diff --git a/zehan/Kitchen_Design_02/l000_r004/camera_annots.json b/zehan/Kitchen_Design_02/l000_r004/camera_annots.json
index 1f26cf69e7fae0e07b994c4a323425c14b1974da..996a47bfecc4ac580932ee0565461195ce09ef03 100644
--- a/zehan/Kitchen_Design_02/l000_r004/camera_annots.json
+++ b/zehan/Kitchen_Design_02/l000_r004/camera_annots.json
@@ -1 +1 @@
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\ No newline at end of file
+{"status": "ok", "outputs": {"location": [-38, -43, 124], "rotation": [0, -120.00000000000007, 0], "fov": 90, "c2w": [[-0.5000000000000007, -0.8660254037844379, 0, 0], [0.8660254037844379, -0.5000000000000007, 0, 0], [0, 0, 1, 0], [-38, -43, 124, 1]], "width": 1920, "height": 1080, "fxfycxcy": [960.0000000000001, 960.0000000000002, 960.0, 540.0]}}
\ No newline at end of file
diff --git a/zehan/Kitchen_Design_02/l000_r004/object_annots.json b/zehan/Kitchen_Design_02/l000_r004/object_annots.json
index 032fcece4f9a4f63edc53bbaa8e553ae8e8196a8..42eff4da14ec73364d9d8513be7cf5d80c4328b3 100644
--- a/zehan/Kitchen_Design_02/l000_r004/object_annots.json
+++ b/zehan/Kitchen_Design_02/l000_r004/object_annots.json
@@ -1 +1 @@
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diff --git a/zehan/Kitchen_Design_02/l000_r004/seenable_obj_dict.json b/zehan/Kitchen_Design_02/l000_r004/seenable_obj_dict.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebe39d67998bcd9a5c35fd3e57b2b79b257fab47
--- /dev/null
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diff --git a/zehan/Kitchen_Design_02/l036_r005/object_annots.json b/zehan/Kitchen_Design_02/l036_r005/object_annots.json
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diff --git a/zehan/Kitchen_Design_02/l036_r005/seenable_obj_dict.json b/zehan/Kitchen_Design_02/l036_r005/seenable_obj_dict.json
new file mode 100644
index 0000000000000000000000000000000000000000..af2e01a26674f2ded34b8e83d28d24c2f04a47bb
--- /dev/null
+++ b/zehan/Kitchen_Design_02/l036_r005/seenable_obj_dict.json
@@ -0,0 +1,107 @@
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diff --git a/zehan/Kitchen_Design_02/l040_r002/camera_annots.json b/zehan/Kitchen_Design_02/l040_r002/camera_annots.json
index c50cf4b6832ed7022563d2e56cc3937d6a8bea70..aee1ae53a87a7f93e21a366c4f9598488e8f85f3 100644
--- a/zehan/Kitchen_Design_02/l040_r002/camera_annots.json
+++ b/zehan/Kitchen_Design_02/l040_r002/camera_annots.json
@@ -1 +1 @@
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\ No newline at end of file
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\ No newline at end of file
diff --git a/zehan/Kitchen_Design_02/l047_r003/camera_annots.json b/zehan/Kitchen_Design_02/l047_r003/camera_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..674e736fb0a97cb1898b0ceee1568b8678a88920
--- /dev/null
+++ b/zehan/Kitchen_Design_02/l047_r003/camera_annots.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/zehan/Kitchen_Design_02/l047_r003/object_annots.json b/zehan/Kitchen_Design_02/l047_r003/object_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecc4f79723ce4d46bb303312885c4362d0afca5b
--- /dev/null
+++ b/zehan/Kitchen_Design_02/l047_r003/object_annots.json
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new file mode 100644
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diff --git a/zehan/Kitchen_Design_02/l051_r001/camera_annots.json b/zehan/Kitchen_Design_02/l051_r001/camera_annots.json
new file mode 100644
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diff --git a/zehan/Kitchen_Design_02/l051_r001/object_annots.json b/zehan/Kitchen_Design_02/l051_r001/object_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..83362ddfb94319f9201024ab9685b478f59c4c5f
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diff --git a/zehan/Kitchen_Design_02/l051_r001/seenable_obj_dict.json b/zehan/Kitchen_Design_02/l051_r001/seenable_obj_dict.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f163b58a0e6163c75881991a1a72adca949fef4
--- /dev/null
+++ b/zehan/Kitchen_Design_02/l051_r001/seenable_obj_dict.json
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diff --git a/zehan/ManagerOffice/l009_r000/camera_annots.json b/zehan/ManagerOffice/l009_r000/camera_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea1886ca07e6468ec23c6bf5679535eeac33016d
--- /dev/null
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diff --git a/zehan/ManagerOffice/l009_r000/object_annots.json b/zehan/ManagerOffice/l009_r000/object_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..994a1e764626ef70b1d6de7a33c49c70fd7780ba
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diff --git a/zehan/ManagerOffice/l009_r000/seenable_obj_dict.json b/zehan/ManagerOffice/l009_r000/seenable_obj_dict.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a695848882537ead1758868dce4ba7895cca264
--- /dev/null
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diff --git a/zehan/ManagerOffice/l018_r003/camera_annots.json b/zehan/ManagerOffice/l018_r003/camera_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8490a2dc4ad02a72c2c341531310f7ceb72253c
--- /dev/null
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\ No newline at end of file
diff --git a/zehan/ManagerOffice/l018_r003/object_annots.json b/zehan/ManagerOffice/l018_r003/object_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..4412997ce50ceee40ac155eb539afb298bf3783f
--- /dev/null
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diff --git a/zehan/ManagerOffice/l018_r003/seenable_obj_dict.json b/zehan/ManagerOffice/l018_r003/seenable_obj_dict.json
new file mode 100644
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diff --git a/zehan/ManagerOffice/l022_r005/camera_annots.json b/zehan/ManagerOffice/l022_r005/camera_annots.json
new file mode 100644
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diff --git a/zehan/ManagerOffice/l022_r005/object_annots.json b/zehan/ManagerOffice/l022_r005/object_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd076a321459e6b78134da82cb4fa3d686912437
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diff --git a/zehan/ManagerOffice/l022_r005/seenable_obj_dict.json b/zehan/ManagerOffice/l022_r005/seenable_obj_dict.json
new file mode 100644
index 0000000000000000000000000000000000000000..153a596daa6c5e5f67db4b243d9d3c92beffb0ba
--- /dev/null
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diff --git a/zehan/ManagerOffice/l025_r004/camera_annots.json b/zehan/ManagerOffice/l025_r004/camera_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..62a405c3590d20a9f6bff4af99b1a9144503b21a
--- /dev/null
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diff --git a/zehan/ManagerOffice/l025_r004/object_annots.json b/zehan/ManagerOffice/l025_r004/object_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..a79ecc1200ed6fb5b3207e59d90dc0e48aa7e104
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\ No newline at end of file
diff --git a/zehan/ManagerOffice/l025_r004/seenable_obj_dict.json b/zehan/ManagerOffice/l025_r004/seenable_obj_dict.json
new file mode 100644
index 0000000000000000000000000000000000000000..32888c7256bedb5227ce1cdc70d39befeb25037a
--- /dev/null
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diff --git a/zehan/ManagerOffice/l029_r003/camera_annots.json b/zehan/ManagerOffice/l029_r003/camera_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c16d8ed61019c851b1733453cc2aa521b0bf6d6
--- /dev/null
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\ No newline at end of file
diff --git a/zehan/ManagerOffice/l029_r003/object_annots.json b/zehan/ManagerOffice/l029_r003/object_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc6299fb6aee8ca8b7c5b7bb2654362bada423c0
--- /dev/null
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diff --git a/zehan/ManagerOffice/l029_r003/seenable_obj_dict.json b/zehan/ManagerOffice/l029_r003/seenable_obj_dict.json
new file mode 100644
index 0000000000000000000000000000000000000000..82fb77c334c97c882390bbc7ae4773e41aa6f8ef
--- /dev/null
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diff --git a/zehan/ManagerOffice/l031_r003/camera_annots.json b/zehan/ManagerOffice/l031_r003/camera_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..064fea427e6e2d5a31f62357e3defbc598baf660
--- /dev/null
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\ No newline at end of file
diff --git a/zehan/ManagerOffice/l031_r003/object_annots.json b/zehan/ManagerOffice/l031_r003/object_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c51b10dd5456d01b871708162e434a37f8b03b3
--- /dev/null
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diff --git a/zehan/ManagerOffice/l031_r003/seenable_obj_dict.json b/zehan/ManagerOffice/l031_r003/seenable_obj_dict.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9878176c25747b0129fb7a7da390f519bec1ae4
--- /dev/null
+++ b/zehan/ManagerOffice/l031_r003/seenable_obj_dict.json
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\ No newline at end of file
diff --git a/zehan/ManagerOffice/l038_r000/camera_annots.json b/zehan/ManagerOffice/l038_r000/camera_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..7562dd992cbeeae3c552b713a0fbb6f39d02290e
--- /dev/null
+++ b/zehan/ManagerOffice/l038_r000/camera_annots.json
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\ No newline at end of file
diff --git a/zehan/ManagerOffice/l038_r000/object_annots.json b/zehan/ManagerOffice/l038_r000/object_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd88a76f98d5759577ff1d9dc12822dc40335a1d
--- /dev/null
+++ b/zehan/ManagerOffice/l038_r000/object_annots.json
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diff --git a/zehan/ManagerOffice/l038_r000/seenable_obj_dict.json b/zehan/ManagerOffice/l038_r000/seenable_obj_dict.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b1e6e0d524cead767632e801fbf7fd16bcbbddf
--- /dev/null
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diff --git a/zehan/ManagerOffice/l042_r000/camera_annots.json b/zehan/ManagerOffice/l042_r000/camera_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..da55222253dc7e100b797bd9862cb2f51fef1125
--- /dev/null
+++ b/zehan/ManagerOffice/l042_r000/camera_annots.json
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\ No newline at end of file
diff --git a/zehan/ManagerOffice/l042_r000/object_annots.json b/zehan/ManagerOffice/l042_r000/object_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..48de35149420acc496cf2575901e1b0780d1beee
--- /dev/null
+++ b/zehan/ManagerOffice/l042_r000/object_annots.json
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diff --git a/zehan/ManagerOffice/l042_r000/seenable_obj_dict.json b/zehan/ManagerOffice/l042_r000/seenable_obj_dict.json
new file mode 100644
index 0000000000000000000000000000000000000000..24cbf53ce56f6c4bdbe361831c51296263c7297f
--- /dev/null
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diff --git a/zehan/ManagerOffice/l045_r001/camera_annots.json b/zehan/ManagerOffice/l045_r001/camera_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..59dc1f4378d6feab88005ebabbbecd69fc56ab9f
--- /dev/null
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diff --git a/zehan/ManagerOffice/l045_r001/object_annots.json b/zehan/ManagerOffice/l045_r001/object_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..88d47540fd267b3f617f569b49668c43a19c7511
--- /dev/null
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diff --git a/zehan/ManagerOffice/l045_r001/seenable_obj_dict.json b/zehan/ManagerOffice/l045_r001/seenable_obj_dict.json
new file mode 100644
index 0000000000000000000000000000000000000000..811bb61ad6d2cdf39c0acbd22542163dca73dbf6
--- /dev/null
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diff --git a/zehan/ManagerOffice/l053_r003/camera_annots.json b/zehan/ManagerOffice/l053_r003/camera_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bea3f8e5745df03176f220e043f579c0dcca90d
--- /dev/null
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\ No newline at end of file
diff --git a/zehan/ManagerOffice/l053_r003/object_annots.json b/zehan/ManagerOffice/l053_r003/object_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd88391c65281b36c901002e6dc1295d4672fe47
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diff --git a/zehan/ManagerOffice/l053_r003/seenable_obj_dict.json b/zehan/ManagerOffice/l053_r003/seenable_obj_dict.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc7847854d7e26a594706d798f8ec38c8d150a9a
--- /dev/null
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diff --git a/zehan/ManagerOffice/l054_r002/camera_annots.json b/zehan/ManagerOffice/l054_r002/camera_annots.json
new file mode 100644
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diff --git a/zehan/ManagerOffice/l054_r002/object_annots.json b/zehan/ManagerOffice/l054_r002/object_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4fea6981459d491ad84a823dfdaca0ed3bdbf57
--- /dev/null
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diff --git a/zehan/ManagerOffice/l054_r002/seenable_obj_dict.json b/zehan/ManagerOffice/l054_r002/seenable_obj_dict.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1da9b0178b6cf6ad2e7ddb904064833d7fdad37
--- /dev/null
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diff --git a/zehan/ManagerOffice/l058_r005/camera_annots.json b/zehan/ManagerOffice/l058_r005/camera_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..641d97f2f4687423da708eae46a3ce368a51e78d
--- /dev/null
+++ b/zehan/ManagerOffice/l058_r005/camera_annots.json
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diff --git a/zehan/ManagerOffice/l058_r005/object_annots.json b/zehan/ManagerOffice/l058_r005/object_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..348a8be78d1853bd319955570cf6e6163b01ce7a
--- /dev/null
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\ No newline at end of file
diff --git a/zehan/ManagerOffice/l058_r005/seenable_obj_dict.json b/zehan/ManagerOffice/l058_r005/seenable_obj_dict.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5ad8322864042debd9f28211fbd1305ccdfcc9e
--- /dev/null
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diff --git a/zehan/ManagerOffice/l062_r003/camera_annots.json b/zehan/ManagerOffice/l062_r003/camera_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..40b4979047290f9e32067bd3586d8ab9e5284c3d
--- /dev/null
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diff --git a/zehan/ManagerOffice/l062_r003/object_annots.json b/zehan/ManagerOffice/l062_r003/object_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2b1b7cf3c2c4f92f7ddd8389b274fee68c31e8f
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diff --git a/zehan/ManagerOffice/l062_r003/seenable_obj_dict.json b/zehan/ManagerOffice/l062_r003/seenable_obj_dict.json
new file mode 100644
index 0000000000000000000000000000000000000000..836c339dddb1fdfc470c7e4099df505feaa5f4f0
--- /dev/null
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diff --git a/zehan/ManagerOffice/l069_r005/camera_annots.json b/zehan/ManagerOffice/l069_r005/camera_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d710c62b6b0b9ccdc2678bd7491fcbf93b3b873
--- /dev/null
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diff --git a/zehan/ManagerOffice/l069_r005/object_annots.json b/zehan/ManagerOffice/l069_r005/object_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..f05625e8bae7b6de964cdb0d179c38a8ff645e3f
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diff --git a/zehan/ManagerOffice/l069_r005/seenable_obj_dict.json b/zehan/ManagerOffice/l069_r005/seenable_obj_dict.json
new file mode 100644
index 0000000000000000000000000000000000000000..77927eb51a798a6e783dcf4a9ac1c539c6b03d19
--- /dev/null
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diff --git a/zehan/ManagerOffice/l073_r000/camera_annots.json b/zehan/ManagerOffice/l073_r000/camera_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbadecb422af3cdc37ba358196679fcb0b8a9018
--- /dev/null
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diff --git a/zehan/ManagerOffice/l073_r000/object_annots.json b/zehan/ManagerOffice/l073_r000/object_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f98a500d5a1ba855135035119ba6975965fcd38
--- /dev/null
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diff --git a/zehan/ManagerOffice/l073_r000/seenable_obj_dict.json b/zehan/ManagerOffice/l073_r000/seenable_obj_dict.json
new file mode 100644
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diff --git a/zehan/ManagerOffice/l074_r001/camera_annots.json b/zehan/ManagerOffice/l074_r001/camera_annots.json
new file mode 100644
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--- /dev/null
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diff --git a/zehan/ManagerOffice/l074_r001/object_annots.json b/zehan/ManagerOffice/l074_r001/object_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..157d6e3b295a00b022a2c753f033c776044b6fa5
--- /dev/null
+++ b/zehan/ManagerOffice/l074_r001/object_annots.json
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diff --git a/zehan/ManagerOffice/l074_r001/seenable_obj_dict.json b/zehan/ManagerOffice/l074_r001/seenable_obj_dict.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca31fbee8a76a3ee5dabfb36bae1a33b9ad2a722
--- /dev/null
+++ b/zehan/ManagerOffice/l074_r001/seenable_obj_dict.json
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diff --git a/zehan/ManagerOffice/l076_r004/camera_annots.json b/zehan/ManagerOffice/l076_r004/camera_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6bc00e03ffd4c06d1e84b3ee2c232eff1b6e1d9
--- /dev/null
+++ b/zehan/ManagerOffice/l076_r004/camera_annots.json
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diff --git a/zehan/ManagerOffice/l076_r004/object_annots.json b/zehan/ManagerOffice/l076_r004/object_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..231332aefc64eaf8dac9ae693ea4923abc54d547
--- /dev/null
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diff --git a/zehan/ManagerOffice/l080_r005/camera_annots.json b/zehan/ManagerOffice/l080_r005/camera_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..af4278d7fd9019f68a368f5a39cc90e6ba9df657
--- /dev/null
+++ b/zehan/ManagerOffice/l080_r005/camera_annots.json
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diff --git a/zehan/ManagerOffice/l080_r005/object_annots.json b/zehan/ManagerOffice/l080_r005/object_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..28082181f245c6be9c958ebbf4167827786a8dca
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diff --git a/zehan/ManagerOffice/l080_r005/seenable_obj_dict.json b/zehan/ManagerOffice/l080_r005/seenable_obj_dict.json
new file mode 100644
index 0000000000000000000000000000000000000000..98736f1ec0e820f3a7908b480c846a76fa5990e2
--- /dev/null
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diff --git a/zehan/ManagerOffice/l087_r004/camera_annots.json b/zehan/ManagerOffice/l087_r004/camera_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..70f8dff106885052e5b54d6ba80c79bcdcaeac07
--- /dev/null
+++ b/zehan/ManagerOffice/l087_r004/camera_annots.json
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\ No newline at end of file
diff --git a/zehan/ManagerOffice/l087_r004/object_annots.json b/zehan/ManagerOffice/l087_r004/object_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7b301157c82a5d98bd5fa998de2841cf8a4305b
--- /dev/null
+++ b/zehan/ManagerOffice/l087_r004/object_annots.json
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\ No newline at end of file
diff --git a/zehan/ManagerOffice/l087_r004/seenable_obj_dict.json b/zehan/ManagerOffice/l087_r004/seenable_obj_dict.json
new file mode 100644
index 0000000000000000000000000000000000000000..2abe2293d5546bebe19d5f555dc26519c86703a7
--- /dev/null
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diff --git a/zehan/ManagerOffice/l101_r002/camera_annots.json b/zehan/ManagerOffice/l101_r002/camera_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ace2b510a8c66529634c999fc288a0237730c25
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diff --git a/zehan/ManagerOffice/l101_r002/object_annots.json b/zehan/ManagerOffice/l101_r002/object_annots.json
new file mode 100644
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diff --git a/zehan/ManagerOffice/l101_r002/seenable_obj_dict.json b/zehan/ManagerOffice/l101_r002/seenable_obj_dict.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e13d0d8176a6ab732e790ad6c1990f50dca595e
--- /dev/null
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diff --git a/zehan/ManagerOffice/l110_r001/camera_annots.json b/zehan/ManagerOffice/l110_r001/camera_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..280da10c3159402e9e5f5df34ccfceca11872ca6
--- /dev/null
+++ b/zehan/ManagerOffice/l110_r001/camera_annots.json
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\ No newline at end of file
diff --git a/zehan/ManagerOffice/l110_r001/object_annots.json b/zehan/ManagerOffice/l110_r001/object_annots.json
new file mode 100644
index 0000000000000000000000000000000000000000..34f21bd4ec7dfce50a1b83a118ce05aae418d551
--- /dev/null
+++ b/zehan/ManagerOffice/l110_r001/object_annots.json
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\ No newline at end of file
diff --git a/zehan/ManagerOffice/l110_r001/seenable_obj_dict.json b/zehan/ManagerOffice/l110_r001/seenable_obj_dict.json
new file mode 100644
index 0000000000000000000000000000000000000000..a36b16cd61a7ef0c891eb6b7fd16850863bdb851
--- /dev/null
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\ No newline at end of file