diff --git a/.gitattributes b/.gitattributes
index 923d29e091fcb970685cd16b965a06516aae167e..8e77e881c8dd147d7e063e91ae9818e6616b92d3 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -409,3 +409,23 @@ GSO30/sofa/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/7_pcd.ply filter
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 GSO30/sofa/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/combined_pcd.ply filter=lfs diff=lfs merge=lfs -text
+GSO30/sorter/meshes/model.glb filter=lfs diff=lfs merge=lfs -text
+GSO30/sorter/render_mvs_25/model_norm.glb filter=lfs diff=lfs merge=lfs -text
+GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/0_pcd.ply filter=lfs diff=lfs merge=lfs -text
+GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/10_pcd.ply filter=lfs diff=lfs merge=lfs -text
+GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/11_pcd.ply filter=lfs diff=lfs merge=lfs -text
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diff --git a/GSO30/sorter/materials/textures/texture.png b/GSO30/sorter/materials/textures/texture.png
new file mode 100644
index 0000000000000000000000000000000000000000..57405ebe89fc20f7e58beefd0ee85326ae154022
--- /dev/null
+++ b/GSO30/sorter/materials/textures/texture.png
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diff --git a/GSO30/sorter/meshes/model.glb b/GSO30/sorter/meshes/model.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ed1d20b8b8082a9dfdad4cc3b051b0c68df7ce20
--- /dev/null
+++ b/GSO30/sorter/meshes/model.glb
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+version https://git-lfs.github.com/spec/v1
+oid sha256:dfac84b768932c1800f6973e13374fd2e42e4b5ff3c112995d473ef13444b4b6
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diff --git a/GSO30/sorter/meshes/model.mtl b/GSO30/sorter/meshes/model.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6b8ec6d2159b72d8f090a4d79bd65e059ad17164
--- /dev/null
+++ b/GSO30/sorter/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/sorter/meshes/model.obj b/GSO30/sorter/meshes/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99bda3fd08a573bcfed8844cb43566d3e72ac38e
--- /dev/null
+++ b/GSO30/sorter/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
+# http://creativecommons.org/licenses/by/4.0/ or send a letter
+# to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
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diff --git a/GSO30/sorter/meshes/texture.png b/GSO30/sorter/meshes/texture.png
new file mode 100644
index 0000000000000000000000000000000000000000..57405ebe89fc20f7e58beefd0ee85326ae154022
--- /dev/null
+++ b/GSO30/sorter/meshes/texture.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:419ecf225d8c390b1a2a956c57334e737576f4d85578abfcbfec88e244a470f9
+size 7238551
diff --git a/GSO30/sorter/metadata.pbtxt b/GSO30/sorter/metadata.pbtxt
new file mode 100644
index 0000000000000000000000000000000000000000..fe0c696edebbc13e70954f9e83d93972b2e574c5
--- /dev/null
+++ b/GSO30/sorter/metadata.pbtxt
@@ -0,0 +1,35 @@
+model {
+  file: "model.sdf"
+}
+name: "Poppin_File_Sorter_Blue"
+description: "Poppin File Sorter, Blue"
+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: "Poppin"
+}
+annotations {
+  key: "gtin"
+  value: "00846680026455"
+}
+annotations {
+  key: "sku"
+  value: "00846680026455"
+}
+compatibilities {
+  name: "Gazebo"
+  version {
+    major: 11
+  }
+}
+categories {
+  first: "Consumer Goods"
+}
diff --git a/GSO30/sorter/model.config b/GSO30/sorter/model.config
new file mode 100644
index 0000000000000000000000000000000000000000..af1342c1555d4d6d0d68f5780110400eabee3d79
--- /dev/null
+++ b/GSO30/sorter/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>Poppin_File_Sorter_Blue</name>
+  <author>
+    <name>Google</name>
+    <email>scanned-objects@google.com</email>
+  </author>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+  <description>Poppin File Sorter, Blue</description>
+</model>
diff --git a/GSO30/sorter/model.sdf b/GSO30/sorter/model.sdf
new file mode 100644
index 0000000000000000000000000000000000000000..72930edfd9847e40c7a35a0228ed229d9909bd0f
--- /dev/null
+++ b/GSO30/sorter/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="Poppin_File_Sorter_Blue">
+    <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>
diff --git a/GSO30/sorter/render_mvs_25/model/000.npy b/GSO30/sorter/render_mvs_25/model/000.npy
new file mode 100644
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--- /dev/null
+++ b/GSO30/sorter/render_mvs_25/model/000.npy
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+size 224
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--- /dev/null
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@@ -0,0 +1,3 @@
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+size 243037
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diff --git a/GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/camera_poses.ply b/GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/camera_poses.ply
new file mode 100644
index 0000000000000000000000000000000000000000..81802dd5d4c73a6b6362e59d8db1498112cb282f
--- /dev/null
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diff --git a/GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/camera_poses.txt b/GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/camera_poses.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bc819e5eae366fb373028a2be2e5775406184b8b
--- /dev/null
+++ b/GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/camera_poses.txt
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diff --git a/GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/gpu_mem_trace.csv b/GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/gpu_mem_trace.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1fabf21292d55fd27417f687617e1aa60e064883
--- /dev/null
+++ b/GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/gpu_mem_trace.csv
@@ -0,0 +1,52 @@
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diff --git a/GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/intrinsic.txt b/GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/intrinsic.txt
new file mode 100644
index 0000000000000000000000000000000000000000..514e725206e9e52f3fb1235f639b1b9e18563532
--- /dev/null
+++ b/GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/intrinsic.txt
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diff --git a/GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/official_da3_streaming_config_resolved.yaml b/GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/official_da3_streaming_config_resolved.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..bf8c30d6356f311ac6d0050e440890237ecc6942
--- /dev/null
+++ b/GSO30/sorter/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/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/official_da3_streaming_loop_disabled_shim.py b/GSO30/sorter/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/sorter/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__')
diff --git a/GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/0_pcd.ply b/GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/0_pcd.ply
new file mode 100644
index 0000000000000000000000000000000000000000..7b584f045d594b39ca2bb1e0f6dfdaad70c7a5ce
--- /dev/null
+++ b/GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/0_pcd.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 145033
diff --git a/GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/10_pcd.ply b/GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/10_pcd.ply
new file mode 100644
index 0000000000000000000000000000000000000000..b8752a2d5ca80000e7cbe3e6f97eae6a098567b0
--- /dev/null
+++ b/GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/10_pcd.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/11_pcd.ply b/GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/11_pcd.ply
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index 0000000000000000000000000000000000000000..dc54524e35ffb50d9fba29083b16a5a2c9bd6c70
--- /dev/null
+++ b/GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/11_pcd.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/12_pcd.ply b/GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/12_pcd.ply
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index 0000000000000000000000000000000000000000..9767d948fa5c578f5998602c614307781636d9a8
--- /dev/null
+++ b/GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/12_pcd.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/13_pcd.ply b/GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/13_pcd.ply
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+++ b/GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/13_pcd.ply
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diff --git a/GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/14_pcd.ply b/GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/14_pcd.ply
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diff --git a/GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/15_pcd.ply b/GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/15_pcd.ply
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+++ b/GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/15_pcd.ply
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diff --git a/GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/16_pcd.ply b/GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/16_pcd.ply
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diff --git a/GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/1_pcd.ply b/GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/1_pcd.ply
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diff --git a/GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/2_pcd.ply b/GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/2_pcd.ply
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@@ -0,0 +1,3 @@
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diff --git a/GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/3_pcd.ply b/GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/3_pcd.ply
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diff --git a/GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/4_pcd.ply b/GSO30/sorter/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/4_pcd.ply
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+  "apply_target_root": "/root/autodl-tmp/data/gso/GSO30",
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+}
\ No newline at end of file
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diff --git a/GSO30/sorter/render_spiral_100/per_view_alignment_metrics.csv b/GSO30/sorter/render_spiral_100/per_view_alignment_metrics.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5b9cfefce33aac452a5b9a44510776b020073359
--- /dev/null
+++ b/GSO30/sorter/render_spiral_100/per_view_alignment_metrics.csv
@@ -0,0 +1,101 @@
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diff --git a/GSO30/sorter/render_spiral_100/transforms.json b/GSO30/sorter/render_spiral_100/transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..9bed2c4505bf09dc972ba2815d740354e7a92ada
--- /dev/null
+++ b/GSO30/sorter/render_spiral_100/transforms.json
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