diff --git a/.gitattributes b/.gitattributes
index 59730c145467ab1a0ad5af95012ef5d962bcba28..bdf3f71597c4161fa9f9df02f34f61241ced4017 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -173,3 +173,11 @@ GSO30/grandfather/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/14_pcd.pl
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 GSO30/grandfather/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/5_pcd.ply filter=lfs diff=lfs merge=lfs -text
 GSO30/grandfather/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/combined_pcd.ply filter=lfs diff=lfs merge=lfs -text
+GSO30/grandmother/meshes/model.glb filter=lfs diff=lfs merge=lfs -text
+GSO30/grandmother/render_mvs_25/model_norm.glb filter=lfs diff=lfs merge=lfs -text
+GSO30/grandmother/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/11_pcd.ply filter=lfs diff=lfs merge=lfs -text
+GSO30/grandmother/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/12_pcd.ply filter=lfs diff=lfs merge=lfs -text
+GSO30/grandmother/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/13_pcd.ply filter=lfs diff=lfs merge=lfs -text
+GSO30/grandmother/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/14_pcd.ply filter=lfs diff=lfs merge=lfs -text
+GSO30/grandmother/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/15_pcd.ply filter=lfs diff=lfs merge=lfs -text
+GSO30/grandmother/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/combined_pcd.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/GSO30/grandmother/materials/textures/texture.png b/GSO30/grandmother/materials/textures/texture.png
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index 0000000000000000000000000000000000000000..e975545c98c7f7a8e411968ba7809d2187d1db9f
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diff --git a/GSO30/grandmother/meshes/model.glb b/GSO30/grandmother/meshes/model.glb
new file mode 100644
index 0000000000000000000000000000000000000000..66660b219a7e93bfb2f111d65dc8231df9cdf614
--- /dev/null
+++ b/GSO30/grandmother/meshes/model.glb
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diff --git a/GSO30/grandmother/meshes/model.mtl b/GSO30/grandmother/meshes/model.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6b8ec6d2159b72d8f090a4d79bd65e059ad17164
--- /dev/null
+++ b/GSO30/grandmother/meshes/model.mtl
@@ -0,0 +1,12 @@
+# Copyright 2020 Google LLC.
+# 
+# This work is licensed under the Creative Commons Attribution 4.0
+# International License. To view a copy of this license, visit
+# http://creativecommons.org/licenses/by/4.0/ or send a letter
+# to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
+newmtl material_0
+# shader_type beckmann
+map_Kd texture.png
+
+# Kd: Diffuse reflectivity.
+Kd 1.000000 1.000000 1.000000
diff --git a/GSO30/grandmother/meshes/model.obj b/GSO30/grandmother/meshes/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db25aa895e8ca6ccb5eb91a58bf6b916f27f1f8e
--- /dev/null
+++ b/GSO30/grandmother/meshes/model.obj
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+# Copyright 2020 Google LLC.
+# 
+# This work is licensed under the Creative Commons Attribution 4.0
+# International License. To view a copy of this license, visit
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diff --git a/GSO30/grandmother/meshes/texture.png b/GSO30/grandmother/meshes/texture.png
new file mode 100644
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--- /dev/null
+++ b/GSO30/grandmother/meshes/texture.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee2e7c591b8a27783435f9406378420a228eb92199446e21bfba379e191461c2
+size 10008188
diff --git a/GSO30/grandmother/metadata.pbtxt b/GSO30/grandmother/metadata.pbtxt
new file mode 100644
index 0000000000000000000000000000000000000000..feba5c62388c5bd722f2b20dd8b1f922bc0e2fd6
--- /dev/null
+++ b/GSO30/grandmother/metadata.pbtxt
@@ -0,0 +1,35 @@
+model {
+  file: "model.sdf"
+}
+name: "GRANDMOTHER"
+description: "GRANDMOTHER"
+version: 1
+authors {
+  name: "Google"
+  email: "scanned-objects@google.com"
+}
+legal {
+  copyright: "Copyright 2020 Google LLC."
+  license: "Creative Commons Attribution 4.0 International"
+}
+annotations {
+  key: "brand"
+  value: "PlanToys"
+}
+annotations {
+  key: "mpn"
+  value: "9851"
+}
+annotations {
+  key: "sku"
+  value: "0985101"
+}
+compatibilities {
+  name: "Gazebo"
+  version {
+    major: 11
+  }
+}
+categories {
+  first: "Toys"
+}
diff --git a/GSO30/grandmother/model.config b/GSO30/grandmother/model.config
new file mode 100644
index 0000000000000000000000000000000000000000..767ef0bb77967086f9e5fc5b5f093076b59eaba7
--- /dev/null
+++ b/GSO30/grandmother/model.config
@@ -0,0 +1,18 @@
+<!--
+Copyright 2020 Google LLC.
+
+This work is licensed under the Creative Commons Attribution 4.0
+International License. To view a copy of this license, visit
+http://creativecommons.org/licenses/by/4.0/ or send a letter
+to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
+-->
+<model>
+  <name>GRANDMOTHER</name>
+  <author>
+    <name>Google</name>
+    <email>scanned-objects@google.com</email>
+  </author>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+  <description>GRANDMOTHER</description>
+</model>
diff --git a/GSO30/grandmother/model.sdf b/GSO30/grandmother/model.sdf
new file mode 100644
index 0000000000000000000000000000000000000000..555be941c525262b55757f85244ff9c7f20b0a89
--- /dev/null
+++ b/GSO30/grandmother/model.sdf
@@ -0,0 +1,29 @@
+<?xml version="1.0" ?>
+<!--
+Copyright 2020 Google LLC.
+
+This work is licensed under the Creative Commons Attribution 4.0
+International License. To view a copy of this license, visit
+http://creativecommons.org/licenses/by/4.0/ or send a letter
+to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
+-->
+<sdf version="1.6">
+  <model name="GRANDMOTHER">
+    <link name="link_0">
+      <visual name="visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.obj</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="collision_0">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.obj</uri>
+          </mesh>
+        </geometry>
+      </collision>
+    </link>
+  </model>
+</sdf>
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+size 224
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diff --git a/GSO30/grandmother/render_spiral_100/da3_full100_da3chunk8_overlap2/camera_poses.txt b/GSO30/grandmother/render_spiral_100/da3_full100_da3chunk8_overlap2/camera_poses.txt
new file mode 100644
index 0000000000000000000000000000000000000000..222fb89d1c60d52551306e8f29c14abb6fc08d3a
--- /dev/null
+++ b/GSO30/grandmother/render_spiral_100/da3_full100_da3chunk8_overlap2/camera_poses.txt
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diff --git a/GSO30/grandmother/render_spiral_100/da3_full100_da3chunk8_overlap2/gpu_mem_trace.csv b/GSO30/grandmother/render_spiral_100/da3_full100_da3chunk8_overlap2/gpu_mem_trace.csv
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index 0000000000000000000000000000000000000000..3abccac20ecd73836fe25cefa3c93ce31ac44c6d
--- /dev/null
+++ b/GSO30/grandmother/render_spiral_100/da3_full100_da3chunk8_overlap2/gpu_mem_trace.csv
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diff --git a/GSO30/grandmother/render_spiral_100/da3_full100_da3chunk8_overlap2/intrinsic.txt b/GSO30/grandmother/render_spiral_100/da3_full100_da3chunk8_overlap2/intrinsic.txt
new file mode 100644
index 0000000000000000000000000000000000000000..814d7bba94c5e53dd6c1c7a89d6153553ad837d4
--- /dev/null
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diff --git a/GSO30/grandmother/render_spiral_100/da3_full100_da3chunk8_overlap2/official_da3_streaming_config_resolved.yaml b/GSO30/grandmother/render_spiral_100/da3_full100_da3chunk8_overlap2/official_da3_streaming_config_resolved.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..bf8c30d6356f311ac6d0050e440890237ecc6942
--- /dev/null
+++ b/GSO30/grandmother/render_spiral_100/da3_full100_da3chunk8_overlap2/official_da3_streaming_config_resolved.yaml
@@ -0,0 +1,44 @@
+Weights:
+  DA3: /root/autodl-tmp/zeyang/.cache/huggingface/hub/models--depth-anything--DA3NESTED-GIANT-LARGE/blobs/8899faf998dedbc230261ab736fa57015280727399429122d44d4f9e7aac2ddd
+  DA3_CONFIG: /root/autodl-tmp/zeyang/.cache/huggingface/hub/models--depth-anything--DA3NESTED-GIANT-LARGE/blobs/0c9ba5b7641a989502f845180f03b09c632f8f09
+  SALAD: ./weights/dino_salad.ckpt
+Model:
+  chunk_size: 8
+  overlap: 2
+  loop_chunk_size: 20
+  loop_enable: false
+  useDBoW: false
+  delete_temp_files: true
+  align_lib: triton
+  align_method: sim3
+  scale_compute_method: auto
+  align_type: dense
+  ref_view_strategy: saddle_balanced
+  ref_view_strategy_loop: saddle_balanced
+  depth_threshold: 15.0
+  save_depth_conf_result: true
+  save_debug_info: false
+  Sparse_Align:
+    keypoint_select: orb
+    keypoint_num: 5000
+  IRLS:
+    delta: 0.1
+    max_iters: 5
+    tol: 1e-9
+  Pointcloud_Save:
+    sample_ratio: 0.015
+    conf_threshold_coef: 0.75
+Loop:
+  SALAD:
+    image_size:
+    - 336
+    - 336
+    batch_size: 32
+    similarity_threshold: 0.85
+    top_k: 5
+    use_nms: true
+    nms_threshold: 25
+  SIM3_Optimizer:
+    lang_version: cpp
+    max_iterations: 30
+    lambda_init: 1e-6
diff --git a/GSO30/grandmother/render_spiral_100/da3_full100_da3chunk8_overlap2/official_da3_streaming_loop_disabled_shim.py b/GSO30/grandmother/render_spiral_100/da3_full100_da3chunk8_overlap2/official_da3_streaming_loop_disabled_shim.py
new file mode 100644
index 0000000000000000000000000000000000000000..9b234a3138419dad3f95c7fd424935187b75a6e7
--- /dev/null
+++ b/GSO30/grandmother/render_spiral_100/da3_full100_da3chunk8_overlap2/official_da3_streaming_loop_disabled_shim.py
@@ -0,0 +1,19 @@
+import runpy
+import sys
+import types
+DA3_ROOT = '/root/autodl-tmp/zeyang/projects/3d-vision/Depth-Anything-3'
+DA3_STREAMING_ROOT = '/root/autodl-tmp/zeyang/projects/3d-vision/Depth-Anything-3/da3_streaming'
+DA3_STREAMING_SCRIPT = '/root/autodl-tmp/zeyang/projects/3d-vision/Depth-Anything-3/da3_streaming/da3_streaming.py'
+if DA3_STREAMING_ROOT not in sys.path:
+    sys.path.insert(0, DA3_STREAMING_ROOT)
+da3_src = DA3_ROOT + '/src'
+if da3_src not in sys.path:
+    sys.path.insert(0, da3_src)
+stub = types.ModuleType('loop_utils.loop_detector')
+class LoopDetector:
+    def __init__(self, *args, **kwargs):
+        raise RuntimeError('LoopDetector should not be instantiated when loop_enable is disabled.')
+stub.LoopDetector = LoopDetector
+sys.modules['loop_utils.loop_detector'] = stub
+sys.argv[0] = DA3_STREAMING_SCRIPT
+runpy.run_path(DA3_STREAMING_SCRIPT, run_name='__main__')
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diff --git a/GSO30/grandmother/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/11_pcd.ply b/GSO30/grandmother/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/11_pcd.ply
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index 0000000000000000000000000000000000000000..47e09b7c0fa4ccfd823fefa7929686dd8a2daf3a
--- /dev/null
+++ b/GSO30/grandmother/render_spiral_100/mesh_alignment.json
@@ -0,0 +1,148 @@
+{
+  "object": "grandmother",
+  "target_set": "render_spiral_100",
+  "source_mesh": "/root/autodl-tmp/data/gso/GSO30/grandmother/render_mvs_25/model_norm.obj",
+  "source_mtl": "/root/autodl-tmp/data/gso/GSO30/grandmother/render_mvs_25/model_norm.mtl",
+  "output_mesh": "/root/autodl-tmp/data/gso/GSO30/grandmother/render_spiral_100/model_norm.obj",
+  "output_mtl": "/root/autodl-tmp/data/gso/GSO30/grandmother/render_spiral_100/model_norm.mtl",
+  "target_bbox_source": "/root/autodl-tmp/zeyang/projects/3d-vision/StreamingSAM3D/data/GSO30-Streaming/grandmother/render_spiral_100/model",
+  "base_axis_transform": [
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+      0.0
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+      0.0,
+      -1.0
+    ],
+    [
+      0.0,
+      1.0,
+      0.0
+    ]
+  ],
+  "sim3_convention": "V_refined = s * ((V_mvs @ T.T) @ R.T) + t",
+  "normal_convention": "VN_refined = normalize((VN_mvs @ T.T) @ R.T)",
+  "fit_config": {
+    "min_scale": 0.5,
+    "max_scale": 1.25,
+    "max_rotation_degrees": 12.0,
+    "max_translation": 0.08,
+    "center_weight": 4.0,
+    "size_weight": 1.0,
+    "rotation_regularizer": 0.01,
+    "translation_regularizer": 0.01,
+    "max_iterations": 300,
+    "ftol": 1e-10
+  },
+  "validation": {
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+    "max_size_err_max": 0.15,
+    "max_center_err_mean": 6.0,
+    "max_center_err_max": 16.0
+  },
+  "optimizer": {
+    "method": "SLSQP",
+    "success": true,
+    "message": "Optimization terminated successfully",
+    "iterations": 11,
+    "objective": 0.0011925215121519556,
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+        0.0,
+        0.0,
+        1.0
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+    "projected_views": 100,
+    "pass_views": 0,
+    "center_err_mean": 2.6090607247319664,
+    "center_err_max": 7.01831484651078,
+    "size_err_mean": 0.2718097177434526,
+    "size_err_max": 0.3217980452600895,
+    "pass_ratio": 0.0,
+    "passed": false
+  },
+  "after": {
+    "views": 100,
+    "projected_views": 100,
+    "pass_views": 100,
+    "center_err_mean": 2.062490586504974,
+    "center_err_max": 4.094388875888845,
+    "size_err_mean": 0.02358084216213898,
+    "size_err_max": 0.07056929803650536,
+    "pass_ratio": 1.0,
+    "passed": true
+  },
+  "per_view_alignment_metrics_csv": "/root/autodl-tmp/data/gso/GSO30/grandmother/render_spiral_100/per_view_alignment_metrics.csv",
+  "passed": true,
+  "acceptance": {
+    "accepted": true,
+    "strict_passed": true,
+    "outlier_waiver_applied": false,
+    "reason": "strict projection audit passed"
+  },
+  "dry_run_output_dir": "/root/autodl-tmp/zeyang/projects/3d-vision/StreamingSAM3D/scratch/gso30_model_norm_refit/grandmother/render_spiral_100",
+  "apply_target_root": "/root/autodl-tmp/data/gso/GSO30",
+  "backups": {
+    "model_norm.obj": "/root/autodl-tmp/zeyang/projects/3d-vision/StreamingSAM3D/scratch/gso30_model_norm_refit/backups/root__autodl-tmp__data__gso__GSO30/grandmother/render_spiral_100/model_norm.obj.51c15d1f757f.bak",
+    "model_norm.mtl": "/root/autodl-tmp/zeyang/projects/3d-vision/StreamingSAM3D/scratch/gso30_model_norm_refit/backups/root__autodl-tmp__data__gso__GSO30/grandmother/render_spiral_100/model_norm.mtl.7414628e9e72.bak"
+  }
+}
\ No newline at end of file
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diff --git a/GSO30/grandmother/render_spiral_100/per_view_alignment_metrics.csv b/GSO30/grandmother/render_spiral_100/per_view_alignment_metrics.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5736b112aec679d4a7ab90d09d1efc711e2d6bf8
--- /dev/null
+++ b/GSO30/grandmother/render_spiral_100/per_view_alignment_metrics.csv
@@ -0,0 +1,101 @@
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diff --git a/GSO30/grandmother/render_spiral_100/transforms.json b/GSO30/grandmother/render_spiral_100/transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c35afedb4f5234b29c10bfe93b724b9acbcf94f
--- /dev/null
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