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diff --git a/batch_6/event_01_gt.yaml b/batch_6/event_01_gt.yaml
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+---
+clip_path: "../../videos/clip_29.mp4"
+image_path: "../images/"
+image_odometry_file: "../image_odometry_data.json"
+from_frame: 419
+to_frame: 581
+event_description: "The person sat down and worked on their laptop, occasionally taking sips from two cups."
+location: "office_0"
+first_person_mask: [[768, 295], [751, 291], [739, 283], [714, 282], [704, 285], [686, 297], [670, 315], [665, 323], [661, 336], [661, 345], [665, 353], [666, 361], [655, 367], [658, 380], [664, 380], [664, 372], [668, 375], [678, 407], [689, 423], [703, 428], [702, 435], [695, 440], [692, 447], [686, 452], [656, 469], [636, 490], [629, 500], [615, 540], [611, 546], [607, 542], [605, 526], [599, 513], [595, 511], [598, 508], [593, 504], [593, 501], [588, 501], [581, 495], [574, 493], [564, 500], [565, 513], [558, 524], [555, 551], [557, 565], [564, 577], [564, 589], [566, 592], [570, 589], [572, 594], [579, 600], [583, 598], [694, 598], [695, 600], [709, 600], [710, 598], [714, 598], [715, 600], [726, 600], [727, 598], [731, 600], [734, 598], [800, 598], [800, 408], [791, 407], [785, 411], [773, 409], [768, 402], [777, 393], [786, 375], [790, 355], [786, 322]]
+objects_of_interest:
+  mug_1:
+    object_class: "mug"
+    description: "The person drinks from the cup."
+    first_frame: 419
+    first_mask:  [[366, 449], [361, 453], [360, 488], [365, 493], [380, 497], [393, 494], [399, 479], [399, 452], [388, 447]]
+    last_frame: 581
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+  mug_3:
+    object_class: "mug"
+    description: "The person drinks from the cup."
+    first_frame: 419
+    first_mask:  [[368, 419], [352, 417], [343, 419], [340, 422], [340, 430], [334, 444], [334, 454], [338, 460], [350, 462], [360, 461], [361, 454], [370, 447], [370, 422]]
+    last_frame: 581
+    last_mask: [[373, 465], [366, 470], [366, 513], [371, 518], [379, 520], [396, 518], [402, 512], [403, 472], [398, 466], [392, 464]] 
+  laptop_0:
+    object_class: "laptop"
+    description: "The person works on the laptop."
+    first_frame: 419
+    first_mask: [[536, 363], [432, 373], [425, 376], [426, 434], [430, 465], [436, 474], [440, 475], [473, 503], [483, 503], [593, 482], [600, 477], [592, 470], [546, 444], [543, 429], [539, 373]] 
+    last_frame: 581
+    last_mask: [[536, 362], [431, 375], [429, 378], [432, 436], [434, 446], [438, 453], [439, 468], [443, 474], [479, 498], [481, 497], [481, 490], [476, 483], [477, 471], [489, 461], [504, 464], [515, 474], [523, 475], [527, 480], [528, 489], [531, 493], [570, 486], [578, 482], [595, 480], [602, 477], [603, 473], [599, 468], [578, 460], [568, 452], [554, 447], [544, 440], [538, 367]] 
+  mouse_0:
+    object_class: "mouse"
+    description: "The person uses it to interact with the laptop."
+    first_frame: 419
+    first_mask: [[618, 448], [611, 454], [611, 462], [622, 480], [630, 487], [637, 489], [648, 477], [649, 472], [628, 448]] 
+    last_frame: 581
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+  table_1:
+    object_class: "table"
+    description: "Where the person works at, supports the laptop, mouse and 2 mugs."
+    first_frame: 419
+    first_mask: [[574, 486], [474, 504], [429, 465], [423, 408], [365, 415], [371, 423], [372, 445], [394, 448], [401, 456], [398, 487], [385, 497], [370, 496], [360, 488], [360, 463], [340, 462], [335, 457], [333, 447], [338, 419], [271, 429], [271, 437], [286, 459], [286, 589], [289, 598], [300, 597], [304, 484], [368, 565], [369, 600], [390, 600], [391, 561], [533, 528], [555, 523], [563, 512], [560, 502]] 
+    last_frame: 581
+    last_mask: [[427, 407], [286, 425], [271, 429], [271, 437], [287, 462], [285, 506], [287, 593], [289, 597], [299, 597], [301, 594], [301, 481], [312, 493], [360, 558], [368, 565], [370, 600], [389, 600], [392, 584], [389, 562], [391, 560], [490, 538], [491, 533], [485, 503], [454, 481], [442, 475], [437, 477], [434, 489], [427, 494], [414, 495], [405, 493], [403, 496], [402, 513], [394, 519], [377, 520], [371, 518], [365, 512], [365, 471], [375, 464], [398, 464], [399, 452], [404, 447], [432, 444], [430, 415]] 
diff --git a/batch_6/event_02_gt.yaml b/batch_6/event_02_gt.yaml
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+---
+clip_path: "../../videos/clip_30.mp4"
+image_path: "../images/"
+image_odometry_file: "../image_odometry_data.json"
+from_frame: 654
+to_frame: 681
+event_description: "The person picked up the mug from the table and walked away."
+location: "office_0"
+first_person_mask: [[745, 314], [731, 312], [719, 302], [698, 299], [683, 300], [654, 316], [637, 331], [627, 347], [625, 361], [631, 380], [620, 387], [620, 394], [625, 405], [631, 406], [638, 415], [646, 437], [635, 438], [623, 448], [623, 453], [629, 462], [634, 462], [644, 474], [659, 482], [660, 498], [607, 548], [604, 562], [601, 565], [572, 557], [561, 560], [556, 565], [549, 592], [546, 593], [534, 581], [515, 573], [513, 565], [505, 561], [493, 540], [485, 531], [475, 526], [474, 516], [469, 506], [453, 489], [441, 487], [438, 495], [433, 493], [426, 494], [427, 535], [452, 552], [456, 567], [469, 593], [478, 600], [559, 600], [560, 598], [565, 598], [566, 600], [707, 600], [708, 598], [709, 600], [743, 600], [744, 598], [746, 600], [782, 600], [783, 598], [800, 598], [800, 473], [786, 459], [787, 446], [770, 428], [751, 429], [749, 427], [757, 418], [768, 381], [767, 352], [757, 327]]  
+objects_of_interest:
+  mug_3:
+    object_class: "mug"
+    description: "Being picked up from the table."
+    first_frame: 654
+    first_mask: [[408, 469], [403, 475], [402, 515], [410, 523], [426, 524], [427, 504], [424, 495], [427, 492], [437, 493], [436, 487], [440, 483], [440, 474], [438, 471], [428, 468]] 
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+  table_1:
+    object_class: "table"
+    description: "Where the mug was picked up from."
+    first_frame: 654
+    first_mask: [[427, 407], [293, 424], [271, 429], [271, 437], [286, 458], [285, 532], [286, 593], [288, 597], [295, 598], [301, 595], [302, 483], [309, 489], [361, 559], [369, 565], [369, 600], [391, 600], [393, 560], [438, 548], [438, 545], [426, 535], [425, 526], [407, 522], [401, 513], [401, 483], [398, 472], [398, 454], [405, 446], [430, 445], [432, 443], [430, 415]] 
+    last_frame: 681
+    last_mask:  [[328, 420], [278, 426], [270, 429], [270, 436], [286, 458], [285, 542], [286, 593], [288, 600], [300, 600], [303, 594], [303, 486], [311, 492], [323, 509], [326, 508], [325, 476], [328, 450]]
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--- /dev/null
+++ b/batch_6/event_03_gt.yaml
@@ -0,0 +1,38 @@
+---
+clip_path: "../../videos/clip_31.mp4"
+image_path: "../images/"
+image_odometry_file: "../image_odometry_data.json"
+from_frame: 834
+to_frame: 894
+event_description: "The person picked up the mug, the laptop and the mouse and walked away."
+location: "office_0"
+first_person_mask: [[300, 21], [263, 21], [239, 33], [237, 37], [225, 45], [212, 65], [206, 87], [206, 137], [208, 149], [214, 164], [212, 166], [179, 166], [175, 168], [158, 187], [144, 193], [130, 209], [129, 217], [141, 240], [131, 257], [125, 276], [118, 325], [116, 368], [117, 392], [120, 398], [120, 411], [118, 413], [120, 454], [119, 597], [237, 596], [346, 598], [351, 596], [341, 532], [329, 498], [327, 486], [330, 482], [341, 482], [364, 497], [375, 499], [390, 489], [397, 477], [391, 459], [384, 453], [371, 449], [351, 449], [347, 445], [333, 439], [319, 436], [315, 427], [304, 355], [303, 332], [300, 324], [302, 307], [297, 300], [304, 271], [304, 245], [301, 236], [320, 223], [326, 212], [342, 196], [343, 192], [344, 194], [351, 194], [359, 185], [361, 176], [354, 167], [354, 161], [361, 155], [367, 136], [368, 112], [356, 77], [344, 56], [320, 32]]  
+objects_of_interest:
+  mug_1:
+    object_class: "mug"
+    description: "Being picked up from the table."
+    first_frame: 834
+    first_mask: [[402, 449], [399, 455], [399, 472], [402, 489], [411, 494], [426, 494], [431, 492], [435, 486], [438, 471], [436, 450], [427, 446], [410, 446]] 
+    last_frame: 894
+    last_mask: [[406, 441], [381, 443], [369, 449], [360, 460], [360, 467], [363, 474], [362, 493], [367, 515], [370, 521], [380, 528], [391, 530], [403, 529], [414, 525], [418, 518], [427, 453], [420, 445]] 
+  table_1:
+    object_class: "table"
+    description: "Where the laptop, the mug and the mouse were picked up from."
+    first_frame: 834
+    first_mask: [[732, 473], [694, 455], [678, 450], [673, 455], [657, 459], [651, 458], [648, 461], [642, 462], [643, 474], [639, 477], [629, 477], [610, 472], [599, 479], [493, 505], [487, 505], [451, 479], [442, 475], [438, 476], [435, 488], [430, 493], [424, 495], [406, 493], [399, 486], [394, 486], [376, 500], [364, 499], [348, 487], [332, 486], [329, 489], [329, 493], [343, 534], [362, 560], [369, 565], [369, 596], [371, 600], [390, 600], [393, 562], [400, 557], [474, 540], [502, 537], [512, 532], [528, 528], [532, 530], [533, 536], [531, 588], [532, 593], [536, 597], [539, 597], [542, 583], [543, 536], [545, 526], [589, 514], [601, 513], [684, 494], [686, 500], [679, 600], [698, 600], [707, 490], [711, 487], [730, 482], [732, 480]] 
+    last_frame: 894
+    last_mask: [[732, 473], [553, 392], [536, 391], [365, 416], [365, 426], [381, 441], [410, 439], [426, 449], [428, 460], [421, 516], [411, 528], [396, 533], [374, 526], [368, 520], [363, 504], [349, 494], [325, 501], [324, 508], [361, 558], [370, 565], [370, 600], [390, 600], [391, 564], [398, 552], [415, 554], [461, 542], [533, 526], [532, 588], [539, 587], [545, 524], [685, 494], [679, 598], [698, 600], [706, 490], [730, 482]] 
+  mouse_0:
+    object_class: "mouse"
+    description: "Being picked up from the table."
+    first_frame: 834
+    first_mask: [[594, 444], [598, 458], [607, 468], [631, 477], [638, 477], [643, 474], [643, 469], [637, 461], [639, 459], [662, 457], [675, 453], [674, 448], [668, 445], [662, 445], [651, 448], [640, 457], [633, 458], [620, 443], [612, 438], [603, 439]] 
+    last_frame: 894
+    last_mask: [[197, 485], [175, 493], [175, 505], [168, 517], [143, 543], [130, 552], [118, 557], [96, 579], [94, 600], [110, 600], [118, 593], [123, 597], [129, 597], [157, 582], [180, 574], [208, 556], [210, 551], [209, 532], [215, 520], [211, 513], [201, 507], [193, 498]] 
+  laptop_0:
+    object_class: "laptop"
+    description: "Being picked up from the table."
+    first_frame: 834
+    first_mask: [[536, 362], [509, 364], [430, 376], [431, 425], [434, 446], [438, 452], [440, 470], [443, 474], [487, 504], [518, 499], [542, 491], [597, 479], [605, 474], [601, 469], [569, 455], [572, 451], [565, 452], [545, 442]] 
+    last_frame: 894
+    last_mask:  [[88, 301], [77, 345], [63, 386], [59, 407], [53, 421], [43, 466], [29, 507], [26, 527], [29, 532], [44, 534], [88, 529], [117, 532], [139, 506], [164, 494], [174, 493], [206, 481], [210, 463], [235, 449], [240, 451], [242, 460], [248, 462], [253, 469], [263, 507], [280, 508], [304, 505], [319, 500], [334, 498], [339, 495], [355, 436], [360, 428], [360, 418], [367, 396], [380, 338], [384, 329], [385, 316], [383, 314], [258, 306], [182, 304], [101, 297], [91, 298]]
diff --git a/batch_6/event_04_gt.yaml b/batch_6/event_04_gt.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ec50e121b722fc67a0e45b3646c7dacc3d4962ed
--- /dev/null
+++ b/batch_6/event_04_gt.yaml
@@ -0,0 +1,52 @@
+---
+clip_path: "../../videos/clip_32.mp4"
+image_path: "../images/"
+image_odometry_file: "../image_odometry_data.json"
+from_frame: 1414
+to_frame: 1608
+event_description: "The person worked on the laptop, occasionally took sips from the two mugs. He pulls out his phone from his jacket and checked it, then put it back into his jacket."
+location: "coffee_room_0"
+first_person_mask: [[156, 205], [140, 201], [98, 200], [82, 206], [61, 227], [49, 245], [41, 261], [30, 293], [23, 298], [19, 298], [19, 302], [9, 302], [8, 299], [0, 298], [0, 598], [44, 597], [58, 598], [59, 600], [63, 598], [66, 600], [74, 600], [75, 598], [79, 600], [94, 600], [95, 598], [99, 600], [162, 600], [167, 594], [171, 596], [177, 593], [174, 585], [174, 576], [170, 571], [164, 571], [168, 567], [161, 559], [137, 550], [126, 549], [124, 546], [96, 543], [86, 531], [84, 524], [85, 508], [93, 501], [83, 489], [87, 486], [88, 482], [73, 475], [64, 445], [67, 434], [72, 429], [72, 424], [79, 413], [71, 367], [84, 363], [102, 374], [129, 361], [144, 346], [152, 345], [161, 333], [168, 329], [169, 323], [164, 320], [164, 317], [174, 309], [186, 307], [193, 293], [196, 281], [196, 269], [185, 233], [177, 221], [166, 210]]  
+objects_of_interest:
+  mug_1:
+    object_class: "mug"
+    description: "The person drinks from the mug."
+    first_frame: 1414
+    first_mask:  [[166, 405], [164, 407], [164, 418], [170, 446], [177, 448], [192, 447], [201, 444], [204, 436], [203, 420], [206, 413], [205, 404], [200, 401], [178, 401]]
+    last_frame: 1608
+    last_mask: [[207, 394], [188, 393], [172, 397], [169, 405], [163, 407], [157, 413], [157, 423], [163, 429], [171, 430], [178, 438], [189, 439], [206, 435], [210, 412], [210, 397]] 
+  mug_3:
+    object_class: "mug"
+    description: "The person drinks from the mug."
+    first_frame: 1414
+    first_mask:  [[257, 402], [247, 398], [232, 399], [224, 402], [221, 405], [220, 412], [211, 411], [206, 414], [203, 420], [204, 434], [210, 440], [222, 439], [223, 444], [229, 447], [245, 447], [255, 444], [258, 428]]
+    last_frame: 1608
+    last_mask: [[257, 398], [247, 394], [225, 398], [222, 407], [211, 410], [209, 414], [209, 419], [211, 420], [216, 413], [221, 413], [223, 427], [219, 431], [213, 432], [208, 426], [208, 433], [212, 437], [223, 435], [229, 442], [247, 442], [257, 438]] 
+  table_0:
+    object_class: "table"
+    description: "Where the person works."
+    first_frame: 1414
+    first_mask: [[76, 367], [76, 378], [94, 412], [99, 416], [100, 424], [106, 436], [111, 440], [113, 450], [120, 462], [124, 465], [125, 473], [131, 485], [136, 489], [142, 505], [149, 514], [189, 594], [197, 600], [213, 600], [214, 598], [216, 600], [220, 598], [222, 600], [226, 598], [229, 600], [231, 598], [235, 600], [238, 598], [242, 600], [244, 598], [248, 600], [251, 598], [253, 600], [257, 598], [297, 598], [301, 600], [302, 598], [322, 595], [337, 595], [345, 598], [398, 597], [535, 551], [537, 552], [538, 595], [543, 598], [556, 598], [557, 600], [559, 598], [567, 598], [569, 595], [568, 563], [564, 518], [577, 511], [601, 505], [631, 495], [637, 491], [637, 482], [628, 476], [393, 370], [379, 367], [387, 374], [387, 380], [395, 398], [410, 400], [416, 405], [425, 408], [429, 414], [422, 418], [405, 420], [395, 415], [394, 418], [398, 423], [393, 428], [384, 432], [370, 429], [363, 417], [352, 419], [338, 500], [331, 508], [310, 516], [313, 527], [311, 529], [312, 534], [309, 537], [298, 541], [289, 540], [281, 534], [277, 527], [271, 527], [244, 537], [213, 545], [180, 511], [173, 500], [151, 477], [150, 471], [164, 465], [222, 453], [225, 448], [220, 442], [209, 440], [204, 441], [197, 447], [185, 450], [171, 448], [164, 436], [162, 423], [129, 416], [118, 411], [114, 403], [117, 397], [115, 393], [115, 376], [113, 374], [99, 375], [92, 372], [85, 365]] 
+    last_frame: 1608
+    last_mask: [[258, 595], [259, 598], [264, 598], [265, 600], [305, 600], [306, 598], [322, 595], [338, 595], [341, 600], [396, 598], [409, 594], [412, 591], [418, 591], [536, 551], [538, 596], [543, 600], [568, 600], [568, 562], [566, 530], [562, 523], [563, 520], [576, 512], [636, 493], [638, 491], [638, 482], [602, 464], [376, 363], [374, 367], [380, 374], [386, 377], [395, 398], [407, 399], [429, 413], [421, 418], [409, 420], [394, 415], [390, 411], [375, 414], [376, 416], [391, 415], [397, 421], [394, 427], [384, 431], [363, 425], [353, 486], [369, 494], [372, 505], [378, 513], [377, 529], [380, 546], [373, 551], [354, 554], [320, 569], [303, 570], [298, 573], [289, 574]] 
+  laptop_0:
+    object_class: "table"
+    description: "The person works on the laptop."
+    first_frame: 1414
+    first_mask:  [[353, 382], [276, 350], [272, 354], [257, 445], [255, 447], [151, 470], [151, 474], [154, 480], [174, 500], [205, 537], [214, 544], [277, 525], [280, 522], [290, 521], [297, 517], [305, 518], [309, 514], [323, 511], [336, 501], [355, 392], [355, 384]]
+    last_frame: 1608
+    last_mask: [[298, 350], [289, 349], [275, 420], [273, 442], [244, 449], [240, 457], [239, 467], [235, 471], [226, 471], [224, 474], [215, 477], [186, 482], [182, 485], [183, 490], [195, 503], [197, 509], [204, 513], [206, 518], [226, 540], [247, 535], [265, 526], [279, 526], [290, 521], [298, 521], [309, 517], [352, 486], [365, 402], [368, 393], [368, 383]] 
+  mouse_0:
+    object_class: "mouse"
+    description: "The person uses the mouse to interact with the laptop."
+    first_frame: 1414
+    first_mask: [[380, 476], [373, 485], [373, 503], [364, 513], [364, 528], [370, 537], [385, 539], [395, 537], [407, 528], [410, 517], [406, 513], [399, 495], [391, 483], [384, 476]] 
+    last_frame: 1586
+    last_mask:  [[362, 496], [348, 494], [338, 500], [330, 520], [309, 546], [309, 553], [311, 555], [326, 559], [342, 558], [356, 554], [369, 545], [369, 513], [365, 511], [366, 504]]
+  phone_0:
+    object_class: "phone"
+    description: "The person pulls it out of his jacket to check it."
+    first_frame: 1542
+    first_mask: [[163, 445], [139, 423], [134, 414], [129, 413], [62, 454], [58, 459], [58, 464], [64, 477], [75, 487], [81, 487], [97, 476], [127, 477], [126, 474], [130, 470], [160, 451]] 
+    last_frame: 1586
+    last_mask:  [[163, 435], [155, 430], [142, 427], [123, 458], [129, 462], [134, 462], [139, 459], [146, 462], [162, 440]]
diff --git a/batch_6/image_odometry_data.json b/batch_6/image_odometry_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a210a464a5a0b42f23a765ed5374d21ef24d97e
--- /dev/null
+++ b/batch_6/image_odometry_data.json
@@ -0,0 +1,49871 @@
+{
+    "0": {
+        "color_image": "/home/ros/data/coffee_room_events/batch_6/images/color/color_frame_0000.png",
+        "depth_image": "/home/ros/data/coffee_room_events/batch_6/images/depth/depth_frame_0000.npy",
+        "timestamp": 1756573140090374912,
+        "camera_odom": null,
+        "base_odom": null
+    },
+    "1": {
+        "color_image": "/home/ros/data/coffee_room_events/batch_6/images/color/color_frame_0001.png",
+        "depth_image": "/home/ros/data/coffee_room_events/batch_6/images/depth/depth_frame_0001.npy",
+        "timestamp": 1756573140290374912,
+        "camera_odom": null,
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+        "timestamp": 1756573140490374912,
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+    },
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+        "depth_image": "/home/ros/data/coffee_room_events/batch_6/images/depth/depth_frame_0003.npy",
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+        "depth_image": "/home/ros/data/coffee_room_events/batch_6/images/depth/depth_frame_0004.npy",
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+        "depth_image": "/home/ros/data/coffee_room_events/batch_6/images/depth/depth_frame_0006.npy",
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+        "depth_image": "/home/ros/data/coffee_room_events/batch_6/images/depth/depth_frame_0007.npy",
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+        "depth_image": "/home/ros/data/coffee_room_events/batch_6/images/depth/depth_frame_0008.npy",
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+        "depth_image": "/home/ros/data/coffee_room_events/batch_6/images/depth/depth_frame_0009.npy",
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+        "depth_image": "/home/ros/data/coffee_room_events/batch_6/images/depth/depth_frame_0010.npy",
+        "timestamp": 1756573142090374912,
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+}
\ No newline at end of file