diff --git a/env_0/run_0/000008_CAM0_mask_metadata.json b/env_0/run_0/000008_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2cdee24474de887cc08d4185935dd53257919c3
--- /dev/null
+++ b/env_0/run_0/000008_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    [
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+      -0.0,
+      -8.74227765734757e-08,
+      0.13125711679458618
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+      1.0000000000000002,
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+      0.1306581050157547
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+    [
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+      1.5571260452270508
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+    [
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+  ],
+  "camera_intrinsics": [
+    [
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+      426.0
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+    [
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+      320.0
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+    [
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+      1.0
+    ]
+  ],
+  "class_name_to_id": {
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+    "speedball_jar_dup_1": 2,
+    "speedball_jar_dup_2": 3,
+    "speedball_jar_dup_3": 4,
+    "speedball_jar_dup_4": 5
+  },
+  "color_to_class_id": {
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+    "146,3,78,255": 5,
+    "220,211,65,255": 3,
+    "220,56,134,255": 4,
+    "66,247,90,255": 1
+  },
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+  "color_to_pose_cam": {
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+    }
+  },
+  "object_poses": {
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+    "speedball_jar_dup_3": {
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+      "position": [
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+    "speedball_jar_dup_4": {
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+      "position": [
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+    }
+  },
+  "object_poses_cam": {
+    "speedball_jar": {
+      "class_id": 1,
+      "position": [
+        0.10126930326242971,
+        -0.11871751584112641,
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+    },
+    "speedball_jar_dup_1": {
+      "class_id": 2,
+      "position": [
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+    },
+    "speedball_jar_dup_2": {
+      "class_id": 3,
+      "position": [
+        0.31355488452196467,
+        -0.2044945433735847,
+        1.5166725119885462
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+        -0.11143780633456735,
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+    },
+    "speedball_jar_dup_3": {
+      "class_id": 4,
+      "position": [
+        0.12497898654067013,
+        -0.11393773183226583,
+        1.5237128434066844
+      ],
+      "quaternion_wxyz": [
+        0.9993997428071376,
+        -0.003466383097410718,
+        -0.01727509890451073,
+        0.029827993950124882
+      ]
+    },
+    "speedball_jar_dup_4": {
+      "class_id": 5,
+      "position": [
+        0.28592161964215723,
+        -0.22435073554515833,
+        1.5191772606590046
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+      "quaternion_wxyz": [
+        0.6597049296185552,
+        0.698108370373027,
+        -0.02342435832177024,
+        0.2772821820624377
+      ]
+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/000020_CAM0_mask_metadata.json b/env_0/run_0/000020_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..fab9469ca24f8e608aff63143778497a862a7b67
--- /dev/null
+++ b/env_0/run_0/000020_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
+  "camera_extrinsics": [
+    [
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+      -0.0,
+      -8.74227765734757e-08,
+      0.15745943784713745
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+      -0.9999999999999963,
+      1.3536038398742676
+    ],
+    [
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+      1.0
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+  ],
+  "camera_intrinsics": [
+    [
+      532.9580078125,
+      0.0,
+      426.0
+    ],
+    [
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+      320.0
+    ],
+    [
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "class_name_to_id": {
+    "speedball_jar": 1,
+    "speedball_jar_dup_1": 2,
+    "speedball_jar_dup_2": 3,
+    "speedball_jar_dup_3": 4,
+    "speedball_jar_dup_4": 5
+  },
+  "color_to_class_id": {
+    "104,5,147,255": 2,
+    "146,3,78,255": 5,
+    "220,211,65,255": 3,
+    "220,56,134,255": 4,
+    "66,247,90,255": 1
+  },
+  "color_to_pose": {
+    "104,5,147,255": {
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+      "position": [
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+        0.07168836146593094,
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+        -0.9973555207252502
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+    },
+    "146,3,78,255": {
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+      "position": [
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+    "220,211,65,255": {
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+    "220,56,134,255": {
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+      "position": [
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+    "66,247,90,255": {
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+  },
+  "color_to_pose_cam": {
+    "104,5,147,255": {
+      "class_id": 2,
+      "position": [
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+    "220,56,134,255": {
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+      "position": [
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+        0.04627070203423499,
+        1.3214327189626704
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+        0.7961032757583232,
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+    }
+  },
+  "object_poses": {
+    "speedball_jar": {
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+      "position": [
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+    },
+    "speedball_jar_dup_1": {
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+      "position": [
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+        0.07168836146593094,
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+    "speedball_jar_dup_2": {
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+      "position": [
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+    },
+    "speedball_jar_dup_3": {
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+      "position": [
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+    "speedball_jar_dup_4": {
+      "class_id": 5,
+      "position": [
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+    }
+  },
+  "object_poses_cam": {
+    "speedball_jar": {
+      "class_id": 1,
+      "position": [
+        0.11879628651187374,
+        0.049202330410480485,
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+    },
+    "speedball_jar_dup_1": {
+      "class_id": 2,
+      "position": [
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+    },
+    "speedball_jar_dup_2": {
+      "class_id": 3,
+      "position": [
+        0.47724518682203343,
+        -0.09670745581388471,
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+    },
+    "speedball_jar_dup_3": {
+      "class_id": 4,
+      "position": [
+        0.14863457619937426,
+        0.04627070203423499,
+        1.3214327189626704
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+    "speedball_jar_dup_4": {
+      "class_id": 5,
+      "position": [
+        0.4379349101323031,
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/000023_CAM0_mask_metadata.json b/env_0/run_0/000023_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d71d27a709ddb07fe5aa0279380ffe07d37ba29b
--- /dev/null
+++ b/env_0/run_0/000023_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
+  "camera_extrinsics": [
+    [
+      -0.9999999999999963,
+      -0.0,
+      -8.74227765734757e-08,
+      0.10871227085590363
+    ],
+    [
+      0.0,
+      1.0000000000000002,
+      -0.0,
+      0.1440679132938385
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+  },
+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/000041_CAM0_mask_metadata.json b/env_0/run_0/000041_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..36241593bd048808f765a3557bf7d31efa6b97fd
--- /dev/null
+++ b/env_0/run_0/000041_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    "speedball_jar_dup_3": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/000058_CAM0_mask_metadata.json b/env_0/run_0/000058_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ba40f79f83cf05c3bacc646e63e434bf78a206c
--- /dev/null
+++ b/env_0/run_0/000058_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/000231_CAM0_mask_metadata.json b/env_0/run_0/000231_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b851e11c05beb6abbf35a9aa6370b49126d0895
--- /dev/null
+++ b/env_0/run_0/000231_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/000245_CAM0_mask_metadata.json b/env_0/run_0/000245_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..16dc82ff4f892c0e2ba08b3fed208c11beb2fdfe
--- /dev/null
+++ b/env_0/run_0/000245_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "class_name_to_id": {
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+    "speedball_jar_dup_2": 3,
+    "speedball_jar_dup_3": 4,
+    "speedball_jar_dup_4": 5
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+  "color_to_class_id": {
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+    "220,211,65,255": 3,
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+}
\ No newline at end of file
diff --git a/env_0/run_0/000321_CAM0_mask_metadata.json b/env_0/run_0/000321_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fab2d57bd3d0b55fa2fa5c01eb3d586004b7b7f
--- /dev/null
+++ b/env_0/run_0/000321_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/000334_CAM0_mask_metadata.json b/env_0/run_0/000334_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb296cd8b23d9dd6d4fbc1c6be4e8d808ee031ac
--- /dev/null
+++ b/env_0/run_0/000334_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/000375_CAM0_mask_metadata.json b/env_0/run_0/000375_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d189022059b923f680954ce0215160ade84518b
--- /dev/null
+++ b/env_0/run_0/000375_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/000378_CAM0_mask_metadata.json b/env_0/run_0/000378_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d3a06aa9e2cfdfac1c16ae51eaa5cd95d77399e
--- /dev/null
+++ b/env_0/run_0/000378_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/000398_CAM0_mask_metadata.json b/env_0/run_0/000398_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..24ea9108778fc9ad7ce44daf89f15e3735c76455
--- /dev/null
+++ b/env_0/run_0/000398_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/000472_CAM0_mask_metadata.json b/env_0/run_0/000472_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fe50df4c5f49dfea3befb81ddbb5aa22025882c
--- /dev/null
+++ b/env_0/run_0/000472_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/000497_CAM0_mask_metadata.json b/env_0/run_0/000497_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e2f93d0811828c51e96b29deb469c7920b8f103
--- /dev/null
+++ b/env_0/run_0/000497_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/000584_CAM0_mask_metadata.json b/env_0/run_0/000584_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7ea60faf3b1caa1f64df7e2699263326925fbc4
--- /dev/null
+++ b/env_0/run_0/000584_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/000602_CAM0_mask_metadata.json b/env_0/run_0/000602_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae32855b9365254152a63f16efe3bea10fc72cc6
--- /dev/null
+++ b/env_0/run_0/000602_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/000608_CAM0_mask_metadata.json b/env_0/run_0/000608_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dd30a91b794b51935847c8693b47d491f1eac72
--- /dev/null
+++ b/env_0/run_0/000608_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/000614_CAM0_mask_metadata.json b/env_0/run_0/000614_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..45b60622dbdb8e8f6f669e3aae9c96ea94fb3db2
--- /dev/null
+++ b/env_0/run_0/000614_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+}
\ No newline at end of file
diff --git a/env_0/run_0/000643_CAM0_mask_metadata.json b/env_0/run_0/000643_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3b8cf981929f331acab89236f22eb5d4911eb7f
--- /dev/null
+++ b/env_0/run_0/000643_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+      "position": [
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+      "position": [
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/000693_CAM0_mask_metadata.json b/env_0/run_0/000693_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..75e1f3f6412fbf19a528516afc27c26e4cc3999c
--- /dev/null
+++ b/env_0/run_0/000693_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/000700_CAM0_mask_metadata.json b/env_0/run_0/000700_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..206066e2ebd1fd158fd4e5e7077c259e08dba26d
--- /dev/null
+++ b/env_0/run_0/000700_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    "speedball_jar_dup_4": {
+      "class_id": 5,
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/000747_CAM0_mask_metadata.json b/env_0/run_0/000747_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..015b42f8990a9e7a5e829cca55bc9ccb439e98e3
--- /dev/null
+++ b/env_0/run_0/000747_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    "speedball_jar_dup_3": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/000785_CAM0_mask_metadata.json b/env_0/run_0/000785_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3b99a42d88e141d9a69caebfb1d21593801211a
--- /dev/null
+++ b/env_0/run_0/000785_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    "speedball_jar_dup_3": {
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+    "speedball_jar_dup_4": {
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+      "position": [
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/000790_CAM0_mask_metadata.json b/env_0/run_0/000790_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d9091cbdd030eee8561e0dd8302631cc3bb42a5
--- /dev/null
+++ b/env_0/run_0/000790_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    "speedball_jar_dup_3": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/000820_CAM0_mask_metadata.json b/env_0/run_0/000820_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..72d83d450201899554b6051f6ce1d11e0243e7f8
--- /dev/null
+++ b/env_0/run_0/000820_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_3": {
+      "class_id": 4,
+      "position": [
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+    "speedball_jar_dup_4": {
+      "class_id": 5,
+      "position": [
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+        -0.011755649308999583,
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/000856_CAM0_mask_metadata.json b/env_0/run_0/000856_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..346fb8fde73ffad8b8cbe49f3b27900ca81d3767
--- /dev/null
+++ b/env_0/run_0/000856_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    "speedball_jar_dup_3": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/000932_CAM0_mask_metadata.json b/env_0/run_0/000932_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e185cf40398a2302f9a46e2cd76da686613e9956
--- /dev/null
+++ b/env_0/run_0/000932_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/000981_CAM0_mask_metadata.json b/env_0/run_0/000981_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4458f9cf9c999a4ff437431cade9e050817ee9c3
--- /dev/null
+++ b/env_0/run_0/000981_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+}
\ No newline at end of file
diff --git a/env_0/run_0/000990_CAM0_mask_metadata.json b/env_0/run_0/000990_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3a129b4902fedd67da1d79bdb466679d9eb557e
--- /dev/null
+++ b/env_0/run_0/000990_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+}
\ No newline at end of file
diff --git a/env_0/run_0/000995_CAM0_mask_metadata.json b/env_0/run_0/000995_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..de02cd68b2d265ff46870433f18dcfde6ff3b0a1
--- /dev/null
+++ b/env_0/run_0/000995_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001014_CAM0_mask_metadata.json b/env_0/run_0/001014_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..799b3977a8c42b1932b1aa0afb4c22819a986a97
--- /dev/null
+++ b/env_0/run_0/001014_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
+    "speedball_jar": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001069_CAM0_mask_metadata.json b/env_0/run_0/001069_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..68e2f17b06fa22d4908dd4eb009b8802966428bb
--- /dev/null
+++ b/env_0/run_0/001069_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
+  "camera_extrinsics": [
+    [
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001147_CAM0_mask_metadata.json b/env_0/run_0/001147_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..32c4b7bb368c573dd793f5700a886643777f39a8
--- /dev/null
+++ b/env_0/run_0/001147_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001156_CAM0_mask_metadata.json b/env_0/run_0/001156_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd735915c653310c1e9ec4a7cb4a6dbd6b70b0a2
--- /dev/null
+++ b/env_0/run_0/001156_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001176_CAM0_mask_metadata.json b/env_0/run_0/001176_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e96810dd4857ec27c764c36754f28fac6819a32c
--- /dev/null
+++ b/env_0/run_0/001176_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001181_CAM0_mask_metadata.json b/env_0/run_0/001181_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7ab114e9afff04155f9323d61d19e9e45233b79
--- /dev/null
+++ b/env_0/run_0/001181_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001189_CAM0_mask_metadata.json b/env_0/run_0/001189_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c5b7ca447b222ffe3f30d2016183c94f1db17b4
--- /dev/null
+++ b/env_0/run_0/001189_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001285_CAM0_mask_metadata.json b/env_0/run_0/001285_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4260abc270ab30a8046249dcf81e90b6d3c069a0
--- /dev/null
+++ b/env_0/run_0/001285_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_3": 4,
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+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001298_CAM0_mask_metadata.json b/env_0/run_0/001298_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..401b0f3b5937aa965f188fad93027ff3be84057f
--- /dev/null
+++ b/env_0/run_0/001298_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001303_CAM0_mask_metadata.json b/env_0/run_0/001303_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..59a948091e8cd6295af041c27f70c9fdd86a7218
--- /dev/null
+++ b/env_0/run_0/001303_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001337_CAM0_mask_metadata.json b/env_0/run_0/001337_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e901ca93acc715ad6e4c54d2154e510b4fa1cf4
--- /dev/null
+++ b/env_0/run_0/001337_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001344_CAM0_mask_metadata.json b/env_0/run_0/001344_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8ef1752c3afb5b9eb06da6e244ee9f8d60b2e43
--- /dev/null
+++ b/env_0/run_0/001344_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001407_CAM0_mask_metadata.json b/env_0/run_0/001407_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4704bd4d38045f0aee698b8fda0195218d658fe4
--- /dev/null
+++ b/env_0/run_0/001407_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001454_CAM0_mask_metadata.json b/env_0/run_0/001454_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..764b0a3d51a13a8dc77ea8dc59b3a2db227e0739
--- /dev/null
+++ b/env_0/run_0/001454_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001474_CAM0_mask_metadata.json b/env_0/run_0/001474_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c264b020867a39304f7db15dee8a70cb60ec02d
--- /dev/null
+++ b/env_0/run_0/001474_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001492_CAM0_mask_metadata.json b/env_0/run_0/001492_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..33537b312c559eb0305bd608422d6ad53199b1a7
--- /dev/null
+++ b/env_0/run_0/001492_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001498_CAM0_mask_metadata.json b/env_0/run_0/001498_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..def1649c931ea70f4747d1614c529eeb43fbd32d
--- /dev/null
+++ b/env_0/run_0/001498_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001540_CAM0_mask_metadata.json b/env_0/run_0/001540_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7dc921c6003ec594a1e0d85a8b293658804a0679
--- /dev/null
+++ b/env_0/run_0/001540_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+      "position": [
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+      "class_id": 3,
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+    },
+    "speedball_jar_dup_3": {
+      "class_id": 4,
+      "position": [
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+        -0.031660758197721184,
+        0.6737026387813908
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+    "speedball_jar_dup_4": {
+      "class_id": 5,
+      "position": [
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+        0.4429270223359823,
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001584_CAM0_mask_metadata.json b/env_0/run_0/001584_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bb8dc557d86ecfa9da2c5d7811fda560bf90e04
--- /dev/null
+++ b/env_0/run_0/001584_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "class_name_to_id": {
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+    "speedball_jar_dup_2": 3,
+    "speedball_jar_dup_3": 4,
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+    "220,211,65,255": 3,
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+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+      "position": [
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+      "position": [
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+    },
+    "speedball_jar_dup_3": {
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+      "position": [
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+    "speedball_jar_dup_4": {
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+      "position": [
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001607_CAM0_mask_metadata.json b/env_0/run_0/001607_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb390daddd8979b4d81cb095261a1cad11f97453
--- /dev/null
+++ b/env_0/run_0/001607_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "color_to_class_id": {
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+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+    "speedball_jar_dup_3": {
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+      "position": [
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001612_CAM0_mask_metadata.json b/env_0/run_0/001612_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..413abdb157909190f73414b86dae21938d092433
--- /dev/null
+++ b/env_0/run_0/001612_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001637_CAM0_mask_metadata.json b/env_0/run_0/001637_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..76a431918316b56c9590a62f97d8d871fce9f525
--- /dev/null
+++ b/env_0/run_0/001637_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+    "speedball_jar_dup_4": {
+      "class_id": 5,
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+        -3.6883432533492526e-07,
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+      ]
+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001651_CAM0_mask_metadata.json b/env_0/run_0/001651_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b0a527f1c35d9cacd8b044319339dc32b9c9ca8
--- /dev/null
+++ b/env_0/run_0/001651_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+    "speedball_jar_dup_3": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001670_CAM0_mask_metadata.json b/env_0/run_0/001670_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..35eb055f71bafafef933c514585bbe1f45c8a6df
--- /dev/null
+++ b/env_0/run_0/001670_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001686_CAM0_mask_metadata.json b/env_0/run_0/001686_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5487a17e71786c9b3b9127a99c6e0e854f30f5e0
--- /dev/null
+++ b/env_0/run_0/001686_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001829_CAM0_mask_metadata.json b/env_0/run_0/001829_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e08dbd457ae9a1c0f9257dd9eb52f33d5aff6e3f
--- /dev/null
+++ b/env_0/run_0/001829_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001985_CAM0_mask_metadata.json b/env_0/run_0/001985_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ce259d1bc777690a0949f8e06843a1824a445b6
--- /dev/null
+++ b/env_0/run_0/001985_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+}
\ No newline at end of file
diff --git a/env_0/run_0/001988_CAM0_mask_metadata.json b/env_0/run_0/001988_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c9097c96bc5226a08ae5ed2d52f815bfc23d2dc
--- /dev/null
+++ b/env_0/run_0/001988_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+      ]
+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001993_CAM0_mask_metadata.json b/env_0/run_0/001993_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..94066abd4eae31ae3e5b2ff7e0cbc4a0a3d4b43c
--- /dev/null
+++ b/env_0/run_0/001993_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+}
\ No newline at end of file
diff --git a/env_0/run_0/002005_CAM0_mask_metadata.json b/env_0/run_0/002005_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdb28e952a7f9821a6f87f55af68cb63d70a8ae0
--- /dev/null
+++ b/env_0/run_0/002005_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_4": {
+      "class_id": 5,
+      "position": [
+        -0.0890374300829015,
+        -0.09925343841314313,
+        1.371121592486377
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+      ]
+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002093_CAM0_mask_metadata.json b/env_0/run_0/002093_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..61f8c359527218b6b1d943fce88b5c48c9710b0e
--- /dev/null
+++ b/env_0/run_0/002093_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002114_CAM0_mask_metadata.json b/env_0/run_0/002114_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..65409f89ee15e3c2c0083043a29c430c865e4756
--- /dev/null
+++ b/env_0/run_0/002114_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "220,211,65,255": 3,
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+  "color_to_pose_cam": {
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002136_CAM0_mask_metadata.json b/env_0/run_0/002136_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8da0c7213faf2c617a3d5691e2231ceea5bcce9
--- /dev/null
+++ b/env_0/run_0/002136_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002149_CAM0_mask_metadata.json b/env_0/run_0/002149_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbb0d6ed820297b6388717d0925139e1dc816235
--- /dev/null
+++ b/env_0/run_0/002149_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002172_CAM0_mask_metadata.json b/env_0/run_0/002172_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..591e4e6113c02d656afbe70f43e4bb1aa24ccf76
--- /dev/null
+++ b/env_0/run_0/002172_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
+  "camera_extrinsics": [
+    [
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002183_CAM0_mask_metadata.json b/env_0/run_0/002183_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..573904a33d8f16c7d65067a0dea1c389b4549139
--- /dev/null
+++ b/env_0/run_0/002183_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002221_CAM0_mask_metadata.json b/env_0/run_0/002221_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b955b44fe2eea8097f023c16bb419798d26e89b
--- /dev/null
+++ b/env_0/run_0/002221_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002257_CAM0_mask_metadata.json b/env_0/run_0/002257_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..34036b6af854985f064c6959a803f40ed466287b
--- /dev/null
+++ b/env_0/run_0/002257_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    "speedball_jar_dup_3": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002264_CAM0_mask_metadata.json b/env_0/run_0/002264_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fc7a14714c4c8d3a810fd795d83ee0176ddfcfa
--- /dev/null
+++ b/env_0/run_0/002264_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_3": 4,
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+  },
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+    "220,211,65,255": 3,
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+  "color_to_pose": {
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+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002305_CAM0_mask_metadata.json b/env_0/run_0/002305_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..135bf58927fd9049e6e01f7838768520df10ed85
--- /dev/null
+++ b/env_0/run_0/002305_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    "speedball_jar_dup_3": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002357_CAM0_mask_metadata.json b/env_0/run_0/002357_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0e37f0881c36e307378b9e2f6b1d51b93c86804
--- /dev/null
+++ b/env_0/run_0/002357_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "class_name_to_id": {
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+    "speedball_jar_dup_3": 4,
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002368_CAM0_mask_metadata.json b/env_0/run_0/002368_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..24f74b15e8c53d4b4f471765a6cb23ae476055f1
--- /dev/null
+++ b/env_0/run_0/002368_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002383_CAM0_mask_metadata.json b/env_0/run_0/002383_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..36f72f860fd7c13796b3b770672ff14e4faba7cf
--- /dev/null
+++ b/env_0/run_0/002383_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002400_CAM0_mask_metadata.json b/env_0/run_0/002400_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9140034a31b26f498d7e1641a5c610b08e22797f
--- /dev/null
+++ b/env_0/run_0/002400_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_3": 4,
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+  "color_to_pose_cam": {
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+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+    "speedball_jar_dup_3": {
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+      "position": [
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+    "speedball_jar_dup_4": {
+      "class_id": 5,
+      "position": [
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002441_CAM0_mask_metadata.json b/env_0/run_0/002441_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3aa6119223e882b1fd798aeb4b17967c4dc2cef3
--- /dev/null
+++ b/env_0/run_0/002441_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_3": 4,
+    "speedball_jar_dup_4": 5
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+  "color_to_class_id": {
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+    "220,211,65,255": 3,
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+  "color_to_pose": {
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+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+      "class_id": 5,
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002445_CAM0_mask_metadata.json b/env_0/run_0/002445_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..32acf8d306e12a5a18b5ee9f84d1fe1d5bb9eb6c
--- /dev/null
+++ b/env_0/run_0/002445_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002496_CAM0_mask_metadata.json b/env_0/run_0/002496_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb167d6324cdcc0f41747b62cb4316de298dae43
--- /dev/null
+++ b/env_0/run_0/002496_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "220,211,65,255": 3,
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+  "color_to_pose_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002521_CAM0_mask_metadata.json b/env_0/run_0/002521_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b71eb9524c59663c3aab774d1a4de6691d895c28
--- /dev/null
+++ b/env_0/run_0/002521_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_4": {
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002534_CAM0_mask_metadata.json b/env_0/run_0/002534_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba4925c1b35b9ad4328a5407ff75eb95d8d63a08
--- /dev/null
+++ b/env_0/run_0/002534_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002558_CAM0_mask_metadata.json b/env_0/run_0/002558_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9886dc0d71d35d60f2cc8360d9aa8791e0c7b6d5
--- /dev/null
+++ b/env_0/run_0/002558_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002618_CAM0_mask_metadata.json b/env_0/run_0/002618_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fbfa8b663ae842f07442560dcc0d1f7127f36a2
--- /dev/null
+++ b/env_0/run_0/002618_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002661_CAM0_mask_metadata.json b/env_0/run_0/002661_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..156041f5521c948cba4d93df12a000dd9d95b4e3
--- /dev/null
+++ b/env_0/run_0/002661_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002726_CAM0_mask_metadata.json b/env_0/run_0/002726_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..dccf1ad866ad1d2b7f30c34b59a1ad45b45739de
--- /dev/null
+++ b/env_0/run_0/002726_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002810_CAM0_mask_metadata.json b/env_0/run_0/002810_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a65dfe44c0748a67ad2075dd1852a14154f5a18
--- /dev/null
+++ b/env_0/run_0/002810_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002818_CAM0_mask_metadata.json b/env_0/run_0/002818_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..788f39b6c7f04bc216540c703e790ca94910a934
--- /dev/null
+++ b/env_0/run_0/002818_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002840_CAM0_mask_metadata.json b/env_0/run_0/002840_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f541e28ac703d63a5e7499805a33288d297bc65
--- /dev/null
+++ b/env_0/run_0/002840_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002865_CAM0_mask_metadata.json b/env_0/run_0/002865_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e3449d0070e428b74c09e63d70ab1a8c0ddfd71
--- /dev/null
+++ b/env_0/run_0/002865_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+      "position": [
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+    "speedball_jar_dup_3": {
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+      "position": [
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+    "speedball_jar_dup_4": {
+      "class_id": 5,
+      "position": [
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002894_CAM0_mask_metadata.json b/env_0/run_0/002894_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..048c6d69cdce3bb49a018475630b4b3663c3416d
--- /dev/null
+++ b/env_0/run_0/002894_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    "speedball_jar_dup_2": {
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+    "speedball_jar_dup_3": {
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+      "position": [
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002900_CAM0_mask_metadata.json b/env_0/run_0/002900_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfb219371cca3d69797cfa363ec8a760bc6b80a0
--- /dev/null
+++ b/env_0/run_0/002900_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_3": 4,
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+  "object_poses_cam": {
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+      "class_id": 4,
+      "position": [
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+        -0.16343012452125544,
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+    "speedball_jar_dup_4": {
+      "class_id": 5,
+      "position": [
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002902_CAM0_mask_metadata.json b/env_0/run_0/002902_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..35809631e25c6852518dfce065fe735377c71cec
--- /dev/null
+++ b/env_0/run_0/002902_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_3": 4,
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+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+    "speedball_jar_dup_3": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002916_CAM0_mask_metadata.json b/env_0/run_0/002916_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a743bc483530150c5d5faf76672809262335081
--- /dev/null
+++ b/env_0/run_0/002916_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+      "class_id": 5,
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002935_CAM0_mask_metadata.json b/env_0/run_0/002935_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5376a8a5b771b2953820183aee8142e8e20a9e46
--- /dev/null
+++ b/env_0/run_0/002935_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002958_CAM0_mask_metadata.json b/env_0/run_0/002958_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..89481066eacc1c61dd904185abf1eba427961864
--- /dev/null
+++ b/env_0/run_0/002958_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002965_CAM0_mask_metadata.json b/env_0/run_0/002965_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..fac9e51f650508dbce97ce9e104cda085224e367
--- /dev/null
+++ b/env_0/run_0/002965_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/003020_CAM0_mask_metadata.json b/env_0/run_0/003020_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d853891d26239a0e64f20a8b2d8251616aad7016
--- /dev/null
+++ b/env_0/run_0/003020_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+}
\ No newline at end of file
diff --git a/env_0/run_0/003047_CAM0_mask_metadata.json b/env_0/run_0/003047_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f5a8f19f96480ee78c521d03d6f620f5d147b33
--- /dev/null
+++ b/env_0/run_0/003047_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "220,211,65,255": 3,
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+    "66,247,90,255": 1
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+  },
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+    "speedball_jar_dup_4": {
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+    }
+  },
+  "object_poses_cam": {
+    "speedball_jar": {
+      "class_id": 1,
+      "position": [
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+    "speedball_jar_dup_1": {
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+    "speedball_jar_dup_2": {
+      "class_id": 3,
+      "position": [
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+        -0.04050838474568996,
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+    },
+    "speedball_jar_dup_3": {
+      "class_id": 4,
+      "position": [
+        119.0498629495825,
+        -71.17566905369422,
+        -27.112868396523066
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+        0.7279881915660964,
+        -0.25955068328876907
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+    },
+    "speedball_jar_dup_4": {
+      "class_id": 5,
+      "position": [
+        118.85849237350968,
+        -71.2055176572161,
+        -27.125651351644095
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+      "quaternion_wxyz": [
+        0.5487605335081402,
+        0.7861075022187695,
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/003053_CAM0_mask_metadata.json b/env_0/run_0/003053_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..13a422493298d9b1b2dc17d2e5e481979e8e440b
--- /dev/null
+++ b/env_0/run_0/003053_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
+  "camera_extrinsics": [
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+  ],
+  "camera_intrinsics": [
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+    [
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+  "class_name_to_id": {
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+    "speedball_jar_dup_1": 2,
+    "speedball_jar_dup_2": 3,
+    "speedball_jar_dup_3": 4,
+    "speedball_jar_dup_4": 5
+  },
+  "color_to_class_id": {
+    "104,5,147,255": 2,
+    "146,3,78,255": 5,
+    "220,211,65,255": 3,
+    "220,56,134,255": 4,
+    "66,247,90,255": 1
+  },
+  "color_to_pose": {
+    "104,5,147,255": {
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+      "position": [
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+    "146,3,78,255": {
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+      "position": [
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+  },
+  "color_to_pose_cam": {
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+    }
+  },
+  "object_poses": {
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+    "speedball_jar_dup_1": {
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+      "position": [
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+        0.03408370912075043
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+    "speedball_jar_dup_2": {
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+    "speedball_jar_dup_3": {
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+    "speedball_jar_dup_4": {
+      "class_id": 5,
+      "position": [
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+    }
+  },
+  "object_poses_cam": {
+    "speedball_jar": {
+      "class_id": 1,
+      "position": [
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+    "speedball_jar_dup_1": {
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+    "speedball_jar_dup_2": {
+      "class_id": 3,
+      "position": [
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+    },
+    "speedball_jar_dup_3": {
+      "class_id": 4,
+      "position": [
+        -115.57604859302829,
+        72.40015827587835,
+        38.132367558896995
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+    "speedball_jar_dup_4": {
+      "class_id": 5,
+      "position": [
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/003173_CAM0_mask_metadata.json b/env_0/run_0/003173_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fca5b514272b32a4ce72cc0239251a8964ace54
--- /dev/null
+++ b/env_0/run_0/003173_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
+  "camera_extrinsics": [
+    [
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/003253_CAM0_mask_metadata.json b/env_0/run_0/003253_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..8487b2d32b746b8e61a2838e4bafbf8121324b99
--- /dev/null
+++ b/env_0/run_0/003253_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/003284_CAM0_mask_metadata.json b/env_0/run_0/003284_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9726dd8f5c0624ec199ada7cede2021246f2426
--- /dev/null
+++ b/env_0/run_0/003284_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/003313_CAM0_mask_metadata.json b/env_0/run_0/003313_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..224a5bf8d4b9ffe7cade4c5ee8f4b46f5925c1da
--- /dev/null
+++ b/env_0/run_0/003313_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    "speedball_jar_dup_3": {
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+    "speedball_jar_dup_4": {
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/003346_CAM0_mask_metadata.json b/env_0/run_0/003346_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..39afb2fe4f22ad68cadbc988f90bc22bc09cdb30
--- /dev/null
+++ b/env_0/run_0/003346_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_3": 4,
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+  "color_to_class_id": {
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+    "220,211,65,255": 3,
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+  "color_to_pose": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/003414_CAM0_mask_metadata.json b/env_0/run_0/003414_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a9befeaaec23ff33ca8f69211983dd75c9dcbcd
--- /dev/null
+++ b/env_0/run_0/003414_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/003506_CAM0_mask_metadata.json b/env_0/run_0/003506_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..826ef3500fcce1760fcf2ebce35120ecff029ec1
--- /dev/null
+++ b/env_0/run_0/003506_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/003512_CAM0_mask_metadata.json b/env_0/run_0/003512_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5d689e161cd8b740848a9dde372a49196f4900e
--- /dev/null
+++ b/env_0/run_0/003512_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    "speedball_jar_dup_3": {
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+      "position": [
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/003531_CAM0_mask_metadata.json b/env_0/run_0/003531_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ef936504e6d3af74ca935ff3fa0818a21c1a0bb
--- /dev/null
+++ b/env_0/run_0/003531_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/003538_CAM0_mask_metadata.json b/env_0/run_0/003538_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..78ea9e5a31a0ae0cd85af209993df4ce4dad4e28
--- /dev/null
+++ b/env_0/run_0/003538_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/003578_CAM0_mask_metadata.json b/env_0/run_0/003578_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..21991d7d5cfe2a711e6aae5a975854cb42dc02cd
--- /dev/null
+++ b/env_0/run_0/003578_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+}
\ No newline at end of file
diff --git a/env_0/run_0/003590_CAM0_mask_metadata.json b/env_0/run_0/003590_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..dba17a38b88de1685e133ab463c813eddef1a43a
--- /dev/null
+++ b/env_0/run_0/003590_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+}
\ No newline at end of file
diff --git a/env_0/run_0/003594_CAM0_mask_metadata.json b/env_0/run_0/003594_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..82a649a01f34061be133f119dcaf53e37cc0da47
--- /dev/null
+++ b/env_0/run_0/003594_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/003598_CAM0_mask_metadata.json b/env_0/run_0/003598_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a08ffa121daa64df47a0efe834d8b3c849d670e
--- /dev/null
+++ b/env_0/run_0/003598_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/003601_CAM0_mask_metadata.json b/env_0/run_0/003601_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..116d4df58bbfd2b88f1f208b6af7568d3c3c918c
--- /dev/null
+++ b/env_0/run_0/003601_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/003654_CAM0_mask_metadata.json b/env_0/run_0/003654_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..18cee85067b56e8c977f40c918bf1b28a619c10d
--- /dev/null
+++ b/env_0/run_0/003654_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/003724_CAM0_mask_metadata.json b/env_0/run_0/003724_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ea4d84063541dd9ddf3d0d113477d4697855163
--- /dev/null
+++ b/env_0/run_0/003724_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/003794_CAM0_mask_metadata.json b/env_0/run_0/003794_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c2a9519668089511af99d5925aeec33308b5a02
--- /dev/null
+++ b/env_0/run_0/003794_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/003840_CAM0_mask_metadata.json b/env_0/run_0/003840_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ced459351777ff552fd7fc1c6170bb9f2757e57
--- /dev/null
+++ b/env_0/run_0/003840_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/003870_CAM0_mask_metadata.json b/env_0/run_0/003870_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e14d785883cd8971cbbe34473db3732c6eade222
--- /dev/null
+++ b/env_0/run_0/003870_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/003887_CAM0_mask_metadata.json b/env_0/run_0/003887_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..41061aede88539a035b82db764dd72476b37c5f1
--- /dev/null
+++ b/env_0/run_0/003887_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/003928_CAM0_mask_metadata.json b/env_0/run_0/003928_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f2716f996c3c3edcd44094ad0a2365c933a2210
--- /dev/null
+++ b/env_0/run_0/003928_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_4": {
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/003966_CAM0_mask_metadata.json b/env_0/run_0/003966_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..766a2471497b0f02068d9f64695e5213a8c1ecb2
--- /dev/null
+++ b/env_0/run_0/003966_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+      "position": [
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+      "position": [
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/003995_CAM0_mask_metadata.json b/env_0/run_0/003995_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0448698f40e03116f14674c9c675bb390ce197d
--- /dev/null
+++ b/env_0/run_0/003995_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+      "position": [
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+    "speedball_jar_dup_3": {
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+      "position": [
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/004003_CAM0_mask_metadata.json b/env_0/run_0/004003_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c81cb475c759c4f62bcecbb22ea34c608b34cad
--- /dev/null
+++ b/env_0/run_0/004003_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/004057_CAM0_mask_metadata.json b/env_0/run_0/004057_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..854c3b685ed3ed770c6e287e5c2b8e514bd2d99d
--- /dev/null
+++ b/env_0/run_0/004057_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/004078_CAM0_mask_metadata.json b/env_0/run_0/004078_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..23debe81cf9a1fe18f5b74a68d1cd8faa377269e
--- /dev/null
+++ b/env_0/run_0/004078_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/004084_CAM0_mask_metadata.json b/env_0/run_0/004084_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0c84e3a9dd2322568fd6f9b721ae20cc7179a1d
--- /dev/null
+++ b/env_0/run_0/004084_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+}
\ No newline at end of file
diff --git a/env_0/run_0/004146_CAM0_mask_metadata.json b/env_0/run_0/004146_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ee2895a408bef95c77476404ca25a237569b0e3
--- /dev/null
+++ b/env_0/run_0/004146_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+        -2.9174243513753706e-07,
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+    "speedball_jar_dup_4": {
+      "class_id": 5,
+      "position": [
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/004155_CAM0_mask_metadata.json b/env_0/run_0/004155_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7ff3e11a5d03fea0b5be83af90ba214c6896fe7
--- /dev/null
+++ b/env_0/run_0/004155_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+}
\ No newline at end of file
diff --git a/env_0/run_0/004156_CAM0_mask_metadata.json b/env_0/run_0/004156_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..716ed0b0ff923b3a67660ea4c2f67613f44a128f
--- /dev/null
+++ b/env_0/run_0/004156_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+        0.6940244116393818,
+        0.22878246541704414,
+        -0.648332862837269
+      ]
+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/004191_CAM0_mask_metadata.json b/env_0/run_0/004191_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..189ddc980cb6de2d7ce90ff47610112dea6daba7
--- /dev/null
+++ b/env_0/run_0/004191_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/004375_CAM0_mask_metadata.json b/env_0/run_0/004375_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..09b4c131d54d68afc8c872456098f7b7d370a5fc
--- /dev/null
+++ b/env_0/run_0/004375_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+}
\ No newline at end of file
diff --git a/env_0/run_0/004420_CAM0_mask_metadata.json b/env_0/run_0/004420_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7dbb2674cc5eaf83ff9b35b3a45dc76d2cb9a3de
--- /dev/null
+++ b/env_0/run_0/004420_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+    "speedball_jar_dup_4": {
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+      "position": [
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/004484_CAM0_mask_metadata.json b/env_0/run_0/004484_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e21fd618e36cdcd6cef894cd3b9bb2a5403c488
--- /dev/null
+++ b/env_0/run_0/004484_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_1": 2,
+    "speedball_jar_dup_2": 3,
+    "speedball_jar_dup_3": 4,
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+  },
+  "color_to_class_id": {
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+    "146,3,78,255": 5,
+    "220,211,65,255": 3,
+    "220,56,134,255": 4,
+    "66,247,90,255": 1
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+  "color_to_pose_cam": {
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+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/004537_CAM0_mask_metadata.json b/env_0/run_0/004537_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..060a881da4948bcef30eb256590f18342c0e7b7d
--- /dev/null
+++ b/env_0/run_0/004537_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
+  "camera_extrinsics": [
+    [
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/004691_CAM0_mask_metadata.json b/env_0/run_0/004691_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..34b923e753454b51295541684c36be4bfe9044aa
--- /dev/null
+++ b/env_0/run_0/004691_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_4": {
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/004745_CAM0_mask_metadata.json b/env_0/run_0/004745_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e33aa76a49d4a55cf9b4a2d84896315da9412c7e
--- /dev/null
+++ b/env_0/run_0/004745_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/004817_CAM0_mask_metadata.json b/env_0/run_0/004817_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..04fbc8edaab744d86b6d0387ec2777a2c360111f
--- /dev/null
+++ b/env_0/run_0/004817_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    "speedball_jar_dup_2": {
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+      "position": [
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+    },
+    "speedball_jar_dup_3": {
+      "class_id": 4,
+      "position": [
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+    "speedball_jar_dup_4": {
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+      "position": [
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/004876_CAM0_mask_metadata.json b/env_0/run_0/004876_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a64848f167e49cdd795955ff352a43f8df034d2
--- /dev/null
+++ b/env_0/run_0/004876_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "class_name_to_id": {
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+    "speedball_jar_dup_3": 4,
+    "speedball_jar_dup_4": 5
+  },
+  "color_to_class_id": {
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+    "220,211,65,255": 3,
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+  "color_to_pose": {
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+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/004892_CAM0_mask_metadata.json b/env_0/run_0/004892_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..57aa6889ceea9ef129f05962c6792903e16f717c
--- /dev/null
+++ b/env_0/run_0/004892_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/004926_CAM0_mask_metadata.json b/env_0/run_0/004926_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb7520f6bcfd14810c667805bd2900579b8becda
--- /dev/null
+++ b/env_0/run_0/004926_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005012_CAM0_mask_metadata.json b/env_0/run_0/005012_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e3c359be4e14692fb83435c05b969420a0f8f8c
--- /dev/null
+++ b/env_0/run_0/005012_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005028_CAM0_mask_metadata.json b/env_0/run_0/005028_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a148f8918d80d4821ccf13d61087b8e268fead97
--- /dev/null
+++ b/env_0/run_0/005028_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "color_to_class_id": {
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+    "220,211,65,255": 3,
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+  "color_to_pose": {
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+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005060_CAM0_mask_metadata.json b/env_0/run_0/005060_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..04dc9cac5eb92e8d637f5b619d9f934fd1b98709
--- /dev/null
+++ b/env_0/run_0/005060_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_4": {
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005095_CAM0_mask_metadata.json b/env_0/run_0/005095_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d7c7b6712aa5ddb1862750f93772eafe5f3b8ad
--- /dev/null
+++ b/env_0/run_0/005095_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "color_to_pose_cam": {
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+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005120_CAM0_mask_metadata.json b/env_0/run_0/005120_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ca299b896a915692ec3c7616b659ce296d574b7
--- /dev/null
+++ b/env_0/run_0/005120_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    "speedball_jar_dup_3": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005157_CAM0_mask_metadata.json b/env_0/run_0/005157_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..305d30d88cc96e394bf19938adf6fb7084a42e86
--- /dev/null
+++ b/env_0/run_0/005157_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "color_to_pose_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005175_CAM0_mask_metadata.json b/env_0/run_0/005175_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ccdd445022c79b2871440f1b91a2ab8c7bba063e
--- /dev/null
+++ b/env_0/run_0/005175_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005197_CAM0_mask_metadata.json b/env_0/run_0/005197_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4ef6916910c52ec66f0fa32bc3f4895086acb66
--- /dev/null
+++ b/env_0/run_0/005197_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+    "speedball_jar_dup_3": {
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+      "position": [
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+    "speedball_jar_dup_4": {
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+      "position": [
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005215_CAM0_mask_metadata.json b/env_0/run_0/005215_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b468d9142861b06819daebc654b18251e345c962
--- /dev/null
+++ b/env_0/run_0/005215_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+    "speedball_jar_dup_3": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005224_CAM0_mask_metadata.json b/env_0/run_0/005224_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..82d6dfed837b5989bcb88be82e0aeec263133e77
--- /dev/null
+++ b/env_0/run_0/005224_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005231_CAM0_mask_metadata.json b/env_0/run_0/005231_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..47b4a86dcba058d4cb208b9ee8254a092fabb005
--- /dev/null
+++ b/env_0/run_0/005231_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005273_CAM0_mask_metadata.json b/env_0/run_0/005273_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d09c2f362fdb7f2a4ba6bc706ce8f0013a3c97ca
--- /dev/null
+++ b/env_0/run_0/005273_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+      "class_id": 4,
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005339_CAM0_mask_metadata.json b/env_0/run_0/005339_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8d5b2208e8011bc2c280a6c5091be8d9c3a04a0
--- /dev/null
+++ b/env_0/run_0/005339_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    "speedball_jar_dup_3": {
+      "class_id": 4,
+      "position": [
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005384_CAM0_mask_metadata.json b/env_0/run_0/005384_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..31e5c04f0282c67a4fd3f6860e01396b84872955
--- /dev/null
+++ b/env_0/run_0/005384_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+      "position": [
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+    "speedball_jar_dup_3": {
+      "class_id": 4,
+      "position": [
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+        0.0064059455317160285,
+        0.5921717168591376
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+    "speedball_jar_dup_4": {
+      "class_id": 5,
+      "position": [
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+        0.8075468924894091
+      ]
+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005392_CAM0_mask_metadata.json b/env_0/run_0/005392_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f14107904237aa922452ffc23980a22f49b4594e
--- /dev/null
+++ b/env_0/run_0/005392_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
+    "speedball_jar": {
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+    "speedball_jar_dup_3": {
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+      "position": [
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005456_CAM0_mask_metadata.json b/env_0/run_0/005456_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d83dfd98518d05e088000a9107ac0e4a9ac30c59
--- /dev/null
+++ b/env_0/run_0/005456_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005468_CAM0_mask_metadata.json b/env_0/run_0/005468_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b0b9de6df993eadce260301a9fc671085518d5f
--- /dev/null
+++ b/env_0/run_0/005468_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005482_CAM0_mask_metadata.json b/env_0/run_0/005482_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d43df3b2144bbf99bd39e95415646fdbd7798731
--- /dev/null
+++ b/env_0/run_0/005482_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005506_CAM0_mask_metadata.json b/env_0/run_0/005506_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2dbca0ea2e83ee5785e3ab8a8dc663c1304eb112
--- /dev/null
+++ b/env_0/run_0/005506_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005530_CAM0_mask_metadata.json b/env_0/run_0/005530_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c455d11b013eb6445458c95551804727f9d6ff70
--- /dev/null
+++ b/env_0/run_0/005530_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+      "class_id": 4,
+      "position": [
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+        -0.20302681624889368,
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+      "position": [
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+      ]
+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005550_CAM0_mask_metadata.json b/env_0/run_0/005550_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..931e289c9fdbf6d800bf603537ab0eb56e576d1d
--- /dev/null
+++ b/env_0/run_0/005550_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005567_CAM0_mask_metadata.json b/env_0/run_0/005567_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bced1ebaaf393b61fd724e83e6bf8fbc6a3b4c6
--- /dev/null
+++ b/env_0/run_0/005567_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_4": {
+      "class_id": 5,
+      "position": [
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+        0.0010499852565280243,
+        0.5887258968920677
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+        -0.399526044007264,
+        0.6828217168671643,
+        -0.2466978875971957
+      ]
+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005598_CAM0_mask_metadata.json b/env_0/run_0/005598_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba3402daa71a7b9b74d35efc6ab47df728ab152c
--- /dev/null
+++ b/env_0/run_0/005598_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_3": 4,
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+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+      "position": [
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+    },
+    "speedball_jar_dup_3": {
+      "class_id": 4,
+      "position": [
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+    "speedball_jar_dup_4": {
+      "class_id": 5,
+      "position": [
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+        1.2560923040432401
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+        0.8757712758302271,
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+      ]
+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005618_CAM0_mask_metadata.json b/env_0/run_0/005618_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..69a9a0ad09174a768523724bd1dac0ca87451c2f
--- /dev/null
+++ b/env_0/run_0/005618_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_3": 4,
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+  },
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+    "220,211,65,255": 3,
+    "220,56,134,255": 4,
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+  },
+  "color_to_pose_cam": {
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+  "object_poses_cam": {
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005624_CAM0_mask_metadata.json b/env_0/run_0/005624_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f07eb3c0840671b4731083d5bb76aa683f278f1b
--- /dev/null
+++ b/env_0/run_0/005624_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+      "position": [
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005628_CAM0_mask_metadata.json b/env_0/run_0/005628_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..36027643ff86a3b63e8a08a95e0df5398d03b23a
--- /dev/null
+++ b/env_0/run_0/005628_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "class_name_to_id": {
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+    "speedball_jar_dup_2": 3,
+    "speedball_jar_dup_3": 4,
+    "speedball_jar_dup_4": 5
+  },
+  "color_to_class_id": {
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+    "146,3,78,255": 5,
+    "220,211,65,255": 3,
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+    "66,247,90,255": 1
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+  "color_to_pose": {
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+  "color_to_pose_cam": {
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+  },
+  "object_poses_cam": {
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+    "speedball_jar_dup_4": {
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+}
\ No newline at end of file
diff --git a/env_0/run_0/005643_CAM0_mask_metadata.json b/env_0/run_0/005643_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..446d24e92efcbe1b9715e63dd0537859d4f98311
--- /dev/null
+++ b/env_0/run_0/005643_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
+  "camera_extrinsics": [
+    [
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005679_CAM0_mask_metadata.json b/env_0/run_0/005679_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fedf3f051047620761ef04d9ee326f7bbac9437
--- /dev/null
+++ b/env_0/run_0/005679_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005705_CAM0_mask_metadata.json b/env_0/run_0/005705_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..cca4617b96a5252b88c07c9a6c9650686cf5059a
--- /dev/null
+++ b/env_0/run_0/005705_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005720_CAM0_mask_metadata.json b/env_0/run_0/005720_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ff1b92770a328c21d4cd56cf0c6cc56889b7497
--- /dev/null
+++ b/env_0/run_0/005720_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005765_CAM0_mask_metadata.json b/env_0/run_0/005765_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba21dbf63d30e427416b56fddeed6773488d1047
--- /dev/null
+++ b/env_0/run_0/005765_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005837_CAM0_mask_metadata.json b/env_0/run_0/005837_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d5400219d9cd1a4be466c4b3dc0568f2cd44dcb
--- /dev/null
+++ b/env_0/run_0/005837_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    "speedball_jar_dup_3": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005860_CAM0_mask_metadata.json b/env_0/run_0/005860_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..472895c3fff136e295b01e753d656cdaf3124cea
--- /dev/null
+++ b/env_0/run_0/005860_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_3": 4,
+    "speedball_jar_dup_4": 5
+  },
+  "color_to_class_id": {
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+    "220,211,65,255": 3,
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+  },
+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005931_CAM0_mask_metadata.json b/env_0/run_0/005931_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..79884ff66c221ea563958a7e9014f161e56895ad
--- /dev/null
+++ b/env_0/run_0/005931_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005967_CAM0_mask_metadata.json b/env_0/run_0/005967_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3e421465f877e972e06fe0f112fefcfd7e47eee
--- /dev/null
+++ b/env_0/run_0/005967_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "color_to_class_id": {
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+    "220,211,65,255": 3,
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+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005981_CAM0_mask_metadata.json b/env_0/run_0/005981_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a2fc3a4c73952d4d18ff040d98299678e1acb24
--- /dev/null
+++ b/env_0/run_0/005981_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_4": {
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006019_CAM0_mask_metadata.json b/env_0/run_0/006019_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..337fdd697ed3833fd4559ac27315400a6fab98b3
--- /dev/null
+++ b/env_0/run_0/006019_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "color_to_pose_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006029_CAM0_mask_metadata.json b/env_0/run_0/006029_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..673538b09fa08b4288ed643eebed58c5836e0402
--- /dev/null
+++ b/env_0/run_0/006029_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006076_CAM0_mask_metadata.json b/env_0/run_0/006076_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ee6e50dfb41cfd66acb5cae690eaf05dddaa65b
--- /dev/null
+++ b/env_0/run_0/006076_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006101_CAM0_mask_metadata.json b/env_0/run_0/006101_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..58730f507569e2debbda9f4d0ee4789d0b974d25
--- /dev/null
+++ b/env_0/run_0/006101_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006114_CAM0_mask_metadata.json b/env_0/run_0/006114_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..11c1545bf2515203fb90538ff51359e401ba20f9
--- /dev/null
+++ b/env_0/run_0/006114_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006167_CAM0_mask_metadata.json b/env_0/run_0/006167_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a19690df8c1807d647a5d42eea8931b1c3d9aa21
--- /dev/null
+++ b/env_0/run_0/006167_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006193_CAM0_mask_metadata.json b/env_0/run_0/006193_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7371e7e22f5bed3eb7327b824d1bad779cfe5c0
--- /dev/null
+++ b/env_0/run_0/006193_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006276_CAM0_mask_metadata.json b/env_0/run_0/006276_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e2862d6e682dd8447ed2e85fc6d49bab6d38309
--- /dev/null
+++ b/env_0/run_0/006276_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006345_CAM0_mask_metadata.json b/env_0/run_0/006345_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e83bfec46c1327bf9daf43cb41f6988ecefa1c2
--- /dev/null
+++ b/env_0/run_0/006345_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006361_CAM0_mask_metadata.json b/env_0/run_0/006361_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..23e923db48d2f48a77ae64ccb6e1ff9a22001b0b
--- /dev/null
+++ b/env_0/run_0/006361_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006374_CAM0_mask_metadata.json b/env_0/run_0/006374_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..42d51625b7adf3d41f0bfaed760555cada49af74
--- /dev/null
+++ b/env_0/run_0/006374_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_4": {
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+    }
+  },
+  "object_poses_cam": {
+    "speedball_jar": {
+      "class_id": 1,
+      "position": [
+        0.012960764202958663,
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+      "class_id": 2,
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+      "class_id": 3,
+      "position": [
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+        0.13463073968887326,
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+    "speedball_jar_dup_3": {
+      "class_id": 4,
+      "position": [
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+        -0.02800048142671585,
+        0.6368837883824933
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+        0.7586793477850512,
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+    },
+    "speedball_jar_dup_4": {
+      "class_id": 5,
+      "position": [
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+        0.5900633260218512
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+        0.9027004856099052,
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+        -0.006582853518341647
+      ]
+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006413_CAM0_mask_metadata.json b/env_0/run_0/006413_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3dce0fcb0370f335f9f63e6494815156c107c2c1
--- /dev/null
+++ b/env_0/run_0/006413_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_4": 5
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+    "220,211,65,255": 3,
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+  "color_to_pose_cam": {
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+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+      "position": [
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+    "speedball_jar_dup_2": {
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+    "speedball_jar_dup_3": {
+      "class_id": 4,
+      "position": [
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+        0.6617597563389673
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+    "speedball_jar_dup_4": {
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+      "position": [
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006415_CAM0_mask_metadata.json b/env_0/run_0/006415_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6108056197705e4122e96303849dfdafb7e0c118
--- /dev/null
+++ b/env_0/run_0/006415_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_3": 4,
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+  "color_to_class_id": {
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+    "220,211,65,255": 3,
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+  "color_to_pose_cam": {
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+  },
+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006430_CAM0_mask_metadata.json b/env_0/run_0/006430_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2eacad6d8d1dfd73e2a1459d46a6a2edd0d1d24
--- /dev/null
+++ b/env_0/run_0/006430_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006527_CAM0_mask_metadata.json b/env_0/run_0/006527_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0da0e2f76971f2673f6fd4b468e348ed9bf63143
--- /dev/null
+++ b/env_0/run_0/006527_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_3": {
+      "class_id": 4,
+      "position": [
+        92.89266195012121,
+        106.72407398438713,
+        4.25993858633789
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+    "speedball_jar_dup_4": {
+      "class_id": 5,
+      "position": [
+        92.76149567128104,
+        106.4893127894678,
+        4.252254318719109
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006721_CAM0_mask_metadata.json b/env_0/run_0/006721_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..41c9753a8c762b697eb0c349a50b66440ff341cf
--- /dev/null
+++ b/env_0/run_0/006721_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+    "speedball_jar_dup_3": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006730_CAM0_mask_metadata.json b/env_0/run_0/006730_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..49ee65fb8fb14a6a562126c0fa82d47237f11c80
--- /dev/null
+++ b/env_0/run_0/006730_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+      "position": [
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006740_CAM0_mask_metadata.json b/env_0/run_0/006740_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..29e2ec1eda92f5a7038d869ed804ca3eb3ee3cab
--- /dev/null
+++ b/env_0/run_0/006740_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_4": {
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+}
\ No newline at end of file
diff --git a/env_0/run_0/006753_CAM0_mask_metadata.json b/env_0/run_0/006753_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..63e8d8cf88f5ee89c3d8af1b9b4fa4872da3c038
--- /dev/null
+++ b/env_0/run_0/006753_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_4": {
+      "class_id": 5,
+      "position": [
+        0.23152086484801773,
+        0.009583303427316836,
+        0.7120167781495301
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+        -0.037571808530444124,
+        0.3406343269878628,
+        0.4554381778214965,
+        0.8216645791707907
+      ]
+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006780_CAM0_mask_metadata.json b/env_0/run_0/006780_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..57c56b2e9ff829349b9173e13c8cf0c1ca2f08c4
--- /dev/null
+++ b/env_0/run_0/006780_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_2": 3,
+    "speedball_jar_dup_3": 4,
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+  "color_to_pose_cam": {
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+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+    "speedball_jar_dup_3": {
+      "class_id": 4,
+      "position": [
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+        0.5601049547634039
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+    },
+    "speedball_jar_dup_4": {
+      "class_id": 5,
+      "position": [
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+      ]
+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006821_CAM0_mask_metadata.json b/env_0/run_0/006821_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..00e51fef0db06aa4ee3352128a9836d650abd2c9
--- /dev/null
+++ b/env_0/run_0/006821_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_2": 3,
+    "speedball_jar_dup_3": 4,
+    "speedball_jar_dup_4": 5
+  },
+  "color_to_class_id": {
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+    "220,211,65,255": 3,
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+    "66,247,90,255": 1
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+  },
+  "color_to_pose_cam": {
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+  },
+  "object_poses_cam": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006833_CAM0_mask_metadata.json b/env_0/run_0/006833_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e908558721ca4264b55891f990d66de241b9b0f0
--- /dev/null
+++ b/env_0/run_0/006833_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_3": 4,
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+    }
+  },
+  "object_poses_cam": {
+    "speedball_jar": {
+      "class_id": 1,
+      "position": [
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+    "speedball_jar_dup_1": {
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+      "position": [
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+    "speedball_jar_dup_2": {
+      "class_id": 3,
+      "position": [
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+        0.02802625142836973,
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+        0.09464880202565913,
+        0.15398025866843223
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+    },
+    "speedball_jar_dup_3": {
+      "class_id": 4,
+      "position": [
+        0.07350753285408723,
+        0.037496929430395176,
+        0.6407443787737452
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+        -0.4130879158566439,
+        0.34695107261634295,
+        0.7262637305246948,
+        -0.4260567106711697
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+    },
+    "speedball_jar_dup_4": {
+      "class_id": 5,
+      "position": [
+        108.23666212062744,
+        80.38439685548401,
+        43.5351516857078
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+      "quaternion_wxyz": [
+        -0.16946454241318185,
+        0.6838691895931203,
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+      ]
+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006853_CAM0_mask_metadata.json b/env_0/run_0/006853_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..38fb74d59bf0a7c9a98e17cfa68a50544cea9011
--- /dev/null
+++ b/env_0/run_0/006853_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
+  "camera_extrinsics": [
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+    [
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+  "camera_intrinsics": [
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+    [
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+  "class_name_to_id": {
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+    "speedball_jar_dup_1": 2,
+    "speedball_jar_dup_2": 3,
+    "speedball_jar_dup_3": 4,
+    "speedball_jar_dup_4": 5
+  },
+  "color_to_class_id": {
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+    "146,3,78,255": 5,
+    "220,211,65,255": 3,
+    "220,56,134,255": 4,
+    "66,247,90,255": 1
+  },
+  "color_to_pose": {
+    "104,5,147,255": {
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+      "position": [
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+  },
+  "color_to_pose_cam": {
+    "104,5,147,255": {
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+    }
+  },
+  "object_poses": {
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+      "position": [
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+        0.037556398659944534
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+      "position": [
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+    "speedball_jar_dup_4": {
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+      "position": [
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+    }
+  },
+  "object_poses_cam": {
+    "speedball_jar": {
+      "class_id": 1,
+      "position": [
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+    "speedball_jar_dup_2": {
+      "class_id": 3,
+      "position": [
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+    },
+    "speedball_jar_dup_3": {
+      "class_id": 4,
+      "position": [
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+        0.026265285260669652,
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+    "speedball_jar_dup_4": {
+      "class_id": 5,
+      "position": [
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006880_CAM0_mask_metadata.json b/env_0/run_0/006880_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..da93c4bc20e9cc1d6e94efc26f0ca95fe7b62011
--- /dev/null
+++ b/env_0/run_0/006880_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
+  "camera_extrinsics": [
+    [
+      0.5726817674882216,
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+      0.01144319400191307
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006887_CAM0_mask_metadata.json b/env_0/run_0/006887_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..028f68449d025c061ef421c2a81af4ac21c109d2
--- /dev/null
+++ b/env_0/run_0/006887_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006910_CAM0_mask_metadata.json b/env_0/run_0/006910_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..46a29806ba72bfaff3b4fc4a89e4befc8fdf2466
--- /dev/null
+++ b/env_0/run_0/006910_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    "speedball_jar_dup_4": {
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+      "position": [
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006952_CAM0_mask_metadata.json b/env_0/run_0/006952_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..eef11ec63830f3db6d31ff5a6e521f5f911615ab
--- /dev/null
+++ b/env_0/run_0/006952_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+    "speedball_jar_dup_3": {
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+      "position": [
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/007009_CAM0_mask_metadata.json b/env_0/run_0/007009_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6369ba3bbe9c577767f9743a0a73582a621cad5
--- /dev/null
+++ b/env_0/run_0/007009_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_2": 3,
+    "speedball_jar_dup_3": 4,
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+  },
+  "color_to_class_id": {
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+    "220,211,65,255": 3,
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+  "color_to_pose": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/007031_CAM0_mask_metadata.json b/env_0/run_0/007031_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2a6b90814c6f36896829de020a511fe55629431
--- /dev/null
+++ b/env_0/run_0/007031_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/007096_CAM0_mask_metadata.json b/env_0/run_0/007096_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8a8de93fe1eb90a74b9ea2912b93b33f705bd9d
--- /dev/null
+++ b/env_0/run_0/007096_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/007105_CAM0_mask_metadata.json b/env_0/run_0/007105_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ba52e1d434c021222ccb16c62fe7a2781331782
--- /dev/null
+++ b/env_0/run_0/007105_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/007142_CAM0_mask_metadata.json b/env_0/run_0/007142_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..61d8d53e46c0892098e92a36280afeb0504e904b
--- /dev/null
+++ b/env_0/run_0/007142_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+    "speedball_jar_dup_4": {
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+      "position": [
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/007260_CAM0_mask_metadata.json b/env_0/run_0/007260_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d399933f03810f409c3c397bfb9456c641875597
--- /dev/null
+++ b/env_0/run_0/007260_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    "speedball_jar_dup_3": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/007306_CAM0_mask_metadata.json b/env_0/run_0/007306_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..8831209b0faf41955ceb4d2d1619563b01b19240
--- /dev/null
+++ b/env_0/run_0/007306_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_3": 4,
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+  "color_to_class_id": {
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+  "color_to_pose_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/007319_CAM0_mask_metadata.json b/env_0/run_0/007319_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..01ec28be93ff122f2a59866845357b4f6b8578da
--- /dev/null
+++ b/env_0/run_0/007319_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/007351_CAM0_mask_metadata.json b/env_0/run_0/007351_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..feb9b1f7036e7d2ce4ada2b171c942aeb564de09
--- /dev/null
+++ b/env_0/run_0/007351_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/007385_CAM0_mask_metadata.json b/env_0/run_0/007385_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a9aa78d86dc792c5aa726460aed2720e1633c4f
--- /dev/null
+++ b/env_0/run_0/007385_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/007472_CAM0_mask_metadata.json b/env_0/run_0/007472_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6c4998b34c15fd86116fd7a647637c000b6388f
--- /dev/null
+++ b/env_0/run_0/007472_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/007584_CAM0_mask_metadata.json b/env_0/run_0/007584_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fd4b0667d57f79abc6f9d129c1a76421c9314e8
--- /dev/null
+++ b/env_0/run_0/007584_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    "speedball_jar_dup_3": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/007612_CAM0_mask_metadata.json b/env_0/run_0/007612_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f02b76f9fc8498586a5bd88c7fe5420e9d08a4ae
--- /dev/null
+++ b/env_0/run_0/007612_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/007627_CAM0_mask_metadata.json b/env_0/run_0/007627_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..957d775d425e8d994a2c1586505081e6296983a4
--- /dev/null
+++ b/env_0/run_0/007627_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/007782_CAM0_mask_metadata.json b/env_0/run_0/007782_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6416e75fc468a65bb7d9c35744281a266c6da3db
--- /dev/null
+++ b/env_0/run_0/007782_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/007783_CAM0_mask_metadata.json b/env_0/run_0/007783_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..62b1d2d406670cbf4b1ee1c0b2db57b7b294fed3
--- /dev/null
+++ b/env_0/run_0/007783_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/007787_CAM0_mask_metadata.json b/env_0/run_0/007787_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e84593ef157b5495a9dc0459b6f5073fed9170e
--- /dev/null
+++ b/env_0/run_0/007787_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+      "position": [
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/007811_CAM0_mask_metadata.json b/env_0/run_0/007811_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d56413191c41f1c9a276dde07fc0d883625a7e65
--- /dev/null
+++ b/env_0/run_0/007811_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/007891_CAM0_mask_metadata.json b/env_0/run_0/007891_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..618e9fc6d7dc0bbd9353744c512e3158cbe2b859
--- /dev/null
+++ b/env_0/run_0/007891_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/007980_CAM0_mask_metadata.json b/env_0/run_0/007980_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f44d93a62dca57f9af4f2990caa347f1b18c1a9
--- /dev/null
+++ b/env_0/run_0/007980_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    "speedball_jar_dup_3": {
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+    "speedball_jar_dup_4": {
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/007981_CAM0_mask_metadata.json b/env_0/run_0/007981_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f85955c43a49b995c46e9674c2e4e3192ead0577
--- /dev/null
+++ b/env_0/run_0/007981_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/008045_CAM0_mask_metadata.json b/env_0/run_0/008045_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..68f141657686bcc66797c5ba0c21232b4f91b9f8
--- /dev/null
+++ b/env_0/run_0/008045_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/008069_CAM0_mask_metadata.json b/env_0/run_0/008069_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf791bb25e138e55b0cf71eb8cbc698a550b90bd
--- /dev/null
+++ b/env_0/run_0/008069_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/008087_CAM0_mask_metadata.json b/env_0/run_0/008087_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..cda6da67e2f08fa988c9946d9b106357f16d7f32
--- /dev/null
+++ b/env_0/run_0/008087_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/008166_CAM0_mask_metadata.json b/env_0/run_0/008166_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ba397c887fefcc9bbb75b410ee8858f203a95d2
--- /dev/null
+++ b/env_0/run_0/008166_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+      ]
+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/008170_CAM0_mask_metadata.json b/env_0/run_0/008170_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d7f88b1bdfa30165c4806cc836988a9e632f1d0
--- /dev/null
+++ b/env_0/run_0/008170_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/008172_CAM0_mask_metadata.json b/env_0/run_0/008172_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..36ae98354e190a1992fb8c15d0d50158118d1479
--- /dev/null
+++ b/env_0/run_0/008172_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "color_to_pose_cam": {
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+    "speedball_jar_dup_4": {
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/008243_CAM0_mask_metadata.json b/env_0/run_0/008243_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f6da94192fc88a3a7d6e9f4ff6eb79d66905752
--- /dev/null
+++ b/env_0/run_0/008243_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
+  "camera_extrinsics": [
+    [
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/008248_CAM0_mask_metadata.json b/env_0/run_0/008248_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..62806513cdf8687bd7ba6f1fb7852b4f7dba85a2
--- /dev/null
+++ b/env_0/run_0/008248_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/008421_CAM0_mask_metadata.json b/env_0/run_0/008421_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..dab2434af72fa9aca721156d937bf7d056bfab59
--- /dev/null
+++ b/env_0/run_0/008421_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/008497_CAM0_mask_metadata.json b/env_0/run_0/008497_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0cbbfb15c79f520b80288740dd24475313dae28
--- /dev/null
+++ b/env_0/run_0/008497_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/008499_CAM0_mask_metadata.json b/env_0/run_0/008499_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8d65be038d25d6077d0f949506f32bcf4532b4c
--- /dev/null
+++ b/env_0/run_0/008499_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/008630_CAM0_mask_metadata.json b/env_0/run_0/008630_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8226a365a39221cc722aaa15ce8046101799d39
--- /dev/null
+++ b/env_0/run_0/008630_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/008676_CAM0_mask_metadata.json b/env_0/run_0/008676_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e33eab886b65aad69d4a05793a9a690ee0bd602
--- /dev/null
+++ b/env_0/run_0/008676_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/008682_CAM0_mask_metadata.json b/env_0/run_0/008682_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..51977bc4e6511736067158c8f93328e769268e15
--- /dev/null
+++ b/env_0/run_0/008682_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+}
\ No newline at end of file
diff --git a/env_0/run_0/008692_CAM0_mask_metadata.json b/env_0/run_0/008692_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2eb29301af577f54e4a106466e63db3fae21a0ba
--- /dev/null
+++ b/env_0/run_0/008692_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/008720_CAM0_mask_metadata.json b/env_0/run_0/008720_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe1a6c1d93660d32f87e8e5d62d1bfca4e689e5b
--- /dev/null
+++ b/env_0/run_0/008720_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    "speedball_jar_dup_3": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/008737_CAM0_mask_metadata.json b/env_0/run_0/008737_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..50fdd1e9e3b54f7b0ebd6177fbaca9845a2da296
--- /dev/null
+++ b/env_0/run_0/008737_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "color_to_pose_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/008741_CAM0_mask_metadata.json b/env_0/run_0/008741_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f568cf4a2fc81545ecfdbcb798045420eaed12a5
--- /dev/null
+++ b/env_0/run_0/008741_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/008746_CAM0_mask_metadata.json b/env_0/run_0/008746_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..533907da1f73d747651191ac49946c1ddd324814
--- /dev/null
+++ b/env_0/run_0/008746_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/008750_CAM0_mask_metadata.json b/env_0/run_0/008750_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..cac9ba5ef4a6b527660e44d473f1a42613e79f37
--- /dev/null
+++ b/env_0/run_0/008750_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/008755_CAM0_mask_metadata.json b/env_0/run_0/008755_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d97e65f084fcc28fa7d2146e9c652125c4cc5d02
--- /dev/null
+++ b/env_0/run_0/008755_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+}
\ No newline at end of file
diff --git a/env_0/run_0/008790_CAM0_mask_metadata.json b/env_0/run_0/008790_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5d6fc7224a3c874da8d48808008206c113bb5f1
--- /dev/null
+++ b/env_0/run_0/008790_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/008792_CAM0_mask_metadata.json b/env_0/run_0/008792_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d89c4a213863813304e19d3b0a1c2a6763764a2d
--- /dev/null
+++ b/env_0/run_0/008792_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+    "speedball_jar_dup_3": {
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+      "position": [
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/008857_CAM0_mask_metadata.json b/env_0/run_0/008857_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f76f5112dfb402710dc7fd07c0b5dcaf34483655
--- /dev/null
+++ b/env_0/run_0/008857_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+    "speedball_jar_dup_3": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/008888_CAM0_mask_metadata.json b/env_0/run_0/008888_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfa2382b0411192288b9e71d86a9522979f4eeec
--- /dev/null
+++ b/env_0/run_0/008888_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+      "position": [
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+    "speedball_jar_dup_3": {
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+    "speedball_jar_dup_4": {
+      "class_id": 5,
+      "position": [
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/008946_CAM0_mask_metadata.json b/env_0/run_0/008946_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5c06f02ffb1c2c44befb632afe9617154592ba9
--- /dev/null
+++ b/env_0/run_0/008946_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    "speedball_jar_dup_3": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/008980_CAM0_mask_metadata.json b/env_0/run_0/008980_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d525c9ea0ea24441bc97b728701e4c91eb3a144
--- /dev/null
+++ b/env_0/run_0/008980_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+      "position": [
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+    },
+    "speedball_jar_dup_1": {
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+      "position": [
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+    "speedball_jar_dup_2": {
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+      "position": [
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+      "position": [
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+    },
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+      ]
+    }
+  }
+}
\ No newline at end of file