diff --git a/.gitattributes b/.gitattributes
index 619fbfe135c2050282de4275c39331b11c4c634a..e64af4f421ed2762014e6c551bd98cc3f45f5637 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4353,3 +4353,74 @@ white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_17
 white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922951.548840_segmented.pcd filter=lfs diff=lfs merge=lfs -text
 white_cakeskirt/white_dress_grasp_2025-07-19-18-56-12/segment_pcds/pointcloud_1752922579.734116_segmented.pcd filter=lfs diff=lfs merge=lfs -text
 white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922947.207812_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695137.628492_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922952.752642_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922945.764801_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922946.967318_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922947.929315_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922947.809063_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922946.245797_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922951.428336_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695139.844473_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922947.087567_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922952.271123_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922949.378852_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922948.169806_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922949.740784_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922950.945732_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922953.595290_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922950.342828_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922949.499967_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-18-56-12/segment_pcds/pointcloud_1752922577.446455_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922953.234154_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922945.524276_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695131.341156_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922945.404006_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922950.222419_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922951.909985_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922948.651928_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922952.391502_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922951.066375_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922949.257618_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922949.981601_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922950.825094_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922946.486279_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695135.532700_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922950.704461_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-34-00/segment_pcds/pointcloud_1753695243.857442_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922952.150745_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922950.583833_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922945.885057_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695136.697030_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922945.283762_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695134.368357_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695135.066975_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922948.290045_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922952.511881_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922951.789603_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922947.448287_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-18-59-14/segment_pcds/pointcloud_1752922764.135357_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695141.498160_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+brown_coat/brown_coat_grasp_2025-07-21-15-53-00/segment_pcds/pointcloud_1753084383.396154_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-19-00-47/segment_pcds/pointcloud_1752922848.539931_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695132.971213_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695138.792842_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695138.559969_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-18-59-14/segment_pcds/pointcloud_1752922764.376177_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922946.847065_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-18-59-14/segment_pcds/pointcloud_1752922763.774137_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695140.536111_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695139.433022_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-19-00-47/segment_pcds/pointcloud_1752922851.790787_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695140.776638_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695130.008263_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922946.005308_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695136.929895_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922953.113777_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-19-00-47/segment_pcds/pointcloud_1752922855.282490_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922946.125555_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695133.204058_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695140.295577_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695141.738695_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695139.025700_segmented.pcd filter=lfs diff=lfs merge=lfs -text
+white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695132.272604_segmented.pcd filter=lfs diff=lfs merge=lfs -text
diff --git a/brown_coat/brown_coat_grasp_2025-07-21-15-53-00/segment_pcds/pointcloud_1753084383.396154_segmented.pcd b/brown_coat/brown_coat_grasp_2025-07-21-15-53-00/segment_pcds/pointcloud_1753084383.396154_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..661e37962be4876ea41c8711ff84e1dba84b6421
--- /dev/null
+++ b/brown_coat/brown_coat_grasp_2025-07-21-15-53-00/segment_pcds/pointcloud_1753084383.396154_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6f0139ec1388077433e1b7b62753f62f48812925c0a86b1e08d435410ae83c9
+size 763062
diff --git a/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/joints/right_arm_joint_states_and_end_pose.pkl b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/joints/right_arm_joint_states_and_end_pose.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..290f503aa8385e3ebf5c622e43b18d11646d3c65
--- /dev/null
+++ b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/joints/right_arm_joint_states_and_end_pose.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28fd8a98eedcc96adddc4101138471dc11008c75c6cebd8b11503b266bbb257e
+size 434471
diff --git a/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695130.008263_segmented.pcd b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695130.008263_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..95e0ff0f1b8676d2ee730097f40a27ca0987e422
--- /dev/null
+++ b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695130.008263_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a6ed95606978330316946d9478a2644a23c38bf06f43118b22419c64d1f15c8
+size 1395574
diff --git a/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695131.341156_segmented.pcd b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695131.341156_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..6739c516799ecb804e22b922648cb25a9192a43a
--- /dev/null
+++ b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695131.341156_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe479683377217dd1af591fbb97b4409dfd7f6630524e5a1053934506ec316c6
+size 1384582
diff --git a/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695132.272604_segmented.pcd b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695132.272604_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..9765c5b53d8cbe49015da219485011b307735441
--- /dev/null
+++ b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695132.272604_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79c0d292c272e480db5fb6002d83af11639499a7e063bd5997fac0025c07651b
+size 1383254
diff --git a/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695132.971213_segmented.pcd b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695132.971213_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..553e5c42a67f5d4a49f49b8759c45cf9605adbb0
--- /dev/null
+++ b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695132.971213_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c362835b4a42c559a77cd2100b77e86a1456fad673b59432b12d6ea82162e2a
+size 1382486
diff --git a/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695133.204058_segmented.pcd b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695133.204058_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..18f6dded780df456bc0773f343c17f337c27e017
--- /dev/null
+++ b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695133.204058_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72c951dcc76a60d3fba1cda632c8815579b1dc074732944df9f9188aadf4c8aa
+size 1383126
diff --git a/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695134.368357_segmented.pcd b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695134.368357_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..76ffc73b59bdcfe4a8ef02f914a1ed73323f6c59
--- /dev/null
+++ b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695134.368357_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a73f82074762c7f9ec6940f50358fbc01fb765d5b64ffdda9e2741a4559ac5b9
+size 1387046
diff --git a/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695135.066975_segmented.pcd b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695135.066975_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ee0ce27f21cef961b5c6ce048d5bf498293eb970
--- /dev/null
+++ b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695135.066975_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14f12dbed992251661d868729f6663c1ff1af7d00a560aca5b391d8d034b9ab1
+size 1386502
diff --git a/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695135.532700_segmented.pcd b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695135.532700_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b7ad29b05675c622cc31460789aefc59c1dedaf3
--- /dev/null
+++ b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695135.532700_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ef208700da926193f90adab67b5f213d9050dadc93c28b4a16e1d9f22328c59
+size 1385718
diff --git a/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695136.697030_segmented.pcd b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695136.697030_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b4ff01aa15071ad5c605d9c837ff5939ffa2b882
--- /dev/null
+++ b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695136.697030_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c846f4a100edcf54cb3b627562f448645f00efcf3763339e5cbc7b9b8759275
+size 1442406
diff --git a/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695136.929895_segmented.pcd b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695136.929895_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..bf810faea29ad0b6995f890aa4298c151aa3b797
--- /dev/null
+++ b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695136.929895_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dadd51ff34b3d16135c3c633765908354e673351037777c1f49f59dc3a62c876
+size 1470470
diff --git a/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695137.628492_segmented.pcd b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695137.628492_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b09ce6da6993e8170ce2f4b6f49559a8bef26bae
--- /dev/null
+++ b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695137.628492_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33642674152e657a9e4db526efb7b896a2fd327ea0cc30be2fc2c65a34bee660
+size 1453238
diff --git a/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695138.559969_segmented.pcd b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695138.559969_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..19843f91307ea74738336e0c7fc7c4d29029ec5d
--- /dev/null
+++ b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695138.559969_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb209a730368156f071f5537aa2f466aa1bddc6a405f6cb3fe401491f3547a82
+size 1298406
diff --git a/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695138.792842_segmented.pcd b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695138.792842_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..f045244cb80a5c5ad0f5f3d0ac15f0cc0edf0490
--- /dev/null
+++ b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695138.792842_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ac5f3f21c88d193967fa1a740855ae42ec20bb9ea5961300774d5b2b8c37e0e
+size 1184742
diff --git a/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695139.025700_segmented.pcd b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695139.025700_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b3b54c48285ed782d772e7287992da3f2730ff5e
--- /dev/null
+++ b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695139.025700_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:355ba52b8a1a7659124c932b41cb5b01eec2f794ea7d137a5c884643100240f1
+size 1068726
diff --git a/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695139.433022_segmented.pcd b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695139.433022_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b54573c816b922db2193a61e4036cd7ff9d8f3d0
--- /dev/null
+++ b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695139.433022_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f8acb3c25700e014fe5c14d6b55ae0f2913bd76f2489c3be2be29ca9d70fdc1
+size 712742
diff --git a/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695139.844473_segmented.pcd b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695139.844473_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..436cf4ef48824ba4ef52726c9b50c43903de2bea
--- /dev/null
+++ b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695139.844473_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80c48b542f47e795e5ca8ec4eba56f3e658e7491a868b220802622e74cbdc001
+size 640102
diff --git a/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695140.295577_segmented.pcd b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695140.295577_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..7160124af6e6c9ee1f572a9ee98bad85c2faa533
--- /dev/null
+++ b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695140.295577_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d396a704babf21d72264423f82084559d82070eefbf49dc111f7e19e309a5caf
+size 630070
diff --git a/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695140.536111_segmented.pcd b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695140.536111_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..575d25a8b04a686090839c041408c1257e51d284
--- /dev/null
+++ b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695140.536111_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02f13d7bb8f4410f408f6c2252e67854fc4a425dc40073848aa2d5d25f31e5de
+size 627782
diff --git a/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695140.776638_segmented.pcd b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695140.776638_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..305a14336ffce23406e96c148411d136b0307146
--- /dev/null
+++ b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695140.776638_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32b25218757c0ea0800466a6691f84e9ac3dc4f5566d45d06fa12f6e83c0bf58
+size 633302
diff --git a/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695141.498160_segmented.pcd b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695141.498160_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..dfe13038baf7e826d4ecf716e4463cd1cf1d73ea
--- /dev/null
+++ b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695141.498160_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46b81d8eb25b84507ba3a14151e95bc2f127f971b96704ba01d36f086944970f
+size 627318
diff --git a/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695141.738695_segmented.pcd b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695141.738695_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..64da14e056e5696976e7689bac2dfe2372a68f04
--- /dev/null
+++ b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-32-08/segment_pcds/pointcloud_1753695141.738695_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dccb0af3b7e2de0ad1b77575434098bd18ec5e11e4facbd00e9fe530ca8e091d
+size 627670
diff --git a/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-34-00/segment_pcds/pointcloud_1753695243.857442_segmented.pcd b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-34-00/segment_pcds/pointcloud_1753695243.857442_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..5f6b959f5deaf7cb202a81ea8e97801f33291edb
--- /dev/null
+++ b/white_cakeskirt/white_cakeskirt_fold_2025-07-28-17-34-00/segment_pcds/pointcloud_1753695243.857442_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7d9a7e51359419188ac0305799c7eb74c004351500b1f0772abfaa793be7dea
+size 1502550
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-18-56-12/segment_pcds/pointcloud_1752922577.446455_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-18-56-12/segment_pcds/pointcloud_1752922577.446455_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..7f9589863b15c3ff74d7d224ef31d9272703d5b7
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-18-56-12/segment_pcds/pointcloud_1752922577.446455_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f5b87b02ea343eb02ffd3714276ca8b381c9cd502e51d0a512ea6947a829d74
+size 1112310
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-18-59-14/segment_pcds/pointcloud_1752922763.774137_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-18-59-14/segment_pcds/pointcloud_1752922763.774137_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..eb0028793239474d527f2d68563e133ea0e21ae7
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-18-59-14/segment_pcds/pointcloud_1752922763.774137_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f33778cf1d3fdd70c28ccfcfb5a2c120387e50eb320e3f51981fb65777833385
+size 1144182
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-18-59-14/segment_pcds/pointcloud_1752922764.135357_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-18-59-14/segment_pcds/pointcloud_1752922764.135357_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..bb022a079414cdcd84286ee620d6c3cad039ff0a
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-18-59-14/segment_pcds/pointcloud_1752922764.135357_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a9eef53defeb733f9b916e067d222b96709dfe6f0a167f5aea69d9d1733ec74
+size 1136502
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-18-59-14/segment_pcds/pointcloud_1752922764.376177_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-18-59-14/segment_pcds/pointcloud_1752922764.376177_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..f1ab228d78f0746d49079aca516b872f0d3b3a8a
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-18-59-14/segment_pcds/pointcloud_1752922764.376177_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d02f3a21c5f34d276a146a9b831a90685e791a327bde2223c5aa6e7e11877d9
+size 1137174
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-00-47/joints/right_arm_joint_states_and_end_pose.pkl b/white_cakeskirt/white_dress_grasp_2025-07-19-19-00-47/joints/right_arm_joint_states_and_end_pose.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..da82298a6a1c5e7da9a7694643450c9d821230c1
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-00-47/joints/right_arm_joint_states_and_end_pose.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4885ebeeca1e7cc20f37aece37685eb7d50e299b010de30e591f7521ebe99d33
+size 299449
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-00-47/segment_pcds/pointcloud_1752922848.539931_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-19-00-47/segment_pcds/pointcloud_1752922848.539931_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..e8bfea5878290a0c0aade855524068bd8b6f39a1
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-00-47/segment_pcds/pointcloud_1752922848.539931_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b157e72005168a454cb7e50ba8e2c61bc0e5c1eda6f13dbc0c7af32fd6fde28
+size 1099654
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-00-47/segment_pcds/pointcloud_1752922851.790787_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-19-00-47/segment_pcds/pointcloud_1752922851.790787_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..4b0f3af8b6388650062c659843a78376ebd2e630
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-00-47/segment_pcds/pointcloud_1752922851.790787_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81dc2e0a0da555852d9889ea7896761cdfbb271df7c7a555911c489a79bd2621
+size 1102102
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-00-47/segment_pcds/pointcloud_1752922855.282490_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-19-00-47/segment_pcds/pointcloud_1752922855.282490_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..7228eb93048267cd15657ca9dd7626e74600bb26
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-00-47/segment_pcds/pointcloud_1752922855.282490_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02028d5d58cfc4205017a986ae9334a84dd8e0ea86e0c85b187c26e6d61d0e85
+size 1012118
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/joints/left_arm_joint_states_and_end_pose.pkl b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/joints/left_arm_joint_states_and_end_pose.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..f267d12ba5b5477eb7865fb3586bb93c35ab8e6f
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/joints/left_arm_joint_states_and_end_pose.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2747939ab8bfe15301fc6e847af91707bbb9288534ab3bea0fae4989947a4503
+size 308089
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/joints/right_arm_joint_states_and_end_pose.pkl b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/joints/right_arm_joint_states_and_end_pose.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..49a38a1c9dc6430bec1bea3734e3aef0f42de4d7
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/joints/right_arm_joint_states_and_end_pose.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f50804c242f05d836668bb8d6a9eab8e1d3aa14c9eadbc849d86a4298d9960ed
+size 307369
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922945.283762_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922945.283762_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..5db490ee8e7fc5fc1c46846c9543c89803e9165b
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922945.283762_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb03ff3b7f40fddb6669b69d51a57640b8eab8b5da9e0658ac6ec8f3b028d4d4
+size 1103238
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922945.404006_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922945.404006_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..a2eb6d1448667c9710a71efe237416df748fea6f
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922945.404006_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4271a13d1e5d86ccad5c608acac37a7d803066a4e687adf426ff87a77fd6a321
+size 1099446
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922945.524276_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922945.524276_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..4bb0721198ae26d995e57b0d87a3e7f034ac15b5
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922945.524276_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fca8edad5ab803c869ef17c6a05ab4d5e87ababe844fb0e58f5c268abe7ebbf
+size 1101382
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922945.764801_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922945.764801_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..2dbfe7cbf2f46b6a28ae27086fef98623c173eff
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922945.764801_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a664022075bc0a9d24644afc49c98d2dd3190e68db7349d8a2a41dd075ae212
+size 1100438
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922945.885057_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922945.885057_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..08e18c3bb8fada5e731d1aa4ff2b4f13cd5ff2d5
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922945.885057_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:548a02635cb86b62d67a91d70f738c1a6ce436b7959b629619633229950289ad
+size 1105174
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922946.005308_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922946.005308_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..f45f185b11ec11fb48f3362b3617a97b43b03684
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922946.005308_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90dc50d37e4833144bec93801ff7aedd5348d87740c64b8445713a767a971c5f
+size 1098278
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922946.125555_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922946.125555_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..65a50a8838cb31c26b7302a709357854ecc33152
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922946.125555_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:483584f040f429e5af9282af6f4cc811b94a0ea03dd672d552b2f2ab2073ee5a
+size 1101990
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922946.245797_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922946.245797_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..6182e20e534a66ce463d159cbaed932d98f61601
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922946.245797_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:400f74d91d54024bb1e17cadff70d0d38147a0cd569d7f026cc1f27daccad646
+size 1102438
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922946.486279_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922946.486279_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b6e33101b3986cd114b39d9cb453fd71a07ccd6e
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922946.486279_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0779502984da7c339e979a524ea5db9702e551cb77f918f6e7a406ade1d41f5a
+size 1102342
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922946.847065_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922946.847065_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..6d5a8c74062490c5c32d8fec26c93ec3f783c69b
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922946.847065_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42a3c536f3514aad30833782b334e1025dd5a69ee34422011ffcb1225b66f5c6
+size 1099510
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922946.967318_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922946.967318_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b8b180aa633eb179bb5485f2c8827eb3138692b2
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922946.967318_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b017121834b76259f4a340e95ef6828016e9ef6ebbfe5e285b6790ad126b72e
+size 1101350
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922947.087567_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922947.087567_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..58e2cf073805114011e0c26de4abcb4f2aac50e1
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922947.087567_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62f5358eb4e1a01abae3a90915f6aec983050d721056dce93995025e6e500825
+size 1102054
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922947.448287_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922947.448287_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..27898b3f2f8ed69901444a9c733235fae1a2ee3f
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922947.448287_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a152bd2f93bfc9cfd4b405034547560bd7315f3893df7941f6d55c7abdb04a1
+size 1098662
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922947.809063_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922947.809063_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..3cb85fa1927870b74a15f2433647853ed2f4745f
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922947.809063_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a850e7aed74430f7d1f8a2af7713347c4c3b426299f2bfb7fb0d378a31b41c3
+size 1099654
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922947.929315_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922947.929315_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..0b0466aa51bde89ab4ce20a6e5db65998976e7bd
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922947.929315_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7238386f2bdaffef53511b1069fa4221807532845fe88e2a733780351bf694db
+size 1099638
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922948.169806_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922948.169806_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ae68f950423e2e22e61e9a5c6027fa706cbeb828
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922948.169806_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b54fc38064090041980491d47b393f08a11d032c045af9011c5c857cd991c950
+size 1100726
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922948.290045_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922948.290045_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..550013d95f614b1b862ebdd3c363fe946ec8d66f
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922948.290045_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6248d8b31d44896b9590d7e36c74df40bb2ae2ffef2283ec84439d7176ef6f3c
+size 1099510
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922948.651928_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922948.651928_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..73ec1267c7ff8da88716e060ed5f81264ab5a49f
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922948.651928_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48077641689552521f6a9686690e41a116a9ddbd4de7faeeba8619e946eddf48
+size 1099958
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922949.257618_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922949.257618_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..097dd27f413a4463e77b59d82608e654c15a708b
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922949.257618_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87a184511b2a77d18a86088177cac12dca095d5e1afbcb25363a190823719e93
+size 1097302
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922949.378852_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922949.378852_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..7bb24428d44a575e54c71ced3a7b9d9ca5d5bb01
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922949.378852_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6d3bcd3cfd57f249475ebafffb148167f7429bcf1f52b8bd5cbc7cad1568c48
+size 1098646
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922949.499967_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922949.499967_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..7351b6cafa2db057c0358f6f562190e15ca8e176
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922949.499967_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bd340669870f99789a6d8a959d7eadbdc4744e01b8be41de9b204b971f1b1bd
+size 1097814
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922949.740784_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922949.740784_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..032c60887516edc33c9533b77e48db330fea6c47
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922949.740784_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffd17bd5576c8861e42586ce3a29b6cf6714f5529d0866d5ffd4153451c89771
+size 1104294
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922949.981601_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922949.981601_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..23a1448c22807445f16c218e127cc39a6fd58ec3
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922949.981601_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5237bfc6d7d22b80e08c09acb2ad5791516e35493550f765d7b34c26f93d1ea
+size 1103814
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922950.222419_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922950.222419_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..6416e8b8dc98b6b6a1119e4e4a3d158cec858b3e
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922950.222419_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35983e3957922e126b27efb446c68bd458e4dc40dc05345adacedfb8bcab9018
+size 1106534
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922950.342828_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922950.342828_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..159b802fa5d7663ce8cb9b1dbda4d5d29a0ca72e
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922950.342828_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a926bd8d17a5b821882f68f566e1846f1303749e20c0e26e82db2e3a9dc1a2ac
+size 1120630
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922950.583833_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922950.583833_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..9b56980e3e78a62f9187ecc2149de6f5b877ea19
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922950.583833_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76c70213b6316726e08e8fd6a56ec762a01145b1ac6974cc6d3e7aaef6fb0023
+size 1168694
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922950.704461_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922950.704461_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..1552efa37451ac1c0deb1b482f62024f3a11559d
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922950.704461_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e4234f74b29e2afd5807db50eeaab0c49a0c97568f0f058c4c45d7e2fadad9f
+size 1201606
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922950.825094_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922950.825094_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..8b03945dd317d5c82da5ae70057ad39c48a31591
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922950.825094_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3fa0eae8e5fd84fae85d1f76b7fbda5f9ce03290c4a916b81f5aa809d2acedb
+size 1217846
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922950.945732_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922950.945732_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b0af99cfc0c208ca27dfb1215a42fd160daf1f99
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922950.945732_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7368e32f7c49a5a2ad1c56032a34eb1473e31886850a7eee39e752e8fcd8ee2b
+size 1239782
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922951.066375_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922951.066375_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..c19c3be95449f4b367ed77fef9fc1029e11f76b1
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922951.066375_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5d01fdd420142476964a341f4a2e17c6ca5d374265ca26a001a2c25c77d3950
+size 1281014
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922951.428336_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922951.428336_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..bd74906b0b3b90e82af7600d2e9c8e405076b81e
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922951.428336_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04bddef393641ac9add6086631052264382770fb370ccce4766ddf859a1458f9
+size 1421622
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922951.789603_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922951.789603_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..9f04e85d4c6d19715f22a3554d13a0613ecc8b48
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922951.789603_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0afe65701f5318149f340c7e5bf83127c17421f32cde5d83079ce0ce16577cc0
+size 1262774
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922951.909985_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922951.909985_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..352c260c1d2e4991f96fc7aeb0e119f226cc74ad
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922951.909985_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec8c1397e5d4c94d55159f64fe0bbd2a270c23e9aa4566686370165a1b991d27
+size 1190822
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922952.150745_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922952.150745_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..6e2daf270b203414486b1ba9e2bbf5152bb89fc5
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922952.150745_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30e588b4ee5e74f53fbeb2aca46c7c19e6422de2633d47a29b8daad4feb6b86b
+size 1115270
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922952.271123_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922952.271123_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b41d9b6680079980b2388e3a78a59bcd0696f287
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922952.271123_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88bd417604a81365ae7030deaa4392a1fb9a8d7cf0f07479d37579c590f5b9ca
+size 1073350
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922952.391502_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922952.391502_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..b17861cf3b804dcfcbca7c00cf7d6295c3e9a7a2
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922952.391502_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6afb062998b865b7fab5c238419aa34868164bdcdfcd496a0678b017c188bb1
+size 1056086
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922952.511881_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922952.511881_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..cd5e8aaf65e2dd09bf509dab58035b2c67d407ca
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922952.511881_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a9294b22c7f035663f2d0ce1069b04f83af0a4ade70de8af9c0adab1f8aaa16
+size 1043622
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922952.752642_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922952.752642_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..ff3ad3f22411e2965a3d4133506a6cffd10ed3f7
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922952.752642_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8fc523d41791225eaaef4227d9b87b43ec8e26296e61d9af158a1f6a0e73a9f
+size 1030614
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922953.113777_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922953.113777_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..50cfe798e330501350db2ef374a96b5b1c626446
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922953.113777_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:099b61d71b6d599f78f8d3306a6cdeb561490e046f23e06a4817daf0c9760afb
+size 1006246
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922953.234154_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922953.234154_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..d09b88be446df1598baa721911327abba1948793
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922953.234154_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a98f8d76744fc2518c9a410cb82f00adffddcfa9b13afbc001fe83aca16c100
+size 1006454
diff --git a/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922953.595290_segmented.pcd b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922953.595290_segmented.pcd
new file mode 100644
index 0000000000000000000000000000000000000000..15aaa5475e9599c5fe4f6e9cb32f2eacefe32af2
--- /dev/null
+++ b/white_cakeskirt/white_dress_grasp_2025-07-19-19-02-24/segment_pcds/pointcloud_1752922953.595290_segmented.pcd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:240535046cc4ccfbd5ab94963968f7f0c9ebfdc9a34be91d36a104d2c3c53559
+size 1009174