strip dataset_info from card (keeps YAML under the Hub's 1 MB limit)

README.md

@@ -620,4545 +620,6 @@ configs:
   data_files:
   - split: train
     path: hc3d_frame_object_train_n50000_b100_r512_mmc16_cwallet_meshes/train-*
-dataset_info:
-- config_name: hc3d_frame_object_train_n50000_b100_r512_mmc16_cremote_control
-  features:
-  - name: object_id
-    dtype: string
-  - name: pts3d
-    dtype: 'null'
-  - name: pts3d_feats
-    dtype: 'null'
-  - name: pts3d_feats_mask
-    dtype: 'null'
-  - name: verts3d
-    dtype: 'null'
-  - name: verts3d_feats
-    dtype: 'null'
-  - name: verts3d_feats_mask
-    dtype: 'null'
-  - name: mesh
-    dtype: 'null'
-  - name: obj_ncds0c_tform4x4_obj
-    dtype: 'null'
-  - name: obj_size_ncds
-    dtype: float64
-  - name: obj_size
-    dtype: float64
-  - name: obj_size3d
-    dtype: 'null'
-  - name: obj_bbox3d
-    dtype: 'null'
-  - name: obj_kpts3d
-    dtype: 'null'
-  - name: obj_kpts3d_mask
-    dtype: 'null'
-  - name: obj_syms
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: obj_kpts3d_syms
-    dtype: 'null'
-  - name: obj_axis6d_sym
-    dtype: 'null'
-  - name: obj_verts_part_id
-    dtype: 'null'
-  - name: category
-    dtype: string
-  - name: category_id
-    dtype: 'null'
-  - name: attributes
-    dtype: 'null'
-  - name: frame_id
-    dtype: string
-  - name: cam_intr4x4
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: rgb
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: depth
-    struct:
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-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
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-    - name: data
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-    - name: pack
-      dtype: string
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-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: depth_mask
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: mask
-    dtype: 'null'
-  - name: normal
-    dtype: 'null'
-  - name: feat
-    dtype: 'null'
-  - name: featmap
-    dtype: 'null'
-  - name: featmap_lvls
-    dtype: 'null'
-  - name: frame_object_id
-    dtype: string
-  - name: cam_bbox2d
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
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-    - name: data
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-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: cam_bbox3d
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: fo_mask
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: fo_mask_dt
-    dtype: 'null'
-  - name: fo_mask_amodal
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
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-    - name: pack
-      dtype: string
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-      dtype: int64
-  - name: fo_mask_amodal_dt
-    struct:
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-    - name: nbytes
-      dtype: int64
-  - name: obj_kpts2d_mask
-    dtype: 'null'
-  - name: cam_tform4x4_obj
-    struct:
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-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: cam_tform4x4_obj_ncds
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  splits:
-  - name: train
-    num_bytes: 8832112235
-    num_examples: 25879
-  download_size: 8831946020
-  dataset_size: 8832112235
-- config_name: hc3d_frame_object_train_n50000_b100_r512_mmc16_cremote_control_meshes
-  features:
-  - name: object_id
-    dtype: string
-  - name: mesh
-    struct:
-    - name: __dc__
-      dtype: string
-    - name: fields
-      struct:
-      - name: verts
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: faces
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: vert_colors
-        dtype: 'null'
-      - name: verts_uvs
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: faces_uvs
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
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-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: texture
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: vert_feats
-        dtype: 'null'
-  splits:
-  - name: train
-    num_bytes: 17615394
-    num_examples: 40
-  download_size: 17633758
-  dataset_size: 17615394
-- config_name: hc3d_frame_object_train_n50000_b100_r512_mmc16_ctoy_boat
-  features:
-  - name: object_id
-    dtype: string
-  - name: pts3d
-    dtype: 'null'
-  - name: pts3d_feats
-    dtype: 'null'
-  - name: pts3d_feats_mask
-    dtype: 'null'
-  - name: verts3d
-    dtype: 'null'
-  - name: verts3d_feats
-    dtype: 'null'
-  - name: verts3d_feats_mask
-    dtype: 'null'
-  - name: mesh
-    dtype: 'null'
-  - name: obj_ncds0c_tform4x4_obj
-    dtype: 'null'
-  - name: obj_size_ncds
-    dtype: float64
-  - name: obj_size
-    dtype: float64
-  - name: obj_size3d
-    dtype: 'null'
-  - name: obj_bbox3d
-    dtype: 'null'
-  - name: obj_kpts3d
-    dtype: 'null'
-  - name: obj_kpts3d_mask
-    dtype: 'null'
-  - name: obj_syms
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: obj_kpts3d_syms
-    dtype: 'null'
-  - name: obj_axis6d_sym
-    dtype: 'null'
-  - name: obj_verts_part_id
-    dtype: 'null'
-  - name: category
-    dtype: string
-  - name: category_id
-    dtype: 'null'
-  - name: attributes
-    dtype: 'null'
-  - name: frame_id
-    dtype: string
-  - name: cam_intr4x4
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
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-    - name: q
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-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
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-    - name: nbytes
-      dtype: int64
-  - name: rgb
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
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-    - name: scale
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-    - name: pack
-      dtype: string
-    - name: z
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-  - name: depth
-    struct:
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-  - name: mask
-    dtype: 'null'
-  - name: normal
-    dtype: 'null'
-  - name: feat
-    dtype: 'null'
-  - name: featmap
-    dtype: 'null'
-  - name: featmap_lvls
-    dtype: 'null'
-  - name: frame_object_id
-    dtype: string
-  - name: cam_bbox2d
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
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-    - name: pack
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-  - name: cam_bbox3d
-    struct:
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-      dtype: int64
-    - name: shape
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-    - name: dtype
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-  - name: fo_mask_dt
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-  - name: fo_mask_amodal
-    struct:
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-  - name: obj_kpts2d_mask
-    dtype: 'null'
-  - name: cam_tform4x4_obj
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
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-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: cam_tform4x4_obj_ncds
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
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-    - name: scale
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-    - name: pack
-      dtype: string
-    - name: z
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-    - name: nbytes
-      dtype: int64
-  splits:
-  - name: train
-    num_bytes: 6823259637
-    num_examples: 21073
-  download_size: 6823226628
-  dataset_size: 6823259637
-- config_name: hc3d_frame_object_train_n50000_b100_r512_mmc16_ctoy_boat_meshes
-  features:
-  - name: object_id
-    dtype: string
-  - name: mesh
-    struct:
-    - name: __dc__
-      dtype: string
-    - name: fields
-      struct:
-      - name: verts
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: faces
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: vert_colors
-        dtype: 'null'
-      - name: verts_uvs
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
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-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: faces_uvs
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: texture
-        struct:
-        - name: __t__
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-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: vert_feats
-        dtype: 'null'
-  splits:
-  - name: train
-    num_bytes: 13453108
-    num_examples: 27
-  download_size: 13472248
-  dataset_size: 13453108
-- config_name: hc3d_frame_object_train_n50000_b100_r512_mmc16_ctoy_bus
-  features:
-  - name: object_id
-    dtype: string
-  - name: pts3d
-    dtype: 'null'
-  - name: pts3d_feats
-    dtype: 'null'
-  - name: pts3d_feats_mask
-    dtype: 'null'
-  - name: verts3d
-    dtype: 'null'
-  - name: verts3d_feats
-    dtype: 'null'
-  - name: verts3d_feats_mask
-    dtype: 'null'
-  - name: mesh
-    dtype: 'null'
-  - name: obj_ncds0c_tform4x4_obj
-    dtype: 'null'
-  - name: obj_size_ncds
-    dtype: float64
-  - name: obj_size
-    dtype: float64
-  - name: obj_size3d
-    dtype: 'null'
-  - name: obj_bbox3d
-    dtype: 'null'
-  - name: obj_kpts3d
-    dtype: 'null'
-  - name: obj_kpts3d_mask
-    dtype: 'null'
-  - name: obj_syms
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: obj_kpts3d_syms
-    dtype: 'null'
-  - name: obj_axis6d_sym
-    dtype: 'null'
-  - name: obj_verts_part_id
-    dtype: 'null'
-  - name: category
-    dtype: string
-  - name: category_id
-    dtype: 'null'
-  - name: attributes
-    dtype: 'null'
-  - name: frame_id
-    dtype: string
-  - name: cam_intr4x4
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: rgb
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: depth
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: depth_mask
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: mask
-    dtype: 'null'
-  - name: normal
-    dtype: 'null'
-  - name: feat
-    dtype: 'null'
-  - name: featmap
-    dtype: 'null'
-  - name: featmap_lvls
-    dtype: 'null'
-  - name: frame_object_id
-    dtype: string
-  - name: cam_bbox2d
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: cam_bbox3d
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: fo_mask
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: fo_mask_dt
-    dtype: 'null'
-  - name: fo_mask_amodal
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: fo_mask_amodal_dt
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: obj_kpts2d_mask
-    dtype: 'null'
-  - name: cam_tform4x4_obj
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: cam_tform4x4_obj_ncds
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  splits:
-  - name: train
-    num_bytes: 8151117365
-    num_examples: 23412
-  download_size: 8151404378
-  dataset_size: 8151117365
-- config_name: hc3d_frame_object_train_n50000_b100_r512_mmc16_ctoy_bus_meshes
-  features:
-  - name: object_id
-    dtype: string
-  - name: mesh
-    struct:
-    - name: __dc__
-      dtype: string
-    - name: fields
-      struct:
-      - name: verts
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: faces
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: vert_colors
-        dtype: 'null'
-      - name: verts_uvs
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: faces_uvs
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
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-        - name: nbytes
-          dtype: int64
-      - name: texture
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: vert_feats
-        dtype: 'null'
-  splits:
-  - name: train
-    num_bytes: 29019764
-    num_examples: 52
-  download_size: 29037939
-  dataset_size: 29019764
-- config_name: hc3d_frame_object_train_n50000_b100_r512_mmc16_ctoy_car
-  features:
-  - name: object_id
-    dtype: string
-  - name: pts3d
-    dtype: 'null'
-  - name: pts3d_feats
-    dtype: 'null'
-  - name: pts3d_feats_mask
-    dtype: 'null'
-  - name: verts3d
-    dtype: 'null'
-  - name: verts3d_feats
-    dtype: 'null'
-  - name: verts3d_feats_mask
-    dtype: 'null'
-  - name: mesh
-    dtype: 'null'
-  - name: obj_ncds0c_tform4x4_obj
-    dtype: 'null'
-  - name: obj_size_ncds
-    dtype: float64
-  - name: obj_size
-    dtype: float64
-  - name: obj_size3d
-    dtype: 'null'
-  - name: obj_bbox3d
-    dtype: 'null'
-  - name: obj_kpts3d
-    dtype: 'null'
-  - name: obj_kpts3d_mask
-    dtype: 'null'
-  - name: obj_syms
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: obj_kpts3d_syms
-    dtype: 'null'
-  - name: obj_axis6d_sym
-    dtype: 'null'
-  - name: obj_verts_part_id
-    dtype: 'null'
-  - name: category
-    dtype: string
-  - name: category_id
-    dtype: 'null'
-  - name: attributes
-    dtype: 'null'
-  - name: frame_id
-    dtype: string
-  - name: cam_intr4x4
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: rgb
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: depth
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: depth_mask
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: mask
-    dtype: 'null'
-  - name: normal
-    dtype: 'null'
-  - name: feat
-    dtype: 'null'
-  - name: featmap
-    dtype: 'null'
-  - name: featmap_lvls
-    dtype: 'null'
-  - name: frame_object_id
-    dtype: string
-  - name: cam_bbox2d
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: cam_bbox3d
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: fo_mask
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: fo_mask_dt
-    dtype: 'null'
-  - name: fo_mask_amodal
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: fo_mask_amodal_dt
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: obj_kpts2d_mask
-    dtype: 'null'
-  - name: cam_tform4x4_obj
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: cam_tform4x4_obj_ncds
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  splits:
-  - name: train
-    num_bytes: 8666981272
-    num_examples: 25391
-  download_size: 8667225509
-  dataset_size: 8666981272
-- config_name: hc3d_frame_object_train_n50000_b100_r512_mmc16_ctoy_car_meshes
-  features:
-  - name: object_id
-    dtype: string
-  - name: mesh
-    struct:
-    - name: __dc__
-      dtype: string
-    - name: fields
-      struct:
-      - name: verts
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: faces
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: vert_colors
-        dtype: 'null'
-      - name: verts_uvs
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: faces_uvs
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: texture
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: vert_feats
-        dtype: 'null'
-  splits:
-  - name: train
-    num_bytes: 14048900
-    num_examples: 26
-  download_size: 14068303
-  dataset_size: 14048900
-- config_name: hc3d_frame_object_train_n50000_b100_r512_mmc16_ctoy_motorcycle
-  features:
-  - name: object_id
-    dtype: string
-  - name: pts3d
-    dtype: 'null'
-  - name: pts3d_feats
-    dtype: 'null'
-  - name: pts3d_feats_mask
-    dtype: 'null'
-  - name: verts3d
-    dtype: 'null'
-  - name: verts3d_feats
-    dtype: 'null'
-  - name: verts3d_feats_mask
-    dtype: 'null'
-  - name: mesh
-    dtype: 'null'
-  - name: obj_ncds0c_tform4x4_obj
-    dtype: 'null'
-  - name: obj_size_ncds
-    dtype: float64
-  - name: obj_size
-    dtype: float64
-  - name: obj_size3d
-    dtype: 'null'
-  - name: obj_bbox3d
-    dtype: 'null'
-  - name: obj_kpts3d
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: obj_kpts3d_mask
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: obj_syms
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: obj_kpts3d_syms
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: obj_axis6d_sym
-    dtype: 'null'
-  - name: obj_verts_part_id
-    dtype: 'null'
-  - name: category
-    dtype: string
-  - name: category_id
-    dtype: 'null'
-  - name: attributes
-    dtype: 'null'
-  - name: frame_id
-    dtype: string
-  - name: cam_intr4x4
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: rgb
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: depth
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: depth_mask
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: mask
-    dtype: 'null'
-  - name: normal
-    dtype: 'null'
-  - name: feat
-    dtype: 'null'
-  - name: featmap
-    dtype: 'null'
-  - name: featmap_lvls
-    dtype: 'null'
-  - name: frame_object_id
-    dtype: string
-  - name: cam_bbox2d
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: cam_bbox3d
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: fo_mask
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: fo_mask_dt
-    dtype: 'null'
-  - name: fo_mask_amodal
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: fo_mask_amodal_dt
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: obj_kpts2d_mask
-    dtype: 'null'
-  - name: cam_tform4x4_obj
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: cam_tform4x4_obj_ncds
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  splits:
-  - name: train
-    num_bytes: 5482790572
-    num_examples: 16199
-  download_size: 5480908297
-  dataset_size: 5482790572
-- config_name: hc3d_frame_object_train_n50000_b100_r512_mmc16_ctoy_motorcycle_meshes
-  features:
-  - name: object_id
-    dtype: string
-  - name: mesh
-    struct:
-    - name: __dc__
-      dtype: string
-    - name: fields
-      struct:
-      - name: verts
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: faces
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: vert_colors
-        dtype: 'null'
-      - name: verts_uvs
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: faces_uvs
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: texture
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: vert_feats
-        dtype: 'null'
-  splits:
-  - name: train
-    num_bytes: 15883429
-    num_examples: 28
-  download_size: 15902492
-  dataset_size: 15883429
-- config_name: hc3d_frame_object_train_n50000_b100_r512_mmc16_ctoy_plane
-  features:
-  - name: object_id
-    dtype: string
-  - name: pts3d
-    dtype: 'null'
-  - name: pts3d_feats
-    dtype: 'null'
-  - name: pts3d_feats_mask
-    dtype: 'null'
-  - name: verts3d
-    dtype: 'null'
-  - name: verts3d_feats
-    dtype: 'null'
-  - name: verts3d_feats_mask
-    dtype: 'null'
-  - name: mesh
-    dtype: 'null'
-  - name: obj_ncds0c_tform4x4_obj
-    dtype: 'null'
-  - name: obj_size_ncds
-    dtype: float64
-  - name: obj_size
-    dtype: float64
-  - name: obj_size3d
-    dtype: 'null'
-  - name: obj_bbox3d
-    dtype: 'null'
-  - name: obj_kpts3d
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: obj_kpts3d_mask
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: obj_syms
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: obj_kpts3d_syms
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: obj_axis6d_sym
-    dtype: 'null'
-  - name: obj_verts_part_id
-    dtype: 'null'
-  - name: category
-    dtype: string
-  - name: category_id
-    dtype: 'null'
-  - name: attributes
-    dtype: 'null'
-  - name: frame_id
-    dtype: string
-  - name: cam_intr4x4
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: rgb
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: depth
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: depth_mask
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: mask
-    dtype: 'null'
-  - name: normal
-    dtype: 'null'
-  - name: feat
-    dtype: 'null'
-  - name: featmap
-    dtype: 'null'
-  - name: featmap_lvls
-    dtype: 'null'
-  - name: frame_object_id
-    dtype: string
-  - name: cam_bbox2d
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: cam_bbox3d
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: fo_mask
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: fo_mask_dt
-    dtype: 'null'
-  - name: fo_mask_amodal
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: fo_mask_amodal_dt
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: obj_kpts2d_mask
-    dtype: 'null'
-  - name: cam_tform4x4_obj
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: cam_tform4x4_obj_ncds
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  splits:
-  - name: train
-    num_bytes: 6538730990
-    num_examples: 21087
-  download_size: 6536891873
-  dataset_size: 6538730990
-- config_name: hc3d_frame_object_train_n50000_b100_r512_mmc16_ctoy_plane_meshes
-  features:
-  - name: object_id
-    dtype: string
-  - name: mesh
-    struct:
-    - name: __dc__
-      dtype: string
-    - name: fields
-      struct:
-      - name: verts
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: faces
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: vert_colors
-        dtype: 'null'
-      - name: verts_uvs
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: faces_uvs
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: texture
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: vert_feats
-        dtype: 'null'
-  splits:
-  - name: train
-    num_bytes: 12592039
-    num_examples: 25
-  download_size: 12611365
-  dataset_size: 12592039
-- config_name: hc3d_frame_object_train_n50000_b100_r512_mmc16_ctoy_train
-  features:
-  - name: object_id
-    dtype: string
-  - name: pts3d
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: pts3d_feats
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: pts3d_feats_mask
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: verts3d
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: verts3d_feats
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: verts3d_feats_mask
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: mesh
-    struct:
-    - name: __dc__
-      dtype: string
-    - name: fields
-      struct:
-      - name: verts
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
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-        - name: scale
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-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: faces
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
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-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: vert_colors
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: verts_uvs
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: faces_uvs
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: texture
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: vert_feats
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-  - name: obj_ncds0c_tform4x4_obj
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
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-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: obj_size_ncds
-    dtype: float64
-  - name: obj_size
-    dtype: float64
-  - name: obj_size3d
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: obj_bbox3d
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: obj_kpts3d
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: obj_kpts3d_mask
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: obj_syms
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: obj_kpts3d_syms
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: obj_axis6d_sym
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: obj_verts_part_id
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
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-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: category
-    dtype: string
-  - name: category_id
-    dtype: 'null'
-  - name: attributes
-    dtype: 'null'
-  - name: frame_id
-    dtype: string
-  - name: cam_intr4x4
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: rgb
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: depth
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: depth_mask
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: mask
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
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-    - name: q
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-    - name: scale
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-    - name: pack
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-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: normal
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: feat
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: featmap
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: featmap_lvls
-    struct:
-    - name: __l__
-      list:
-      - name: __t__
-        dtype: int64
-      - name: shape
-        list: int64
-      - name: dtype
-        dtype: string
-      - name: data
-        dtype: binary
-      - name: q
-        dtype: string
-      - name: scale
-        dtype: float64
-      - name: pack
-        dtype: string
-      - name: z
-        dtype: string
-      - name: nbytes
-        dtype: int64
-  - name: frame_object_id
-    dtype: string
-  - name: cam_bbox2d
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: cam_bbox3d
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: fo_mask
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: fo_mask_dt
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: fo_mask_amodal
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: fo_mask_amodal_dt
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: obj_kpts2d_mask
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: cam_tform4x4_obj
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: cam_tform4x4_obj_ncds
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  splits:
-  - name: train
-    num_bytes: 8258704901
-    num_examples: 24298
-  download_size: 8230610634
-  dataset_size: 8258704901
-- config_name: hc3d_frame_object_train_n50000_b100_r512_mmc16_ctoy_train_meshes
-  features:
-  - name: object_id
-    dtype: string
-  - name: mesh
-    struct:
-    - name: __dc__
-      dtype: string
-    - name: fields
-      struct:
-      - name: verts
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: faces
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: vert_colors
-        dtype: 'null'
-      - name: verts_uvs
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: faces_uvs
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: texture
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: vert_feats
-        dtype: 'null'
-  splits:
-  - name: train
-    num_bytes: 26589774
-    num_examples: 47
-  download_size: 26608220
-  dataset_size: 26589774
-- config_name: hc3d_frame_object_train_n50000_b100_r512_mmc16_ctoy_truck
-  features:
-  - name: object_id
-    dtype: string
-  - name: pts3d
-    dtype: 'null'
-  - name: pts3d_feats
-    dtype: 'null'
-  - name: pts3d_feats_mask
-    dtype: 'null'
-  - name: verts3d
-    dtype: 'null'
-  - name: verts3d_feats
-    dtype: 'null'
-  - name: verts3d_feats_mask
-    dtype: 'null'
-  - name: mesh
-    dtype: 'null'
-  - name: obj_ncds0c_tform4x4_obj
-    dtype: 'null'
-  - name: obj_size_ncds
-    dtype: float64
-  - name: obj_size
-    dtype: float64
-  - name: obj_size3d
-    dtype: 'null'
-  - name: obj_bbox3d
-    dtype: 'null'
-  - name: obj_kpts3d
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: obj_kpts3d_mask
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: obj_syms
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
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-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: obj_kpts3d_syms
-    struct:
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-    - name: shape
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-    - name: dtype
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-    - name: data
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-    - name: q
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-    - name: scale
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-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: obj_axis6d_sym
-    dtype: 'null'
-  - name: obj_verts_part_id
-    dtype: 'null'
-  - name: category
-    dtype: string
-  - name: category_id
-    dtype: 'null'
-  - name: attributes
-    dtype: 'null'
-  - name: frame_id
-    dtype: string
-  - name: cam_intr4x4
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: rgb
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
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-    - name: scale
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-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: depth
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
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-    - name: pack
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-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: depth_mask
-    struct:
-    - name: __t__
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-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
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-    - name: q
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-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
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-    - name: nbytes
-      dtype: int64
-  - name: mask
-    dtype: 'null'
-  - name: normal
-    dtype: 'null'
-  - name: feat
-    dtype: 'null'
-  - name: featmap
-    dtype: 'null'
-  - name: featmap_lvls
-    dtype: 'null'
-  - name: frame_object_id
-    dtype: string
-  - name: cam_bbox2d
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
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-    - name: q
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-    - name: pack
-      dtype: string
-    - name: z
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-    - name: nbytes
-      dtype: int64
-  - name: cam_bbox3d
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
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-    - name: data
-      dtype: binary
-    - name: q
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-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: fo_mask
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
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-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: fo_mask_dt
-    dtype: 'null'
-  - name: fo_mask_amodal
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
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-    - name: scale
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-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: fo_mask_amodal_dt
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
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-    - name: scale
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-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: obj_kpts2d_mask
-    dtype: 'null'
-  - name: cam_tform4x4_obj
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
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-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: cam_tform4x4_obj_ncds
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
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-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  splits:
-  - name: train
-    num_bytes: 7924482623
-    num_examples: 22307
-  download_size: 7922591913
-  dataset_size: 7924482623
-- config_name: hc3d_frame_object_train_n50000_b100_r512_mmc16_ctoy_truck_meshes
-  features:
-  - name: object_id
-    dtype: string
-  - name: mesh
-    struct:
-    - name: __dc__
-      dtype: string
-    - name: fields
-      struct:
-      - name: verts
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
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-        - name: dtype
-          dtype: string
-        - name: data
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-        - name: q
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-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
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-        - name: nbytes
-          dtype: int64
-      - name: faces
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
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-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: vert_colors
-        dtype: 'null'
-      - name: verts_uvs
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
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-        - name: scale
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-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: faces_uvs
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
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-        - name: scale
-          dtype: float64
-        - name: pack
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-        - name: z
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-        - name: nbytes
-          dtype: int64
-      - name: texture
-        struct:
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-        - name: shape
-          list: int64
-        - name: dtype
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-        - name: data
-          dtype: binary
-        - name: q
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-        - name: scale
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-        - name: pack
-          dtype: string
-        - name: z
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-        - name: nbytes
-          dtype: int64
-      - name: vert_feats
-        dtype: 'null'
-  splits:
-  - name: train
-    num_bytes: 20658361
-    num_examples: 37
-  download_size: 20677454
-  dataset_size: 20658361
-- config_name: hc3d_frame_object_train_n50000_b100_r512_mmc16_cwallet
-  features:
-  - name: object_id
-    dtype: string
-  - name: pts3d
-    dtype: 'null'
-  - name: pts3d_feats
-    dtype: 'null'
-  - name: pts3d_feats_mask
-    dtype: 'null'
-  - name: verts3d
-    dtype: 'null'
-  - name: verts3d_feats
-    dtype: 'null'
-  - name: verts3d_feats_mask
-    dtype: 'null'
-  - name: mesh
-    dtype: 'null'
-  - name: obj_ncds0c_tform4x4_obj
-    dtype: 'null'
-  - name: obj_size_ncds
-    dtype: float64
-  - name: obj_size
-    dtype: float64
-  - name: obj_size3d
-    dtype: 'null'
-  - name: obj_bbox3d
-    dtype: 'null'
-  - name: obj_kpts3d
-    dtype: 'null'
-  - name: obj_kpts3d_mask
-    dtype: 'null'
-  - name: obj_syms
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
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-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: obj_kpts3d_syms
-    dtype: 'null'
-  - name: obj_axis6d_sym
-    dtype: 'null'
-  - name: obj_verts_part_id
-    dtype: 'null'
-  - name: category
-    dtype: string
-  - name: category_id
-    dtype: 'null'
-  - name: attributes
-    dtype: 'null'
-  - name: frame_id
-    dtype: string
-  - name: cam_intr4x4
-    struct:
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-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
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-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: rgb
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
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-    - name: scale
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-    - name: pack
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-    - name: z
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-    - name: nbytes
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-  - name: depth
-    struct:
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-    - name: shape
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-    - name: dtype
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-    - name: data
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-    - name: q
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-    - name: pack
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-    - name: z
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-    - name: nbytes
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-  - name: depth_mask
-    struct:
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-    - name: shape
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-    - name: dtype
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-    - name: pack
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-    - name: z
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-    - name: nbytes
-      dtype: int64
-  - name: mask
-    dtype: 'null'
-  - name: normal
-    dtype: 'null'
-  - name: feat
-    dtype: 'null'
-  - name: featmap
-    dtype: 'null'
-  - name: featmap_lvls
-    dtype: 'null'
-  - name: frame_object_id
-    dtype: string
-  - name: cam_bbox2d
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
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-    - name: data
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-    - name: pack
-      dtype: string
-    - name: z
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-    - name: nbytes
-      dtype: int64
-  - name: cam_bbox3d
-    struct:
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-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
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-    - name: data
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-    - name: pack
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-    - name: z
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-    - name: nbytes
-      dtype: int64
-  - name: fo_mask
-    struct:
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-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
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-    - name: scale
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-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: fo_mask_dt
-    dtype: 'null'
-  - name: fo_mask_amodal
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
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-    - name: pack
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-    - name: z
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-    - name: nbytes
-      dtype: int64
-  - name: fo_mask_amodal_dt
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
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-    - name: scale
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-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: obj_kpts2d_mask
-    dtype: 'null'
-  - name: cam_tform4x4_obj
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
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-    - name: scale
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-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: cam_tform4x4_obj_ncds
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
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-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  splits:
-  - name: train
-    num_bytes: 9015080442
-    num_examples: 26175
-  download_size: 9015438212
-  dataset_size: 9015080442
-- config_name: hc3d_frame_object_train_n50000_b100_r512_mmc16_cwallet_meshes
-  features:
-  - name: object_id
-    dtype: string
-  - name: mesh
-    struct:
-    - name: __dc__
-      dtype: string
-    - name: fields
-      struct:
-      - name: verts
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
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-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
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-        - name: nbytes
-          dtype: int64
-      - name: faces
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: vert_colors
-        dtype: 'null'
-      - name: verts_uvs
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
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-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: faces_uvs
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
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-        - name: nbytes
-          dtype: int64
-      - name: texture
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: vert_feats
-        dtype: 'null'
-  splits:
-  - name: train
-    num_bytes: 11648129
-    num_examples: 25
-  download_size: 11667046
-  dataset_size: 11648129
 ---
 HouseCorr3D Dataset