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diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114022/932122062010/annotation/object/ycb_11/metainfo.json b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114022/932122062010/annotation/object/ycb_11/metainfo.json
new file mode 100644
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+{
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+  "identity_scope": "sequence",
+  "scope_id": "20201022-subject-10_20201022_114022",
+  "source_locator": {
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+    "member": "20201022-subject-10/20201022_114022/meta.yml",
+    "sha256": "b6a2d195193d5f102df29aa6a70e6b0fe9826c9b5c6c3de962a69ebfe53d23c9"
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+  "source_object_id": 11,
+  "category_id": 11,
+  "mesh_ref": "annotation/object/ycb_11/assets/textured_simple.obj"
+}
diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114022/932122062010/annotation/object/ycb_11/pose.pt b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114022/932122062010/annotation/object/ycb_11/pose.pt
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diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114022/932122062010/annotation/object/ycb_11/pose_valid.pt b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114022/932122062010/annotation/object/ycb_11/pose_valid.pt
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diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114022/932122062010/annotation/object/ycb_16/assets/textured_simple.obj b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114022/932122062010/annotation/object/ycb_16/assets/textured_simple.obj
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+#
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+#
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+#
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+{
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+  "identity_scope": "sequence",
+  "scope_id": "20201022-subject-10_20201022_114022",
+  "source_locator": {
+    "file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz",
+    "member": "20201022-subject-10/20201022_114022/meta.yml",
+    "sha256": "b6a2d195193d5f102df29aa6a70e6b0fe9826c9b5c6c3de962a69ebfe53d23c9"
+  },
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+  "source_object_id": 16,
+  "category_id": 16,
+  "mesh_ref": "annotation/object/ycb_16/assets/textured_simple.obj"
+}
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+# 15728 faces, 8291 coords texture
+
+# End of File
\ No newline at end of file
diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/836212060125/annotation/object/ycb_02/assets/textured_simple.obj.mtl b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/836212060125/annotation/object/ycb_02/assets/textured_simple.obj.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8dfc1f64e19f8c6971e5dce7fb2acb31a4c9c239
--- /dev/null
+++ b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/836212060125/annotation/object/ycb_02/assets/textured_simple.obj.mtl
@@ -0,0 +1,14 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
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diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/836212060125/annotation/object/ycb_12/metainfo.json b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/836212060125/annotation/object/ycb_12/metainfo.json
new file mode 100644
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+}
diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/836212060125/annotation/object/ycb_12/pose.pt b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/836212060125/annotation/object/ycb_12/pose.pt
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+f 7763/8819/7763 7819/8828/7819 7815/8824/7815
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+vt 0.183310 0.853355
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+vt 0.695853 0.352172
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+f 7821/8872/7821 7818/8860/7818 7819/8869/7819
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+f 7700/8745/7700 7814/8862/7814 7822/8873/7822
+f 7701/8744/7701 7700/8745/7700 7822/8873/7822
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+f 7833/8864/7833 7823/8874/7823 7814/8862/7814
+vt 0.192524 0.852990
+f 7824/8875/7824 7796/8846/7796 7828/8852/7828
+vt 0.708156 0.352197
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+vt 0.189008 0.852860
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+vt 0.711433 0.352192
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+vt 0.716179 0.356025
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+f 7713/8746/7713 7825/8879/7825 7826/8759/7826
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+vt 0.201889 0.852168
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+vt 0.199321 0.853304
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+vt 0.214582 0.852870
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+vt 0.729239 0.352349
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+vt 0.726327 0.351712
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+f 7836/8894/7836 7837/8893/7837 7826/8759/7826
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+vt 0.732010 0.351581
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+f 7836/8890/7836 7835/8853/7835 7837/8892/7837
+vt 0.221604 0.852041
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+vt 0.220022 0.853168
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+vt 0.048917 0.842164
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+vt 0.043577 0.843635
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+vt 0.048484 0.849633
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+vt 0.054368 0.847567
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+f 7851/8903/7851 6840/7825/6840 7852/8901/7852
+vt 0.043750 0.853711
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+vt 0.046829 0.854061
+f 7851/8903/7851 7859/8906/7859 7853/8905/7853
+f 7849/8900/7849 7855/8902/7855 7854/8904/7854
+vt 0.059460 0.848175
+f 7854/8904/7854 7855/8902/7855 7856/8907/7856
+f 7856/8907/7856 7855/8902/7855 7864/8485/7864
+vt 0.055023 0.853370
+f 7857/8908/7857 7854/8904/7854 7856/8907/7856
+vt 0.057827 0.853845
+f 7857/8908/7857 7856/8907/7856 7863/8909/7863
+f 7866/8509/7866 7856/8907/7856 7864/8485/7864
+vt 0.062528 0.853975
+f 7856/8907/7856 7866/8509/7866 7865/8910/7865
+f 7851/8903/7851 7854/8904/7854 7857/8908/7857
+vt 0.051479 0.854063
+f 7860/8911/7860 7851/8903/7851 7857/8908/7857
+f 7858/7830/7858 7478/8501/7478 6844/7767/6844
+vt 0.574015 0.356280
+vt 0.569504 0.357317
+f 7860/8912/7860 7858/7830/7858 7859/8913/7859
+vt 0.578268 0.358080
+f 7478/8501/7478 7858/7830/7858 7862/8914/7862
+f 7860/8912/7860 7862/8914/7862 7858/7830/7858
+vt 0.565937 0.357295
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+f 7853/8915/7853 7859/8913/7859 7858/7830/7858
+f 7860/8911/7860 7859/8906/7859 7851/8903/7851
+f 7861/8502/7861 7478/8501/7478 7862/8914/7862
+vt 0.577168 0.355707
+vt 0.579804 0.355852
+f 7862/8914/7862 7857/8916/7857 7863/8917/7863
+vt 0.584379 0.356143
+f 7861/8502/7861 7862/8914/7862 7865/8918/7865
+f 7865/8918/7865 7862/8914/7862 7863/8917/7863
+f 7865/8910/7865 7863/8909/7863 7856/8907/7856
+f 7860/8912/7860 7857/8916/7857 7862/8914/7862
+f 7866/8509/7866 7864/8485/7864 7482/8506/7482
+vt 0.067581 0.854230
+f 7866/8509/7866 7487/8919/7487 7865/8910/7865
+f 7866/8509/7866 7483/8508/7483 7487/8919/7487
+f 7865/8918/7865 7487/8513/7487 7861/8502/7861
+vt 0.071522 0.854098
+f 7487/8919/7487 7483/8508/7483 7488/8920/7488
+f 7483/8508/7483 7489/8514/7489 7488/8920/7488
+# 15728 faces, 8920 coords texture
+
+# End of File
\ No newline at end of file
diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/836212060125/annotation/object/ycb_16/assets/textured_simple.obj.mtl b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/836212060125/annotation/object/ycb_16/assets/textured_simple.obj.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8dfc1f64e19f8c6971e5dce7fb2acb31a4c9c239
--- /dev/null
+++ b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/836212060125/annotation/object/ycb_16/assets/textured_simple.obj.mtl
@@ -0,0 +1,14 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.639216 0.639216 0.639216
+Ks 1.000000 1.000000 1.000000
+Tr 1.000000
+illum 2
+Ns 0.000000
+map_Kd texture_map.png
+
diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/836212060125/annotation/object/ycb_16/metainfo.json b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/836212060125/annotation/object/ycb_16/metainfo.json
new file mode 100644
index 0000000000000000000000000000000000000000..930bf6e52b8e7b84f8e7a2a78ef1413dcca2460f
--- /dev/null
+++ b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/836212060125/annotation/object/ycb_16/metainfo.json
@@ -0,0 +1,14 @@
+{
+  "object_id": "ycb_16",
+  "identity_scope": "sequence",
+  "scope_id": "20201022-subject-10_20201022_114045",
+  "source_locator": {
+    "file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz",
+    "member": "20201022-subject-10/20201022_114045/meta.yml",
+    "sha256": "62c6417e809307afe35eda9c5956b5aa247a0bbb8557ba2e852b88e9519a4bad"
+  },
+  "has_model": true,
+  "source_object_id": 16,
+  "category_id": 16,
+  "mesh_ref": "annotation/object/ycb_16/assets/textured_simple.obj"
+}
diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/836212060125/annotation/object/ycb_16/pose.pt b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/836212060125/annotation/object/ycb_16/pose.pt
new file mode 100644
index 0000000000000000000000000000000000000000..77ef6126e26d5be47c125fd083b37d5bea82f6f3
--- /dev/null
+++ b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/836212060125/annotation/object/ycb_16/pose.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a01c241945db7b46abed67eddae1d4b3b5e05be69164e2d0c091db19c494de9
+size 6228
diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/836212060125/annotation/object/ycb_16/pose_valid.pt b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/836212060125/annotation/object/ycb_16/pose_valid.pt
new file mode 100644
index 0000000000000000000000000000000000000000..842be6751b97c9edb3be0f1a4c66166611b96168
--- /dev/null
+++ b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/836212060125/annotation/object/ycb_16/pose_valid.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:180404b36abc6ee51f1f053547ff32fc55122fe76b03a844896318c42969c2a8
+size 1662
diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/836212060125/annotation/segment/instances.jsonl b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/836212060125/annotation/segment/instances.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f4d50b85fc8393d7a6b26e2d977c8cea85a0d5e4
--- /dev/null
+++ b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/836212060125/annotation/segment/instances.jsonl
@@ -0,0 +1,74 @@
+{"frame_index": 0, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 12, "category_id": 12, "entity_id": "ycb_12", "part_id": null, "source_instance_id": 12}, {"mask_value": 16, "category_id": 16, "entity_id": "ycb_16", "part_id": null, "source_instance_id": 16}]}
+{"frame_index": 1, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 12, "category_id": 12, "entity_id": "ycb_12", "part_id": null, "source_instance_id": 12}, {"mask_value": 16, "category_id": 16, "entity_id": "ycb_16", "part_id": null, "source_instance_id": 16}]}
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+{"frame_index": 8, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 12, "category_id": 12, "entity_id": "ycb_12", "part_id": null, "source_instance_id": 12}, {"mask_value": 16, "category_id": 16, "entity_id": "ycb_16", "part_id": null, "source_instance_id": 16}]}
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+}
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diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/839512060362/annotation/object/ycb_03/metainfo.json b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/839512060362/annotation/object/ycb_03/metainfo.json
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+  "source_locator": {
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+}
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diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/839512060362/annotation/object/ycb_12/metainfo.json b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/839512060362/annotation/object/ycb_12/metainfo.json
new file mode 100644
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+{
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+  "identity_scope": "sequence",
+  "scope_id": "20201022-subject-10_20201022_114045",
+  "source_locator": {
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+    "member": "20201022-subject-10/20201022_114045/meta.yml",
+    "sha256": "62c6417e809307afe35eda9c5956b5aa247a0bbb8557ba2e852b88e9519a4bad"
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+  "category_id": 12,
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+}
diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/839512060362/annotation/object/ycb_12/pose.pt b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/839512060362/annotation/object/ycb_12/pose.pt
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+# End of File
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diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/839512060362/annotation/object/ycb_16/assets/textured_simple.obj.mtl b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/839512060362/annotation/object/ycb_16/assets/textured_simple.obj.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8dfc1f64e19f8c6971e5dce7fb2acb31a4c9c239
--- /dev/null
+++ b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/839512060362/annotation/object/ycb_16/assets/textured_simple.obj.mtl
@@ -0,0 +1,14 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.639216 0.639216 0.639216
+Ks 1.000000 1.000000 1.000000
+Tr 1.000000
+illum 2
+Ns 0.000000
+map_Kd texture_map.png
+
diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/839512060362/annotation/object/ycb_16/metainfo.json b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/839512060362/annotation/object/ycb_16/metainfo.json
new file mode 100644
index 0000000000000000000000000000000000000000..930bf6e52b8e7b84f8e7a2a78ef1413dcca2460f
--- /dev/null
+++ b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/839512060362/annotation/object/ycb_16/metainfo.json
@@ -0,0 +1,14 @@
+{
+  "object_id": "ycb_16",
+  "identity_scope": "sequence",
+  "scope_id": "20201022-subject-10_20201022_114045",
+  "source_locator": {
+    "file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz",
+    "member": "20201022-subject-10/20201022_114045/meta.yml",
+    "sha256": "62c6417e809307afe35eda9c5956b5aa247a0bbb8557ba2e852b88e9519a4bad"
+  },
+  "has_model": true,
+  "source_object_id": 16,
+  "category_id": 16,
+  "mesh_ref": "annotation/object/ycb_16/assets/textured_simple.obj"
+}
diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/839512060362/annotation/object/ycb_16/pose.pt b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/839512060362/annotation/object/ycb_16/pose.pt
new file mode 100644
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
+oid sha256:edc18121e7b5e39e97ddac7820c952f82a95fa71d6722c5415df0f120ef11649
+size 6228
diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/839512060362/annotation/object/ycb_16/pose_valid.pt b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/839512060362/annotation/object/ycb_16/pose_valid.pt
new file mode 100644
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--- /dev/null
+++ b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/839512060362/annotation/object/ycb_16/pose_valid.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:180404b36abc6ee51f1f053547ff32fc55122fe76b03a844896318c42969c2a8
+size 1662
diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/839512060362/annotation/segment/instances.jsonl b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/839512060362/annotation/segment/instances.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d45a09c9bf10bb14dec3e19ea09520db84da1a7b
--- /dev/null
+++ b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/839512060362/annotation/segment/instances.jsonl
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+{"frame_index": 0, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 12, "category_id": 12, "entity_id": "ycb_12", "part_id": null, "source_instance_id": 12}, {"mask_value": 16, "category_id": 16, "entity_id": "ycb_16", "part_id": null, "source_instance_id": 16}]}
+{"frame_index": 1, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 12, "category_id": 12, "entity_id": "ycb_12", "part_id": null, "source_instance_id": 12}, {"mask_value": 16, "category_id": 16, "entity_id": "ycb_16", "part_id": null, "source_instance_id": 16}]}
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diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/840412060917/annotation/object/ycb_03/metainfo.json b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/840412060917/annotation/object/ycb_03/metainfo.json
new file mode 100644
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+{
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+  "identity_scope": "sequence",
+  "scope_id": "20201022-subject-10_20201022_114045",
+  "source_locator": {
+    "file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz",
+    "member": "20201022-subject-10/20201022_114045/meta.yml",
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+  },
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+  "source_object_id": 3,
+  "category_id": 3,
+  "mesh_ref": "annotation/object/ycb_03/assets/textured_simple.obj"
+}
diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/840412060917/annotation/object/ycb_03/pose.pt b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/840412060917/annotation/object/ycb_03/pose.pt
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diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/840412060917/annotation/object/ycb_03/pose_valid.pt b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/840412060917/annotation/object/ycb_03/pose_valid.pt
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diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/840412060917/annotation/object/ycb_12/assets/textured_simple.obj b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/840412060917/annotation/object/ycb_12/assets/textured_simple.obj
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+#
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diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/840412060917/annotation/object/ycb_12/metainfo.json b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/840412060917/annotation/object/ycb_12/metainfo.json
new file mode 100644
index 0000000000000000000000000000000000000000..a335a91a7be87d9ead547acdd877d6f968170992
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+{
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+  "identity_scope": "sequence",
+  "scope_id": "20201022-subject-10_20201022_114045",
+  "source_locator": {
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+    "member": "20201022-subject-10/20201022_114045/meta.yml",
+    "sha256": "62c6417e809307afe35eda9c5956b5aa247a0bbb8557ba2e852b88e9519a4bad"
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+  "category_id": 12,
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+}
diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/840412060917/annotation/object/ycb_12/pose.pt b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/840412060917/annotation/object/ycb_12/pose.pt
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diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/840412060917/annotation/object/ycb_16/assets/textured_simple.obj.mtl b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/840412060917/annotation/object/ycb_16/assets/textured_simple.obj.mtl
new file mode 100644
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+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
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+
diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/840412060917/annotation/object/ycb_16/metainfo.json b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/840412060917/annotation/object/ycb_16/metainfo.json
new file mode 100644
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--- /dev/null
+++ b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/840412060917/annotation/object/ycb_16/metainfo.json
@@ -0,0 +1,14 @@
+{
+  "object_id": "ycb_16",
+  "identity_scope": "sequence",
+  "scope_id": "20201022-subject-10_20201022_114045",
+  "source_locator": {
+    "file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz",
+    "member": "20201022-subject-10/20201022_114045/meta.yml",
+    "sha256": "62c6417e809307afe35eda9c5956b5aa247a0bbb8557ba2e852b88e9519a4bad"
+  },
+  "has_model": true,
+  "source_object_id": 16,
+  "category_id": 16,
+  "mesh_ref": "annotation/object/ycb_16/assets/textured_simple.obj"
+}
diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/840412060917/annotation/object/ycb_16/pose.pt b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/840412060917/annotation/object/ycb_16/pose.pt
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/840412060917/annotation/object/ycb_16/pose_valid.pt b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/840412060917/annotation/object/ycb_16/pose_valid.pt
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
+oid sha256:180404b36abc6ee51f1f053547ff32fc55122fe76b03a844896318c42969c2a8
+size 1662
diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/840412060917/annotation/segment/instances.jsonl b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/840412060917/annotation/segment/instances.jsonl
new file mode 100644
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+++ b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/840412060917/annotation/segment/instances.jsonl
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+
+# End of File
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diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/841412060263/annotation/object/ycb_02/assets/textured_simple.obj.mtl b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/841412060263/annotation/object/ycb_02/assets/textured_simple.obj.mtl
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+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
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+Ks 1.000000 1.000000 1.000000
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+
diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/841412060263/annotation/object/ycb_02/metainfo.json b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/841412060263/annotation/object/ycb_02/metainfo.json
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,14 @@
+{
+  "object_id": "ycb_02",
+  "identity_scope": "sequence",
+  "scope_id": "20201022-subject-10_20201022_114045",
+  "source_locator": {
+    "file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz",
+    "member": "20201022-subject-10/20201022_114045/meta.yml",
+    "sha256": "62c6417e809307afe35eda9c5956b5aa247a0bbb8557ba2e852b88e9519a4bad"
+  },
+  "has_model": true,
+  "source_object_id": 2,
+  "category_id": 2,
+  "mesh_ref": "annotation/object/ycb_02/assets/textured_simple.obj"
+}
diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/841412060263/annotation/object/ycb_02/pose.pt b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/841412060263/annotation/object/ycb_02/pose.pt
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/841412060263/annotation/object/ycb_02/pose_valid.pt b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/841412060263/annotation/object/ycb_02/pose_valid.pt
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/841412060263/annotation/object/ycb_03/assets/texture_map.png b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/841412060263/annotation/object/ycb_03/assets/texture_map.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/841412060263/annotation/object/ycb_03/assets/textured_simple.obj b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/841412060263/annotation/object/ycb_03/assets/textured_simple.obj
new file mode 100644
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+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object textured_simple.obj
+#
+# Vertices: 7866
+# Faces: 15728
+#
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+
+# End of File
\ No newline at end of file
diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/841412060263/annotation/object/ycb_12/assets/textured_simple.obj.mtl b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/841412060263/annotation/object/ycb_12/assets/textured_simple.obj.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8dfc1f64e19f8c6971e5dce7fb2acb31a4c9c239
--- /dev/null
+++ b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/841412060263/annotation/object/ycb_12/assets/textured_simple.obj.mtl
@@ -0,0 +1,14 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
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+f 7837/8893/7837 7841/8768/7841 7715/8758/7715
+vt 0.732010 0.351581
+f 7838/8895/7838 7841/8768/7841 7837/8893/7837
+f 7836/8890/7836 7835/8853/7835 7837/8892/7837
+vt 0.221604 0.852041
+f 7838/8891/7838 7840/8854/7840 7719/8896/7719
+vt 0.220022 0.853168
+f 7841/8897/7841 7838/8891/7838 7719/8896/7719
+f 7843/7792/7843 4642/5394/4642 7842/6786/7842
+f 7842/6786/7842 7456/6789/7456 7843/7792/7843
+f 7843/7792/7843 7456/6789/7456 7847/8477/7847
+vt 0.042398 0.831554
+f 7843/7792/7843 7845/8898/7845 6817/7793/6817
+f 7845/8898/7845 7843/7792/7843 7847/8477/7847
+f 7846/7797/7846 6817/7793/6817 7845/8898/7845
+f 7845/8898/7845 7847/8477/7847 7846/7797/7846
+vt 0.048724 0.836904
+f 7847/8477/7847 7848/8899/7848 7846/7797/7846
+f 7848/8899/7848 7847/8477/7847 7844/8480/7844
+vt 0.048917 0.842164
+f 7849/8900/7849 7846/7797/7846 7848/8899/7848
+vt 0.043577 0.843635
+f 7849/8900/7849 7852/8901/7852 7846/7797/7846
+f 7849/8900/7849 7848/8899/7848 7850/8483/7850
+f 7852/8901/7852 6820/7799/6820 7846/7797/7846
+f 6838/7823/6838 6820/7799/6820 7852/8901/7852
+f 7848/8899/7848 7844/8480/7844 7850/8483/7850
+vt 0.056317 0.841951
+f 7849/8900/7849 7850/8483/7850 7855/8902/7855
+f 7855/8902/7855 7850/8483/7850 7864/8485/7864
+vt 0.048484 0.849633
+f 7851/8903/7851 7852/8901/7852 7849/8900/7849
+vt 0.054368 0.847567
+f 7854/8904/7854 7851/8903/7851 7849/8900/7849
+f 6838/7823/6838 7852/8901/7852 6840/7825/6840
+f 7851/8903/7851 6840/7825/6840 7852/8901/7852
+vt 0.043750 0.853711
+f 7851/8903/7851 7853/8905/7853 6840/7825/6840
+vt 0.046829 0.854061
+f 7851/8903/7851 7859/8906/7859 7853/8905/7853
+f 7849/8900/7849 7855/8902/7855 7854/8904/7854
+vt 0.059460 0.848175
+f 7854/8904/7854 7855/8902/7855 7856/8907/7856
+f 7856/8907/7856 7855/8902/7855 7864/8485/7864
+vt 0.055023 0.853370
+f 7857/8908/7857 7854/8904/7854 7856/8907/7856
+vt 0.057827 0.853845
+f 7857/8908/7857 7856/8907/7856 7863/8909/7863
+f 7866/8509/7866 7856/8907/7856 7864/8485/7864
+vt 0.062528 0.853975
+f 7856/8907/7856 7866/8509/7866 7865/8910/7865
+f 7851/8903/7851 7854/8904/7854 7857/8908/7857
+vt 0.051479 0.854063
+f 7860/8911/7860 7851/8903/7851 7857/8908/7857
+f 7858/7830/7858 7478/8501/7478 6844/7767/6844
+vt 0.574015 0.356280
+vt 0.569504 0.357317
+f 7860/8912/7860 7858/7830/7858 7859/8913/7859
+vt 0.578268 0.358080
+f 7478/8501/7478 7858/7830/7858 7862/8914/7862
+f 7860/8912/7860 7862/8914/7862 7858/7830/7858
+vt 0.565937 0.357295
+f 7858/7830/7858 6840/7828/6840 7853/8915/7853
+f 7853/8915/7853 7859/8913/7859 7858/7830/7858
+f 7860/8911/7860 7859/8906/7859 7851/8903/7851
+f 7861/8502/7861 7478/8501/7478 7862/8914/7862
+vt 0.577168 0.355707
+vt 0.579804 0.355852
+f 7862/8914/7862 7857/8916/7857 7863/8917/7863
+vt 0.584379 0.356143
+f 7861/8502/7861 7862/8914/7862 7865/8918/7865
+f 7865/8918/7865 7862/8914/7862 7863/8917/7863
+f 7865/8910/7865 7863/8909/7863 7856/8907/7856
+f 7860/8912/7860 7857/8916/7857 7862/8914/7862
+f 7866/8509/7866 7864/8485/7864 7482/8506/7482
+vt 0.067581 0.854230
+f 7866/8509/7866 7487/8919/7487 7865/8910/7865
+f 7866/8509/7866 7483/8508/7483 7487/8919/7487
+f 7865/8918/7865 7487/8513/7487 7861/8502/7861
+vt 0.071522 0.854098
+f 7487/8919/7487 7483/8508/7483 7488/8920/7488
+f 7483/8508/7483 7489/8514/7489 7488/8920/7488
+# 15728 faces, 8920 coords texture
+
+# End of File
\ No newline at end of file
diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/841412060263/annotation/object/ycb_16/assets/textured_simple.obj.mtl b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/841412060263/annotation/object/ycb_16/assets/textured_simple.obj.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8dfc1f64e19f8c6971e5dce7fb2acb31a4c9c239
--- /dev/null
+++ b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/841412060263/annotation/object/ycb_16/assets/textured_simple.obj.mtl
@@ -0,0 +1,14 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.639216 0.639216 0.639216
+Ks 1.000000 1.000000 1.000000
+Tr 1.000000
+illum 2
+Ns 0.000000
+map_Kd texture_map.png
+
diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/841412060263/annotation/object/ycb_16/metainfo.json b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/841412060263/annotation/object/ycb_16/metainfo.json
new file mode 100644
index 0000000000000000000000000000000000000000..930bf6e52b8e7b84f8e7a2a78ef1413dcca2460f
--- /dev/null
+++ b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/841412060263/annotation/object/ycb_16/metainfo.json
@@ -0,0 +1,14 @@
+{
+  "object_id": "ycb_16",
+  "identity_scope": "sequence",
+  "scope_id": "20201022-subject-10_20201022_114045",
+  "source_locator": {
+    "file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz",
+    "member": "20201022-subject-10/20201022_114045/meta.yml",
+    "sha256": "62c6417e809307afe35eda9c5956b5aa247a0bbb8557ba2e852b88e9519a4bad"
+  },
+  "has_model": true,
+  "source_object_id": 16,
+  "category_id": 16,
+  "mesh_ref": "annotation/object/ycb_16/assets/textured_simple.obj"
+}
diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/841412060263/annotation/object/ycb_16/pose.pt b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/841412060263/annotation/object/ycb_16/pose.pt
new file mode 100644
index 0000000000000000000000000000000000000000..950baa5f0f2e1c76230a2b770ecf328b34c7be02
--- /dev/null
+++ b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/841412060263/annotation/object/ycb_16/pose.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4dff2841bd0d9f434173521332b8df3a6630b8d3cabf9613c836c8668a610dc
+size 6228
diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/841412060263/annotation/object/ycb_16/pose_valid.pt b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/841412060263/annotation/object/ycb_16/pose_valid.pt
new file mode 100644
index 0000000000000000000000000000000000000000..842be6751b97c9edb3be0f1a4c66166611b96168
--- /dev/null
+++ b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/841412060263/annotation/object/ycb_16/pose_valid.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:180404b36abc6ee51f1f053547ff32fc55122fe76b03a844896318c42969c2a8
+size 1662
diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/841412060263/annotation/segment/instances.jsonl b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/841412060263/annotation/segment/instances.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b82993d92855f925cd681a68cce179d5996f812d
--- /dev/null
+++ b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/841412060263/annotation/segment/instances.jsonl
@@ -0,0 +1,74 @@
+{"frame_index": 0, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 12, "category_id": 12, "entity_id": "ycb_12", "part_id": null, "source_instance_id": 12}, {"mask_value": 16, "category_id": 16, "entity_id": "ycb_16", "part_id": null, "source_instance_id": 16}]}
+{"frame_index": 1, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 12, "category_id": 12, "entity_id": "ycb_12", "part_id": null, "source_instance_id": 12}, {"mask_value": 16, "category_id": 16, "entity_id": "ycb_16", "part_id": null, "source_instance_id": 16}]}
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+{"frame_index": 6, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 12, "category_id": 12, "entity_id": "ycb_12", "part_id": null, "source_instance_id": 12}, {"mask_value": 16, "category_id": 16, "entity_id": "ycb_16", "part_id": null, "source_instance_id": 16}]}
+{"frame_index": 7, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 12, "category_id": 12, "entity_id": "ycb_12", "part_id": null, "source_instance_id": 12}, {"mask_value": 16, "category_id": 16, "entity_id": "ycb_16", "part_id": null, "source_instance_id": 16}]}
+{"frame_index": 8, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 12, "category_id": 12, "entity_id": "ycb_12", "part_id": null, "source_instance_id": 12}, {"mask_value": 16, "category_id": 16, "entity_id": "ycb_16", "part_id": null, "source_instance_id": 16}]}
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+{"frame_index": 13, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 12, "category_id": 12, "entity_id": "ycb_12", "part_id": null, "source_instance_id": 12}, {"mask_value": 16, "category_id": 16, "entity_id": "ycb_16", "part_id": null, "source_instance_id": 16}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_left", "part_id": null, "source_instance_id": 255}]}
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new file mode 100644
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diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/932122060857/annotation/object/ycb_02/pose.pt b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/932122060857/annotation/object/ycb_02/pose.pt
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+# 15728 faces, 8920 coords texture
+
+# End of File
\ No newline at end of file
diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/932122060857/annotation/object/ycb_16/assets/textured_simple.obj.mtl b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/932122060857/annotation/object/ycb_16/assets/textured_simple.obj.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8dfc1f64e19f8c6971e5dce7fb2acb31a4c9c239
--- /dev/null
+++ b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/932122060857/annotation/object/ycb_16/assets/textured_simple.obj.mtl
@@ -0,0 +1,14 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.639216 0.639216 0.639216
+Ks 1.000000 1.000000 1.000000
+Tr 1.000000
+illum 2
+Ns 0.000000
+map_Kd texture_map.png
+
diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/932122060857/annotation/object/ycb_16/metainfo.json b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/932122060857/annotation/object/ycb_16/metainfo.json
new file mode 100644
index 0000000000000000000000000000000000000000..930bf6e52b8e7b84f8e7a2a78ef1413dcca2460f
--- /dev/null
+++ b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/932122060857/annotation/object/ycb_16/metainfo.json
@@ -0,0 +1,14 @@
+{
+  "object_id": "ycb_16",
+  "identity_scope": "sequence",
+  "scope_id": "20201022-subject-10_20201022_114045",
+  "source_locator": {
+    "file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz",
+    "member": "20201022-subject-10/20201022_114045/meta.yml",
+    "sha256": "62c6417e809307afe35eda9c5956b5aa247a0bbb8557ba2e852b88e9519a4bad"
+  },
+  "has_model": true,
+  "source_object_id": 16,
+  "category_id": 16,
+  "mesh_ref": "annotation/object/ycb_16/assets/textured_simple.obj"
+}
diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/932122060857/annotation/object/ycb_16/pose.pt b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/932122060857/annotation/object/ycb_16/pose.pt
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c2c057ab293760e1a8e885a9d2885c44ea017ccd6cd5efe6f5f264f563a2fdd
+size 6228
diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/932122060857/annotation/object/ycb_16/pose_valid.pt b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/932122060857/annotation/object/ycb_16/pose_valid.pt
new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:180404b36abc6ee51f1f053547ff32fc55122fe76b03a844896318c42969c2a8
+size 1662
diff --git a/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/932122060857/annotation/segment/instances.jsonl b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/932122060857/annotation/segment/instances.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..56be07314de7723c4f7df4564881d757bb650f52
--- /dev/null
+++ b/dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114045/932122060857/annotation/segment/instances.jsonl
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+{"frame_index": 0, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 12, "category_id": 12, "entity_id": "ycb_12", "part_id": null, "source_instance_id": 12}, {"mask_value": 16, "category_id": 16, "entity_id": "ycb_16", "part_id": null, "source_instance_id": 16}]}
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