Upload folder using huggingface_hub (part 639)

.gitattributes

@@ -56407,3 +56407,59 @@ dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122060857/annota
 dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122060857/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
 dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122060857/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
 dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122060857/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122060861/annotation/segment/mask.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122060861/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122060861/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122060861/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122061900/annotation/segment/mask.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122061900/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122061900/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122061900/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122062010/annotation/segment/mask.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122062010/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122062010/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122062010/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112255/836212060125/annotation/segment/mask.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112255/836212060125/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112255/836212060125/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112255/836212060125/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112255/839512060362/annotation/segment/mask.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112255/839512060362/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112255/839512060362/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112255/839512060362/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112255/840412060917/annotation/segment/mask.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112255/840412060917/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112255/840412060917/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112255/840412060917/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112255/841412060263/annotation/segment/mask.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112255/841412060263/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112255/841412060263/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112255/841412060263/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112255/932122060857/annotation/segment/mask.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112255/932122060857/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112255/932122060857/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112255/932122060857/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112255/932122060861/annotation/segment/mask.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112255/932122060861/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112255/932122060861/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112255/932122060861/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112255/932122061900/annotation/segment/mask.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112255/932122061900/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112255/932122061900/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112255/932122061900/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112255/932122062010/annotation/segment/mask.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112255/932122062010/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112255/932122062010/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112255/932122062010/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112318/836212060125/annotation/segment/mask.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112318/836212060125/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112318/836212060125/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112318/836212060125/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112318/839512060362/annotation/segment/mask.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112318/839512060362/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112318/839512060362/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112318/839512060362/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112318/840412060917/annotation/segment/mask.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112318/840412060917/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112318/840412060917/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112318/840412060917/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122060861/annotation/object/ycb_08/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
+

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122060861/annotation/object/ycb_08/metainfo.json

@@ -0,0 +1,14 @@
+{
+  "object_id": "ycb_08",
+  "identity_scope": "sequence",
+  "scope_id": "20201022-subject-10_20201022_112231",
+  "source_locator": {
+    "file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz",
+    "member": "20201022-subject-10/20201022_112231/meta.yml",
+    "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"
+  },
+  "has_model": true,
+  "source_object_id": 8,
+  "category_id": 8,
+  "mesh_ref": "annotation/object/ycb_08/assets/textured_simple.obj"
+}

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122060861/annotation/object/ycb_08/pose.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9bda96c87f587c057722b7bcf09d4e4b08d21d26e57a0f41a43312248f802fd
+size 6228

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122060861/annotation/object/ycb_08/pose_valid.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:180404b36abc6ee51f1f053547ff32fc55122fe76b03a844896318c42969c2a8
+size 1662

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122060861/annotation/object/ycb_14/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
+

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122060861/annotation/object/ycb_14/metainfo.json

@@ -0,0 +1,14 @@
+{
+  "object_id": "ycb_14",
+  "identity_scope": "sequence",
+  "scope_id": "20201022-subject-10_20201022_112231",
+  "source_locator": {
+    "file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz",
+    "member": "20201022-subject-10/20201022_112231/meta.yml",
+    "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"
+  },
+  "has_model": true,
+  "source_object_id": 14,
+  "category_id": 14,
+  "mesh_ref": "annotation/object/ycb_14/assets/textured_simple.obj"
+}

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122060861/annotation/object/ycb_14/pose.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f67703b4ba871739775abc5b3796e394030685a0575e95908f3506395bdd1e87
+size 6228

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122060861/annotation/object/ycb_14/pose_valid.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:180404b36abc6ee51f1f053547ff32fc55122fe76b03a844896318c42969c2a8
+size 1662

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122060861/annotation/object/ycb_17/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
+

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122060861/annotation/object/ycb_17/metainfo.json

@@ -0,0 +1,14 @@
+{
+  "object_id": "ycb_17",
+  "identity_scope": "sequence",
+  "scope_id": "20201022-subject-10_20201022_112231",
+  "source_locator": {
+    "file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz",
+    "member": "20201022-subject-10/20201022_112231/meta.yml",
+    "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"
+  },
+  "has_model": true,
+  "source_object_id": 17,
+  "category_id": 17,
+  "mesh_ref": "annotation/object/ycb_17/assets/textured_simple.obj"
+}

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122060861/annotation/object/ycb_17/pose.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4dd0267c9b862c95d9c77a9895afe7f45d6d9daf3be3909ef484b27523427caa
+size 6228

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122060861/annotation/object/ycb_17/pose_valid.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:180404b36abc6ee51f1f053547ff32fc55122fe76b03a844896318c42969c2a8
+size 1662

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122060861/annotation/segment/instances.jsonl

@@ -0,0 +1,74 @@
+{"frame_index": 0, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}]}
+{"frame_index": 1, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}]}
+{"frame_index": 2, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}]}
+{"frame_index": 3, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}]}
+{"frame_index": 4, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}]}
+{"frame_index": 5, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}]}
+{"frame_index": 6, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}]}
+{"frame_index": 7, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}]}
+{"frame_index": 8, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}]}
+{"frame_index": 9, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}]}
+{"frame_index": 10, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}]}
+{"frame_index": 11, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}]}
+{"frame_index": 12, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}]}
+{"frame_index": 13, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}]}
+{"frame_index": 14, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}]}
+{"frame_index": 15, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}]}
+{"frame_index": 16, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}]}
+{"frame_index": 17, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}]}
+{"frame_index": 18, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}]}
+{"frame_index": 19, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 20, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 21, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 22, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 23, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 24, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 25, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 26, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 27, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 28, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 29, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 30, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 31, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 32, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 33, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 34, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 35, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 36, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 37, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 38, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 39, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 40, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 41, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 42, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 43, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 44, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 45, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 46, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 47, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 48, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 49, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 50, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 51, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 52, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 53, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 54, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 55, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 56, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 57, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 58, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 59, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 60, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 61, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 62, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 63, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 64, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 65, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 66, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 67, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 68, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 69, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 70, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 71, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 72, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 73, "labels": [{"mask_value": 3, "category_id": 3, "entity_id": "ycb_03", "part_id": null, "source_instance_id": 3}, {"mask_value": 8, "category_id": 8, "entity_id": "ycb_08", "part_id": null, "source_instance_id": 8}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 17, "category_id": 17, "entity_id": "ycb_17", "part_id": null, "source_instance_id": 17}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122060861/annotation/segment/mask.mkv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25d81a2604631839656f294bd572951859ae0b72a3cc05588ce5e0d0c73d259f
+size 264159

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122060861/annotation/segment/mask_valid.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7182f0dcf7e17b8ea7756f2286775356b752d22f3e57c2e0b782b8033e20179
+size 1662

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122060861/camera/extrinsic.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e608e85493ca016b44bdd62539d96228907eec030d75584b5a91744d972cf59
+size 6327

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122060861/camera/extrinsic_valid.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48404751b5cde6c64132ef7b4a8512b5f8ec1d2d091116448dc014df7f0ce693
+size 1697

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122060861/camera/intrinsic.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9067b34b23b1036d88f7963414001f6e493238a3747c160b1bded0a6816ff4e4
+size 4215

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122060861/camera/intrinsic_valid.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0246c144815c1cd192a9e3e3874cc5f717a79f4b0e2eb95728a35fee1c1612ab
+size 1697

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122060861/metainfo.json

@@ -0,0 +1,751 @@
+{
+  "schema_version": "hand-warehouse/1.0",
+  "dataset_id": "dex-ycb",
+  "release_id": "shared-v1.0",
+  "sequence_id": "20201022-subject-10_20201022_112231",
+  "camera_id": "932122060861",
+  "sample_type": "video",
+  "num_frames": 74,
+  "hand_slots": [
+    "left",
+    "right"
+  ],
+  "sampling": {
+    "type": "dense",
+    "source_fps": null,
+    "frames_ref": "camera/frames.jsonl",
+    "selection": {
+      "max_frames": null,
+      "views": null
+    }
+  },
+  "camera": {
+    "model": "pinhole",
+    "schema_id": "camera/pinhole/v1",
+    "image_size": [
+      640,
+      480
+    ]
+  },
+  "components": {
+    "rgb": {
+      "available": true,
+      "schema_id": "rgb/uint8/v1",
+      "data_ref": "observation/rgb.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width",
+        "channel"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Verified source packet copy or lossless fixed-decoder RGB encoding"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl"
+      },
+      "storage": {
+        "profile": "mkv/mjpeg_copy/v1",
+        "codec": "mjpeg",
+        "pixel_format": "yuvj420p",
+        "encoded_size": [
+          640,
+          480
+        ],
+        "decoder": {
+          "name": "ffmpeg",
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "autorotate": false,
+          "color_space": "bt470bg",
+          "color_range": "pc",
+          "color_primaries": "unknown",
+          "color_transfer": "unknown",
+          "source_color_metadata": {
+            "color_space": "bt470bg",
+            "color_range": "pc",
+            "color_primaries": "unknown",
+            "color_transfer": "unknown"
+          }
+        },
+        "encoder_parameters": {
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "stream_copy": true
+        },
+        "source_lossy": true,
+        "storage_fps": 30,
+        "timebase_role": "index_only"
+      },
+      "valid_ref": "observation/rgb_valid.pt",
+      "valid_axes": [
+        "T"
+      ]
+    },
+    "intrinsic": {
+      "available": true,
+      "schema_id": "camera/pinhole/v1",
+      "data_ref": "camera/intrinsic.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/calibration.tar.gz",
+        "member": "calibration/intrinsics/932122060861_640x480.yml"
+      },
+      "valid_ref": "camera/intrinsic_valid.pt",
+      "valid_axes": [
+        "T"
+      ]
+    },
+    "extrinsic": {
+      "available": true,
+      "schema_id": "transform/se3/v1",
+      "data_ref": "camera/extrinsic.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/calibration.tar.gz",
+        "member": "calibration/extrinsics_20201022_091549/extrinsics.yml",
+        "conversion": "inverse of source T_world_from_camera"
+      },
+      "valid_ref": "camera/extrinsic_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "convention": "T_camera_from_world"
+    },
+    "mano": {
+      "available": true,
+      "schema_id": "mano/axis_angle61/v1",
+      "data_ref": "annotation/mano/motion.pt",
+      "axes": [
+        "T",
+        "hand",
+        "parameter"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source PCA @ hands_components + hands_mean; explicit axis-angle consumed with flat_hand_mean=true"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources.labels"
+      },
+      "valid_ref": "annotation/mano/motion_valid.pt",
+      "valid_axes": [
+        "T",
+        "hand"
+      ],
+      "model_profile": {
+        "version": "sha256:eab78181e459e156559df334b103d825e00c8711d2eeffee1cc176fb42051f4f",
+        "flat_hand_mean": true,
+        "left_shapedirs_correction": "not_applied",
+        "models": {
+          "left": {
+            "file": "MANO_LEFT.pkl",
+            "sha256": "c4022f7083f2ca7c78b2b3d595abbab52debd32b09d372b16923a801f0ea6a30"
+          },
+          "right": {
+            "file": "MANO_RIGHT.pkl",
+            "sha256": "45d60aa3b27ef9107a7afd4e00808f307fd91111e1cfa35afd5c4a62de264767"
+          }
+        }
+      },
+      "calibration_source": {
+        "file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/calibration.tar.gz",
+        "member": "calibration/mano_20201022_105224_subject-10_right/mano.yml"
+      },
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source pose_m present and not all zero; side model/calibration available",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources.labels"
+        },
+        "scope": [
+          "T",
+          "hand"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
+    "keypoints_uv": {
+      "available": true,
+      "schema_id": "keypoints/uv/v1",
+      "data_ref": "annotation/keypoints/uv.pt",
+      "axes": [
+        "T",
+        "hand",
+        "keypoint",
+        "coordinate"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources.labels"
+      },
+      "valid_ref": "annotation/keypoints/uv_valid.pt",
+      "valid_axes": [
+        "T",
+        "hand",
+        "keypoint"
+      ],
+      "keypoint_schema": "mano21/v1",
+      "unit": "pixel",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Corresponding joint_2d/joint_3d present; whole-hand all -1 is missing, broadcast to its 21 points",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources.labels"
+        },
+        "scope": [
+          "T",
+          "hand",
+          "keypoint"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
+    "keypoints_xyz": {
+      "available": true,
+      "schema_id": "keypoints/xyz/v1",
+      "data_ref": "annotation/keypoints/xyz.pt",
+      "axes": [
+        "T",
+        "hand",
+        "keypoint",
+        "coordinate"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources.labels"
+      },
+      "valid_ref": "annotation/keypoints/xyz_valid.pt",
+      "valid_axes": [
+        "T",
+        "hand",
+        "keypoint"
+      ],
+      "keypoint_schema": "mano21/v1",
+      "unit": "m",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Corresponding joint_2d/joint_3d present; whole-hand all -1 is missing, broadcast to its 21 points",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources.labels"
+        },
+        "scope": [
+          "T",
+          "hand",
+          "keypoint"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
+    "pose_ycb_03": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/ycb_03/pose.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources.labels"
+      },
+      "valid_ref": "annotation/object/ycb_03/pose_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "convention": "T_camera_from_object",
+      "unit": "m",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source pose_y for this ycb_ids slot present and not an all-zero matrix",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources.labels"
+        },
+        "scope": [
+          "T"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
+    "mesh_ycb_03": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/ycb_03/assets/textured_simple.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/models.tar.gz",
+        "member": "models/004_sugar_box/textured_simple.obj"
+      },
+      "valid": true,
+      "unit": "m"
+    },
+    "pose_ycb_08": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/ycb_08/pose.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources.labels"
+      },
+      "valid_ref": "annotation/object/ycb_08/pose_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "convention": "T_camera_from_object",
+      "unit": "m",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source pose_y for this ycb_ids slot present and not an all-zero matrix",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources.labels"
+        },
+        "scope": [
+          "T"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
+    "mesh_ycb_08": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/ycb_08/assets/textured_simple.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/models.tar.gz",
+        "member": "models/009_gelatin_box/textured_simple.obj"
+      },
+      "valid": true,
+      "unit": "m"
+    },
+    "pose_ycb_14": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/ycb_14/pose.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources.labels"
+      },
+      "valid_ref": "annotation/object/ycb_14/pose_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "convention": "T_camera_from_object",
+      "unit": "m",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source pose_y for this ycb_ids slot present and not an all-zero matrix",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources.labels"
+        },
+        "scope": [
+          "T"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
+    "mesh_ycb_14": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/ycb_14/assets/textured_simple.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/models.tar.gz",
+        "member": "models/025_mug/textured_simple.obj"
+      },
+      "valid": true,
+      "unit": "m"
+    },
+    "pose_ycb_17": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/ycb_17/pose.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources.labels"
+      },
+      "valid_ref": "annotation/object/ycb_17/pose_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "convention": "T_camera_from_object",
+      "unit": "m",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source pose_y for this ycb_ids slot present and not an all-zero matrix",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources.labels"
+        },
+        "scope": [
+          "T"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
+    "mesh_ycb_17": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/ycb_17/assets/textured_simple.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/models.tar.gz",
+        "member": "models/037_scissors/textured_simple.obj"
+      },
+      "valid": true,
+      "unit": "m"
+    },
+    "segment": {
+      "available": true,
+      "schema_id": "segment/uint16_labels/v1",
+      "data_ref": "annotation/segment/mask.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources.labels"
+      },
+      "storage": {
+        "profile": "mkv/uint16_ffv1/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray16le",
+        "encoded_size": [
+          640,
+          480
+        ],
+        "decoder": {
+          "name": "ffmpeg",
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "autorotate": false,
+          "color_space": "unknown",
+          "color_range": "unknown",
+          "color_primaries": "unknown",
+          "color_transfer": "unknown"
+        },
+        "encoder_parameters": {
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "name": "ffv1",
+          "arguments": []
+        },
+        "source_lossy": false,
+        "storage_fps": 30,
+        "timebase_role": "index_only"
+      },
+      "valid_ref": "annotation/segment/mask_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "segmentation_type": "instance",
+      "mapping_ref": "annotation/segment/instances.jsonl",
+      "coverage": {
+        "kind": "selected_entities",
+        "entities": [
+          "hand_right",
+          "ycb_03",
+          "ycb_08",
+          "ycb_14",
+          "ycb_17"
+        ]
+      },
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source seg array provided for this frame; region codes and entity references validated",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources.labels"
+        },
+        "scope": [
+          "T"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      },
+      "source_zero_meaning": "background"
+    },
+    "depth": {
+      "available": true,
+      "schema_id": "depth/z_float32/v1",
+      "data_ref": "observation/depth.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources.aligned_depth_to_color",
+        "conversion": "millimetres to metres"
+      },
+      "storage": {
+        "profile": "mkv/depth_float32_bits/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray16le",
+        "encoded_size": [
+          1280,
+          480
+        ],
+        "decoder": {
+          "name": "ffmpeg",
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "autorotate": false,
+          "color_space": "unknown",
+          "color_range": "unknown",
+          "color_primaries": "unknown",
+          "color_transfer": "unknown"
+        },
+        "encoder_parameters": {
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "name": "ffv1",
+          "arguments": []
+        },
+        "source_lossy": false,
+        "storage_fps": 30,
+        "timebase_role": "index_only"
+      },
+      "valid_storage": {
+        "profile": "mkv/bool_ffv1/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray",
+        "encoded_size": [
+          640,
+          480
+        ],
+        "decoder": {
+          "name": "ffmpeg",
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "autorotate": false,
+          "color_space": "unknown",
+          "color_range": "unknown",
+          "color_primaries": "unknown",
+          "color_transfer": "unknown"
+        },
+        "encoder_parameters": {
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "name": "ffv1",
+          "arguments": []
+        },
+        "source_lossy": false,
+        "storage_fps": 30,
+        "timebase_role": "index_only"
+      },
+      "valid_ref": "observation/depth_valid.mkv",
+      "valid_axes": [
+        "T",
+        "height",
+        "width"
+      ],
+      "unit": "m",
+      "depth_type": "z",
+      "depth_origin": "measured",
+      "invalid_value": "NaN"
+    },
+    "relations": {
+      "available": true,
+      "schema_id": "contact/relations/v1",
+      "data_ref": "annotation/contact/relations.jsonl",
+      "axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz",
+        "member": "20201022-subject-10/20201022_112231/meta.yml",
+        "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"
+      },
+      "valid_ref": "annotation/contact/relations_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source sequence ycb_grasp_ind resolves through ycb_ids; broadcast sequence grasp to selected frames",
+        "source_locator": {
+          "file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz",
+          "member": "20201022-subject-10/20201022_112231/meta.yml",
+          "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"
+        },
+        "scope": [
+          "T"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    }
+  },
+  "split": "train",
+  "view_type": "exo",
+  "split_scheme": "Dex-YCB/s1",
+  "split_source_locator": {
+    "url": "https://github.com/NVlabs/dex-ycb-toolkit/blob/master/dex_ycb_toolkit/dex_ycb.py",
+    "rule": "s1 unseen-subject: 01-06/10 train, 07 val, 08-09 test"
+  }
+}

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122060861/observation/depth.mkv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43e1a269cbcdd8386234741567498e420a65d0eaf61d8f5897e7ad4154cb6294
+size 16003315

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122060861/observation/depth_valid.mkv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5df67bad815265f03bb0e13b9a122bc68c1022afba675f5d4c4776d897694ae1
+size 177276

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122060861/observation/rgb.mkv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e0e76844ef1d989d9a94adb2d74a9e638dbb2da50578b131fbfc353f0bb0c4b
+size 5434221

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122060861/observation/rgb_valid.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5f5681f2b1a98756b5925f0a4bdab7582447961769401c5f47204465258032e
+size 1655

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122061900/annotation/contact/relations.jsonl

@@ -0,0 +1,74 @@
+{"frame_index": 0, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 1, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 2, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 3, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 4, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 5, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 6, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 7, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 8, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 9, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 10, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 11, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 12, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 13, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 14, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 15, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 16, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 17, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 18, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 19, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 20, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 21, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 22, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 23, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 24, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 25, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 26, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 27, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 28, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 29, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 30, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 31, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 32, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 33, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 34, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 35, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 36, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 37, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 38, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 39, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 40, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 41, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 42, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 43, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 44, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 45, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 46, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 47, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 48, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 49, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 50, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 51, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 52, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 53, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 54, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 55, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 56, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 57, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 58, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 59, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 60, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 61, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 62, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 63, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 64, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 65, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 66, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 67, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 68, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 69, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 70, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 71, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 72, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 73, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_08", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_112231/meta.yml", "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122061900/annotation/contact/relations_valid.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7121816fe007994986b4c14f5e97309ac4cfea4bfc4e01d7a8e90a75cf31b9ea
+size 1697

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122061900/annotation/keypoints/uv.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09c876ec3577a2e46592fba7c786b6413b53329bbb6bcd5e99cdae3abc4fc778
+size 26310

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122061900/annotation/keypoints/uv_valid.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88afd8812204ccb78a87d0bfe8cd28cee3901a5243e745a009bda45824c02a60
+size 4656

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122061900/annotation/keypoints/xyz.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:584d5c57007a6bed8e294a96c989adc9207a007ea06256c837d5259e25d5a9a1
+size 38797

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122061900/annotation/keypoints/xyz_valid.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88add0eb92fad02128b878081a6f77f4f4a0c347f225b2a46ea81d074fc2aebb
+size 4663

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122061900/annotation/mano/motion.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cfd97ef6c5dc6794e961457e68b96c04435871c2552b4275b0f72d335b21b91
+size 37666

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122061900/annotation/mano/motion_valid.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a659e9e1218cb85aab48e14905a70c86e6ddfa5a5ff3fe7dd2fd9fd245d7f01
+size 1740

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122061900/annotation/object/ycb_03/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
+

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122061900/annotation/object/ycb_03/metainfo.json

@@ -0,0 +1,14 @@
+{
+  "object_id": "ycb_03",
+  "identity_scope": "sequence",
+  "scope_id": "20201022-subject-10_20201022_112231",
+  "source_locator": {
+    "file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz",
+    "member": "20201022-subject-10/20201022_112231/meta.yml",
+    "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"
+  },
+  "has_model": true,
+  "source_object_id": 3,
+  "category_id": 3,
+  "mesh_ref": "annotation/object/ycb_03/assets/textured_simple.obj"
+}

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122061900/annotation/object/ycb_03/pose.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cc76049850666999480a4d012d086f55bffef24ad644dfeaa58c91986a0823a
+size 6228

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122061900/annotation/object/ycb_03/pose_valid.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:180404b36abc6ee51f1f053547ff32fc55122fe76b03a844896318c42969c2a8
+size 1662

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122061900/annotation/object/ycb_08/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
+

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122061900/annotation/object/ycb_08/metainfo.json

@@ -0,0 +1,14 @@
+{
+  "object_id": "ycb_08",
+  "identity_scope": "sequence",
+  "scope_id": "20201022-subject-10_20201022_112231",
+  "source_locator": {
+    "file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz",
+    "member": "20201022-subject-10/20201022_112231/meta.yml",
+    "sha256": "0d82aef872cc035cc828bf493a5405a760d2bb9eb661691808eb6dd687bfc503"
+  },
+  "has_model": true,
+  "source_object_id": 8,
+  "category_id": 8,
+  "mesh_ref": "annotation/object/ycb_08/assets/textured_simple.obj"
+}

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122061900/annotation/object/ycb_08/pose.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffd8bcde3e63d892efb9e0d0970ebef2aec12ebf5e3308b2a7e0dfb6da9222d0
+size 6228

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_112231/932122061900/annotation/object/ycb_08/pose_valid.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:180404b36abc6ee51f1f053547ff32fc55122fe76b03a844896318c42969c2a8
+size 1662