size 1895896
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696784.474043_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696784.474043_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..fa1699a0b418424af7063f6474cd57e8644db048
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696784.474043_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a1d4a22b7b2dcb29c912535fb9173f81596593c14010027ad3a2c5073b0ba83
+size 1852168
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696784.714574_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696784.714574_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..aeae0ea025e5a0f2d466a98efa5c3ac98b1d9bb0
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696784.714574_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b5a7e2815073109ba8dacc3a9835877ed891ba32022818e5b641e917e52707f
+size 1669784
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696784.955088_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696784.955088_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..f41e3cfef8786f59e1031f65a3990d353e257a53
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696784.955088_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:917210745d75abd2e19c1f4282c60bb12b1be8893bd55b2ed2b2be24f804b9d3
+size 1430006
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696785.195586_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696785.195586_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..91bb8ecff03e8e36662ecccea9ece784f5c081c2
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696785.195586_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff95caab69faebe18da3dc0b8d9bee76dfd5b9c2aa1ad9698d11af6f51b9e45f
+size 1156566
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696785.676597_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696785.676597_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b9a214800b8690b37ae705be6e34dc47c5a2c2d3
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696785.676597_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:835c1f9367402aaeea97d8574d213b561f58fcf362d15477dbece5634b4372bb
+size 863222
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696785.917115_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696785.917115_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..41866fee11f1fc33e6289a12dfab5354ddc0a07d
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696785.917115_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:199bcac494c17c867d225eb784d82684de85b0eaff75d17fde382a9d9b3ecf76
+size 850630
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696786.157619_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696786.157619_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..722be419d0d235275cd3663b6e6783ee88e03e74
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696786.157619_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b872400981deb84c51d74f7eba90e02a8f3d4cd973fdc93357dd2275d3cbc2a1
+size 843558
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696786.398103_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696786.398103_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ca1d9772b3bf26aecd34491a31ddc16685f9fd5f
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696786.398103_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aad584a5325524e2aaf1a0942eec49dcb18497a132b361f85d25b1ceddc4dc14
+size 848582
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696786.638623_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696786.638623_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..a815bc50420df8463617bde8efea269e573b387b
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696786.638623_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c678404d3bbbd3553bc8d29890e7f1abe09d49d3c011d5aaf767041652b7abc
+size 851542
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696786.879139_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696786.879139_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..91913b9417d5b6329f1ffe94dd6de94c0025ef70
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696786.879139_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2259713fe0a9cd0fd61737616ee3962258fab3c10ff44da68cef2d8e5af21f78
+size 845606
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696787.119639_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696787.119639_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ecb7352ed60e786dd1ea6d24dc70d44c0dae01fa
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696787.119639_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf248bd1a9b4f8df113ace197a160841757f18544607b29f1e29feecc468117f
+size 850342
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696787.360121_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696787.360121_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..c971b777cfb8ea74504a8d9bdd8cdf10339b8dc1
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696787.360121_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ab18870e30fcba0b4803f7452f1e7769b13d37ef47eea7d69e650960b832c74
+size 848310
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696787.600631_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696787.600631_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..6e0c9a408cd7505545585602c6804bb03662a1ef
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696787.600631_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad010a7941150861e8594795237a9694005f64b53626319ec44372fbac12c314
+size 845926
diff --git a/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696787.841151_segmented.pcd b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696787.841151_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..072b0278d2ee6523f113460ef72564a8ccbb9081
--- /dev/null
+++ b/brown_coat/brown_coat_fold_2025-07-28-17-59-34/segment_pcds/pointcloud_1753696787.841151_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a44f05d142a0d93881b7ad46bc01c9982d7e9317578ba882ea948e3bf694a83
+size 849062
diff --git a/brown_coat/brown_coat_grasp_2025-07-21-15-54-20/joints/right_arm_joint_states_and_end_pose.pkl b/brown_coat/brown_coat_grasp_2025-07-21-15-54-20/joints/right_arm_joint_states_and_end_pose.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..bde80ee9a671fab5cfa3831b8bcc879589483bac
--- /dev/null
+++ b/brown_coat/brown_coat_grasp_2025-07-21-15-54-20/joints/right_arm_joint_states_and_end_pose.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84c1876cedf18f76cc389963dcc9cdd7937042d5c647857080278e1da34338fe
+size 378482
diff --git a/green_tshirt/green_tshirt_fold_2025-07-28-18-22-41/segment_pcds/pointcloud_1753698166.646459_segmented.pcd b/green_tshirt/green_tshirt_fold_2025-07-28-18-22-41/segment_pcds/pointcloud_1753698166.646459_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..f68b957aece6b510ab068a91b7e7a403ebd3b80e
--- /dev/null
+++ b/green_tshirt/green_tshirt_fold_2025-07-28-18-22-41/segment_pcds/pointcloud_1753698166.646459_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fab6325c8e325458622bbe231e5490f0769643fc0e1ddaa99753974b96e1361
+size 1096086
diff --git a/green_tshirt/green_tshirt_fold_2025-07-28-18-22-41/segment_pcds/pointcloud_1753698171.464664_segmented.pcd b/green_tshirt/green_tshirt_fold_2025-07-28-18-22-41/segment_pcds/pointcloud_1753698171.464664_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..d423f76b4063b305d60da4cbb0eb36d72a1c69f4
--- /dev/null
+++ b/green_tshirt/green_tshirt_fold_2025-07-28-18-22-41/segment_pcds/pointcloud_1753698171.464664_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e05e9bed4e327448b72cb46cec4b6a232af81097ae4dd3b2f19ee22a54ff445d
+size 873910
diff --git a/green_tshirt/green_tshirt_fold_2025-07-28-18-29-24/segment_pcds/pointcloud_1753698566.427524_segmented.pcd b/green_tshirt/green_tshirt_fold_2025-07-28-18-29-24/segment_pcds/pointcloud_1753698566.427524_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..e2077f9fe115d95d8751895f7eada14c860c9288
--- /dev/null
+++ b/green_tshirt/green_tshirt_fold_2025-07-28-18-29-24/segment_pcds/pointcloud_1753698566.427524_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b4689752e5d9803cc6ac7fa1b15f236eaaf86773fe785111265665e5824644e
+size 1108310
diff --git a/green_tshirt/green_tshirt_fold_2025-07-28-18-29-24/segment_pcds/pointcloud_1753698566.668013_segmented.pcd b/green_tshirt/green_tshirt_fold_2025-07-28-18-29-24/segment_pcds/pointcloud_1753698566.668013_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..8be0e50e7d71b88efd0e81c666f85227cbf4a146
--- /dev/null
+++ b/green_tshirt/green_tshirt_fold_2025-07-28-18-29-24/segment_pcds/pointcloud_1753698566.668013_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b7cc07f7879ba7904b33fffec15083857c0ec01a1bc6423c9dbb63a8ff288fa
+size 1107494
diff --git a/green_tshirt/green_tshirt_fold_2025-07-28-18-29-24/segment_pcds/pointcloud_1753698568.363017_segmented.pcd b/green_tshirt/green_tshirt_fold_2025-07-28-18-29-24/segment_pcds/pointcloud_1753698568.363017_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..09c14606c95d86eeeb957a7c0555ca8d7ff3e36f
--- /dev/null
+++ b/green_tshirt/green_tshirt_fold_2025-07-28-18-29-24/segment_pcds/pointcloud_1753698568.363017_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56608942d798e7cf3643471081a2750d261e9b428ed5c1fe673e9bf650ab89e0
+size 1108582
diff --git a/green_tshirt/green_tshirt_fold_2025-07-28-18-29-24/segment_pcds/pointcloud_1753698570.292910_segmented.pcd b/green_tshirt/green_tshirt_fold_2025-07-28-18-29-24/segment_pcds/pointcloud_1753698570.292910_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..bc6963b3e5cf7b97313c698dedc8e2da4be0cec0
--- /dev/null
+++ b/green_tshirt/green_tshirt_fold_2025-07-28-18-29-24/segment_pcds/pointcloud_1753698570.292910_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae3c3bb9deab0332085a18dd9a40a14d41bd58e1079ad59241d6dafd661d8f5e
+size 1098518
diff --git a/green_tshirt/green_tshirt_fold_2025-07-28-18-29-24/segment_pcds/pointcloud_1753698570.533414_segmented.pcd b/green_tshirt/green_tshirt_fold_2025-07-28-18-29-24/segment_pcds/pointcloud_1753698570.533414_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..df20159394aa2a5bbf0d8bb32f8f5f5deabbf5a3
--- /dev/null
+++ b/green_tshirt/green_tshirt_fold_2025-07-28-18-29-24/segment_pcds/pointcloud_1753698570.533414_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da0d429a0ecf2491fe150716a799d08000aac684165e81b107f7c1f3fde231db
+size 1098646
diff --git a/green_tshirt/green_tshirt_fold_2025-07-28-18-29-24/segment_pcds/pointcloud_1753698571.260411_segmented.pcd b/green_tshirt/green_tshirt_fold_2025-07-28-18-29-24/segment_pcds/pointcloud_1753698571.260411_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..e92426b923906349d08e3c2424cd4504f5460adf
--- /dev/null
+++ b/green_tshirt/green_tshirt_fold_2025-07-28-18-29-24/segment_pcds/pointcloud_1753698571.260411_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24209e0702bb4e5359946a33d893af7aa5c1f9b34febfc572bff1efc7ef166e3
+size 1096742
diff --git a/green_tshirt/green_tshirt_fold_2025-07-28-18-29-24/segment_pcds/pointcloud_1753698572.469413_segmented.pcd b/green_tshirt/green_tshirt_fold_2025-07-28-18-29-24/segment_pcds/pointcloud_1753698572.469413_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..a049892447e221e57bdbe39d2d8542bc607e5d67
--- /dev/null
+++ b/green_tshirt/green_tshirt_fold_2025-07-28-18-29-24/segment_pcds/pointcloud_1753698572.469413_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9a1e9eb91b03ec7427419c42c83527bac3c425f8086d6c26edfa2c48ca49ff1
+size 1096918
diff --git a/green_tshirt/green_tshirt_fold_2025-07-28-18-29-24/segment_pcds/pointcloud_1753698574.871458_segmented.pcd b/green_tshirt/green_tshirt_fold_2025-07-28-18-29-24/segment_pcds/pointcloud_1753698574.871458_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..3fe46856c590994abe8fc72c00c7dbb5da0b5f73
--- /dev/null
+++ b/green_tshirt/green_tshirt_fold_2025-07-28-18-29-24/segment_pcds/pointcloud_1753698574.871458_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67d814d3f4d9926ed16cac69f019ae0ad54873e72bec1145af88b597b1ca21bd
+size 1112182