Upload folder using huggingface_hub (part 31)

.gitattributes

@@ -60597,3 +60597,11 @@ dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122060861/annota
 dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122060861/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
 dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122060861/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
 dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122060861/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122061900/annotation/segment/mask.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122061900/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122061900/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122061900/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122062010/annotation/segment/mask.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122062010/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122062010/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122062010/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122061900/annotation/object/ycb_13/metainfo.json

@@ -0,0 +1,14 @@
+{
+  "object_id": "ycb_13",
+  "identity_scope": "sequence",
+  "scope_id": "20201022-subject-10_20201022_114909",
+  "source_locator": {
+    "file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz",
+    "member": "20201022-subject-10/20201022_114909/meta.yml",
+    "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"
+  },
+  "has_model": true,
+  "source_object_id": 13,
+  "category_id": 13,
+  "mesh_ref": "annotation/object/ycb_13/assets/textured_simple.obj"
+}

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122061900/annotation/object/ycb_13/pose.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1757d69f27bc14a62326d7c2da56bb7d2822c6a543d12f5f4c4718d70696505
+size 6100

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122061900/annotation/object/ycb_13/pose_valid.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dac782075ac9e3442cc791726a0ed5d8fe9079f43294f18d88348b5dee3959f8
+size 1662

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122061900/annotation/object/ycb_21/assets/textured_simple.obj.mtl

@@ -0,0 +1,14 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.639216 0.639216 0.639216
+Ks 1.000000 1.000000 1.000000
+Tr 1.000000
+illum 2
+Ns 0.000000
+map_Kd texture_map.png
+

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122061900/annotation/object/ycb_21/metainfo.json

@@ -0,0 +1,14 @@
+{
+  "object_id": "ycb_21",
+  "identity_scope": "sequence",
+  "scope_id": "20201022-subject-10_20201022_114909",
+  "source_locator": {
+    "file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz",
+    "member": "20201022-subject-10/20201022_114909/meta.yml",
+    "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"
+  },
+  "has_model": true,
+  "source_object_id": 21,
+  "category_id": 21,
+  "mesh_ref": "annotation/object/ycb_21/assets/textured_simple.obj"
+}

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122061900/annotation/object/ycb_21/pose.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec3fdc7c6c6e356e7d15a424e1c316752a1a93bf17183de55f51ab8930e745c9
+size 6100

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122061900/annotation/object/ycb_21/pose_valid.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dac782075ac9e3442cc791726a0ed5d8fe9079f43294f18d88348b5dee3959f8
+size 1662

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122061900/annotation/segment/instances.jsonl

@@ -0,0 +1,72 @@
+{"frame_index": 0, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}]}
+{"frame_index": 1, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}]}
+{"frame_index": 2, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}]}
+{"frame_index": 3, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}]}
+{"frame_index": 4, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}]}
+{"frame_index": 5, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}]}
+{"frame_index": 6, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}]}
+{"frame_index": 7, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}]}
+{"frame_index": 8, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}]}
+{"frame_index": 9, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}]}
+{"frame_index": 10, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}]}
+{"frame_index": 11, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}]}
+{"frame_index": 12, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}]}
+{"frame_index": 13, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}]}
+{"frame_index": 14, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}]}
+{"frame_index": 15, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}]}
+{"frame_index": 16, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}]}
+{"frame_index": 17, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 18, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 19, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 20, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 21, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 22, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 23, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 24, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 25, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 26, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 27, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 28, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 29, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 30, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 31, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 32, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 33, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 34, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 35, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 36, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 37, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 38, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 39, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 40, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 41, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 42, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 43, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 44, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 45, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 46, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 47, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 48, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 49, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 50, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 51, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 52, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 53, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 54, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 55, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 56, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 57, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 58, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 59, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 60, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 61, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 62, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 63, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 64, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 65, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 66, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 67, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 68, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 69, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 70, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 71, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122061900/annotation/segment/mask.mkv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae0ba00a26f6dac760e23dc5320681e9668243ef35d45fa9eaa6f938a10221d9
+size 233524

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122061900/annotation/segment/mask_valid.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:821e3b53da679521dff34ea113486a240beb83fae0aa47bfa6b1a9f9a3e83e1a
+size 1662

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122061900/camera/extrinsic.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eec191e0a83b277cf43f0f728f8b84eb8fb33ccd19ca9ac340fb1844d2f251e7
+size 6199

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122061900/camera/extrinsic_valid.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:753a8e93d9e47f63ce1dd887a8eb73554a57ece746a38fdd8b197e8f89efb210
+size 1697

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122061900/camera/intrinsic.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c4d91a04efab71a22a0049a114ee8e9e51f2ee129686b372e343d928ed6da44
+size 4151

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122061900/camera/intrinsic_valid.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ca7675603426dfa2f0361eac7f2373ab338a6797cefc0d5fd73305b143e6312
+size 1697

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122061900/metainfo.json

@@ -0,0 +1,688 @@
+{
+  "schema_version": "hand-warehouse/1.0",
+  "dataset_id": "dex-ycb",
+  "release_id": "shared-v1.0",
+  "sequence_id": "20201022-subject-10_20201022_114909",
+  "camera_id": "932122061900",
+  "sample_type": "video",
+  "num_frames": 72,
+  "hand_slots": [
+    "left",
+    "right"
+  ],
+  "sampling": {
+    "type": "dense",
+    "source_fps": null,
+    "frames_ref": "camera/frames.jsonl",
+    "selection": {
+      "max_frames": null,
+      "views": null
+    }
+  },
+  "camera": {
+    "model": "pinhole",
+    "schema_id": "camera/pinhole/v1",
+    "image_size": [
+      640,
+      480
+    ]
+  },
+  "components": {
+    "rgb": {
+      "available": true,
+      "schema_id": "rgb/uint8/v1",
+      "data_ref": "observation/rgb.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width",
+        "channel"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Verified source packet copy or lossless fixed-decoder RGB encoding"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl"
+      },
+      "storage": {
+        "profile": "mkv/mjpeg_copy/v1",
+        "codec": "mjpeg",
+        "pixel_format": "yuvj420p",
+        "encoded_size": [
+          640,
+          480
+        ],
+        "decoder": {
+          "name": "ffmpeg",
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "autorotate": false,
+          "color_space": "bt470bg",
+          "color_range": "pc",
+          "color_primaries": "unknown",
+          "color_transfer": "unknown",
+          "source_color_metadata": {
+            "color_space": "bt470bg",
+            "color_range": "pc",
+            "color_primaries": "unknown",
+            "color_transfer": "unknown"
+          }
+        },
+        "encoder_parameters": {
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "stream_copy": true
+        },
+        "source_lossy": true,
+        "storage_fps": 30,
+        "timebase_role": "index_only"
+      },
+      "valid_ref": "observation/rgb_valid.pt",
+      "valid_axes": [
+        "T"
+      ]
+    },
+    "intrinsic": {
+      "available": true,
+      "schema_id": "camera/pinhole/v1",
+      "data_ref": "camera/intrinsic.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/calibration.tar.gz",
+        "member": "calibration/intrinsics/932122061900_640x480.yml"
+      },
+      "valid_ref": "camera/intrinsic_valid.pt",
+      "valid_axes": [
+        "T"
+      ]
+    },
+    "extrinsic": {
+      "available": true,
+      "schema_id": "transform/se3/v1",
+      "data_ref": "camera/extrinsic.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/calibration.tar.gz",
+        "member": "calibration/extrinsics_20201022_091549/extrinsics.yml",
+        "conversion": "inverse of source T_world_from_camera"
+      },
+      "valid_ref": "camera/extrinsic_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "convention": "T_camera_from_world"
+    },
+    "mano": {
+      "available": true,
+      "schema_id": "mano/axis_angle61/v1",
+      "data_ref": "annotation/mano/motion.pt",
+      "axes": [
+        "T",
+        "hand",
+        "parameter"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source PCA @ hands_components + hands_mean; explicit axis-angle consumed with flat_hand_mean=true"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources.labels"
+      },
+      "valid_ref": "annotation/mano/motion_valid.pt",
+      "valid_axes": [
+        "T",
+        "hand"
+      ],
+      "model_profile": {
+        "version": "sha256:eab78181e459e156559df334b103d825e00c8711d2eeffee1cc176fb42051f4f",
+        "flat_hand_mean": true,
+        "left_shapedirs_correction": "not_applied",
+        "models": {
+          "left": {
+            "file": "MANO_LEFT.pkl",
+            "sha256": "c4022f7083f2ca7c78b2b3d595abbab52debd32b09d372b16923a801f0ea6a30"
+          },
+          "right": {
+            "file": "MANO_RIGHT.pkl",
+            "sha256": "45d60aa3b27ef9107a7afd4e00808f307fd91111e1cfa35afd5c4a62de264767"
+          }
+        }
+      },
+      "calibration_source": {
+        "file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/calibration.tar.gz",
+        "member": "calibration/mano_20201022_105224_subject-10_right/mano.yml"
+      },
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source pose_m present and not all zero; side model/calibration available",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources.labels"
+        },
+        "scope": [
+          "T",
+          "hand"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
+    "keypoints_uv": {
+      "available": true,
+      "schema_id": "keypoints/uv/v1",
+      "data_ref": "annotation/keypoints/uv.pt",
+      "axes": [
+        "T",
+        "hand",
+        "keypoint",
+        "coordinate"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources.labels"
+      },
+      "valid_ref": "annotation/keypoints/uv_valid.pt",
+      "valid_axes": [
+        "T",
+        "hand",
+        "keypoint"
+      ],
+      "keypoint_schema": "mano21/v1",
+      "unit": "pixel",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Corresponding joint_2d/joint_3d present; whole-hand all -1 is missing, broadcast to its 21 points",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources.labels"
+        },
+        "scope": [
+          "T",
+          "hand",
+          "keypoint"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
+    "keypoints_xyz": {
+      "available": true,
+      "schema_id": "keypoints/xyz/v1",
+      "data_ref": "annotation/keypoints/xyz.pt",
+      "axes": [
+        "T",
+        "hand",
+        "keypoint",
+        "coordinate"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources.labels"
+      },
+      "valid_ref": "annotation/keypoints/xyz_valid.pt",
+      "valid_axes": [
+        "T",
+        "hand",
+        "keypoint"
+      ],
+      "keypoint_schema": "mano21/v1",
+      "unit": "m",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Corresponding joint_2d/joint_3d present; whole-hand all -1 is missing, broadcast to its 21 points",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources.labels"
+        },
+        "scope": [
+          "T",
+          "hand",
+          "keypoint"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
+    "pose_ycb_06": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/ycb_06/pose.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources.labels"
+      },
+      "valid_ref": "annotation/object/ycb_06/pose_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "convention": "T_camera_from_object",
+      "unit": "m",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source pose_y for this ycb_ids slot present and not an all-zero matrix",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources.labels"
+        },
+        "scope": [
+          "T"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
+    "mesh_ycb_06": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/ycb_06/assets/textured_simple.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/models.tar.gz",
+        "member": "models/007_tuna_fish_can/textured_simple.obj"
+      },
+      "valid": true,
+      "unit": "m"
+    },
+    "pose_ycb_13": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/ycb_13/pose.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources.labels"
+      },
+      "valid_ref": "annotation/object/ycb_13/pose_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "convention": "T_camera_from_object",
+      "unit": "m",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source pose_y for this ycb_ids slot present and not an all-zero matrix",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources.labels"
+        },
+        "scope": [
+          "T"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
+    "mesh_ycb_13": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/ycb_13/assets/textured_simple.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/models.tar.gz",
+        "member": "models/024_bowl/textured_simple.obj"
+      },
+      "valid": true,
+      "unit": "m"
+    },
+    "pose_ycb_21": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/ycb_21/pose.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources.labels"
+      },
+      "valid_ref": "annotation/object/ycb_21/pose_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "convention": "T_camera_from_object",
+      "unit": "m",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source pose_y for this ycb_ids slot present and not an all-zero matrix",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources.labels"
+        },
+        "scope": [
+          "T"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
+    "mesh_ycb_21": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/ycb_21/assets/textured_simple.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/models.tar.gz",
+        "member": "models/061_foam_brick/textured_simple.obj"
+      },
+      "valid": true,
+      "unit": "m"
+    },
+    "segment": {
+      "available": true,
+      "schema_id": "segment/uint16_labels/v1",
+      "data_ref": "annotation/segment/mask.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources.labels"
+      },
+      "storage": {
+        "profile": "mkv/uint16_ffv1/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray16le",
+        "encoded_size": [
+          640,
+          480
+        ],
+        "decoder": {
+          "name": "ffmpeg",
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "autorotate": false,
+          "color_space": "unknown",
+          "color_range": "unknown",
+          "color_primaries": "unknown",
+          "color_transfer": "unknown"
+        },
+        "encoder_parameters": {
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "name": "ffv1",
+          "arguments": []
+        },
+        "source_lossy": false,
+        "storage_fps": 30,
+        "timebase_role": "index_only"
+      },
+      "valid_ref": "annotation/segment/mask_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "segmentation_type": "instance",
+      "mapping_ref": "annotation/segment/instances.jsonl",
+      "coverage": {
+        "kind": "selected_entities",
+        "entities": [
+          "hand_right",
+          "ycb_06",
+          "ycb_13",
+          "ycb_21"
+        ]
+      },
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source seg array provided for this frame; region codes and entity references validated",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources.labels"
+        },
+        "scope": [
+          "T"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      },
+      "source_zero_meaning": "background"
+    },
+    "depth": {
+      "available": true,
+      "schema_id": "depth/z_float32/v1",
+      "data_ref": "observation/depth.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources.aligned_depth_to_color",
+        "conversion": "millimetres to metres"
+      },
+      "storage": {
+        "profile": "mkv/depth_float32_bits/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray16le",
+        "encoded_size": [
+          1280,
+          480
+        ],
+        "decoder": {
+          "name": "ffmpeg",
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "autorotate": false,
+          "color_space": "unknown",
+          "color_range": "unknown",
+          "color_primaries": "unknown",
+          "color_transfer": "unknown"
+        },
+        "encoder_parameters": {
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "name": "ffv1",
+          "arguments": []
+        },
+        "source_lossy": false,
+        "storage_fps": 30,
+        "timebase_role": "index_only"
+      },
+      "valid_storage": {
+        "profile": "mkv/bool_ffv1/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray",
+        "encoded_size": [
+          640,
+          480
+        ],
+        "decoder": {
+          "name": "ffmpeg",
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "autorotate": false,
+          "color_space": "unknown",
+          "color_range": "unknown",
+          "color_primaries": "unknown",
+          "color_transfer": "unknown"
+        },
+        "encoder_parameters": {
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "name": "ffv1",
+          "arguments": []
+        },
+        "source_lossy": false,
+        "storage_fps": 30,
+        "timebase_role": "index_only"
+      },
+      "valid_ref": "observation/depth_valid.mkv",
+      "valid_axes": [
+        "T",
+        "height",
+        "width"
+      ],
+      "unit": "m",
+      "depth_type": "z",
+      "depth_origin": "measured",
+      "invalid_value": "NaN"
+    },
+    "relations": {
+      "available": true,
+      "schema_id": "contact/relations/v1",
+      "data_ref": "annotation/contact/relations.jsonl",
+      "axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz",
+        "member": "20201022-subject-10/20201022_114909/meta.yml",
+        "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"
+      },
+      "valid_ref": "annotation/contact/relations_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source sequence ycb_grasp_ind resolves through ycb_ids; broadcast sequence grasp to selected frames",
+        "source_locator": {
+          "file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz",
+          "member": "20201022-subject-10/20201022_114909/meta.yml",
+          "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"
+        },
+        "scope": [
+          "T"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    }
+  },
+  "split": "train",
+  "view_type": "exo",
+  "split_scheme": "Dex-YCB/s1",
+  "split_source_locator": {
+    "url": "https://github.com/NVlabs/dex-ycb-toolkit/blob/master/dex_ycb_toolkit/dex_ycb.py",
+    "rule": "s1 unseen-subject: 01-06/10 train, 07 val, 08-09 test"
+  }
+}

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122061900/observation/depth.mkv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f719945d95ad9d20da9bf7ba986d67cf0bc478441e8f5fd337d515077540553
+size 18211617

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122061900/observation/depth_valid.mkv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6585e9fb1470d5cd0d0440270c68e00b4009fa72c7b0dc4e00943f1f62650141
+size 127639

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122061900/observation/rgb.mkv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6aadc9726e87bf03f0ed6ab74868c8413919fcd69ee00ba02a1d75add6c34b4
+size 5404073

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122061900/observation/rgb_valid.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3acb5111de01b4aefe43e1b87a4b780df86a92b96bed116d1a608abf0d8f131
+size 1655

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122062010/annotation/contact/relations.jsonl

@@ -0,0 +1,72 @@
+{"frame_index": 0, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 1, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 2, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 3, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 4, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 5, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 6, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 7, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 8, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 9, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 10, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 11, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 12, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 13, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 14, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 15, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 16, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 17, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 18, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 19, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 20, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 21, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 22, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 23, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 24, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 25, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 26, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 27, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 28, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 29, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 30, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 31, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 32, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 33, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 34, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 35, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 36, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 37, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 38, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 39, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 40, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 41, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 42, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 43, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 44, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 45, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 46, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 47, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 48, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 49, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 50, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 51, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 52, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 53, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 54, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 55, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 56, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 57, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 58, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 59, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 60, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 61, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 62, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 63, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 64, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 65, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 66, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 67, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 68, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 69, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 70, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 71, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_21", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_114909/meta.yml", "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122062010/annotation/contact/relations_valid.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af6f8d270d7bfa3c42bb6808e244083b341ef9e01cd64a6402c35ba89fda3430
+size 1697

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122062010/annotation/keypoints/uv.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd111e37e5007250b127ef9d3dce49ee6e3d937f5973c9d11a2a2b58efaf458e
+size 25606

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122062010/annotation/keypoints/uv_valid.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fa5506d2cb88e579688b6e8c7a1e3667ffc9f783b4ed7c89d18bd773242abd6
+size 4592

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122062010/annotation/keypoints/xyz.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80dfc620a583c2f6d03d174ec2b20a410cd5aed8c1355603989d3a5ecdacb5c7
+size 37773

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122062010/annotation/keypoints/xyz_valid.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa6c20364e1469c3f8786b84bb7334d234b5e0e860a71a734f4858114b70bc37
+size 4599

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122062010/annotation/mano/motion.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:782d36d3b4b2d789ad775991603b6f75e7184c03db0d67d6db8950e0494522f3
+size 36642

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122062010/annotation/mano/motion_valid.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:533477bc0d8afbe2d42a24dc899f9e95df6bda65b2d9cbf20db3239214cfdc80
+size 1740

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122062010/annotation/object/ycb_06/assets/textured_simple.obj.mtl

@@ -0,0 +1,14 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.639216 0.639216 0.639216
+Ks 1.000000 1.000000 1.000000
+Tr 1.000000
+illum 2
+Ns 0.000000
+map_Kd texture_map.png
+

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122062010/annotation/object/ycb_06/metainfo.json

@@ -0,0 +1,14 @@
+{
+  "object_id": "ycb_06",
+  "identity_scope": "sequence",
+  "scope_id": "20201022-subject-10_20201022_114909",
+  "source_locator": {
+    "file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz",
+    "member": "20201022-subject-10/20201022_114909/meta.yml",
+    "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"
+  },
+  "has_model": true,
+  "source_object_id": 6,
+  "category_id": 6,
+  "mesh_ref": "annotation/object/ycb_06/assets/textured_simple.obj"
+}

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122062010/annotation/object/ycb_06/pose.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:801af00a2a35bf3850c30676e83fdb69b13978b73f0561200c94cc21af43d3c1
+size 6100

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122062010/annotation/object/ycb_06/pose_valid.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dac782075ac9e3442cc791726a0ed5d8fe9079f43294f18d88348b5dee3959f8
+size 1662

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122062010/annotation/object/ycb_13/assets/textured_simple.obj.mtl

@@ -0,0 +1,14 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.639216 0.639216 0.639216
+Ks 1.000000 1.000000 1.000000
+Tr 1.000000
+illum 2
+Ns 0.000000
+map_Kd texture_map.png
+

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122062010/annotation/object/ycb_13/metainfo.json

@@ -0,0 +1,14 @@
+{
+  "object_id": "ycb_13",
+  "identity_scope": "sequence",
+  "scope_id": "20201022-subject-10_20201022_114909",
+  "source_locator": {
+    "file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz",
+    "member": "20201022-subject-10/20201022_114909/meta.yml",
+    "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"
+  },
+  "has_model": true,
+  "source_object_id": 13,
+  "category_id": 13,
+  "mesh_ref": "annotation/object/ycb_13/assets/textured_simple.obj"
+}

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122062010/annotation/object/ycb_13/pose.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48411676993b79f3a98ef02b004c6c9c8949ac4b928dbd6cd4549d772e09b37f
+size 6100

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122062010/annotation/object/ycb_13/pose_valid.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dac782075ac9e3442cc791726a0ed5d8fe9079f43294f18d88348b5dee3959f8
+size 1662

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122062010/annotation/object/ycb_21/assets/textured_simple.obj.mtl

@@ -0,0 +1,14 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.639216 0.639216 0.639216
+Ks 1.000000 1.000000 1.000000
+Tr 1.000000
+illum 2
+Ns 0.000000
+map_Kd texture_map.png
+

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122062010/annotation/object/ycb_21/metainfo.json

@@ -0,0 +1,14 @@
+{
+  "object_id": "ycb_21",
+  "identity_scope": "sequence",
+  "scope_id": "20201022-subject-10_20201022_114909",
+  "source_locator": {
+    "file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz",
+    "member": "20201022-subject-10/20201022_114909/meta.yml",
+    "sha256": "29be37f31b0e7a8717650c0550427605e8b9f028b008276143b51494d31d9839"
+  },
+  "has_model": true,
+  "source_object_id": 21,
+  "category_id": 21,
+  "mesh_ref": "annotation/object/ycb_21/assets/textured_simple.obj"
+}

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122062010/annotation/object/ycb_21/pose.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e96d699e43791356b70b9353e0da164f36ee16f9b536ba6dc47ae7d2c2ad3d6
+size 6100

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122062010/annotation/object/ycb_21/pose_valid.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dac782075ac9e3442cc791726a0ed5d8fe9079f43294f18d88348b5dee3959f8
+size 1662

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_114909/932122062010/annotation/segment/instances.jsonl

@@ -0,0 +1,72 @@
+{"frame_index": 0, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}]}
+{"frame_index": 1, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}]}
+{"frame_index": 2, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}]}
+{"frame_index": 3, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}]}
+{"frame_index": 4, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}]}
+{"frame_index": 5, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}]}
+{"frame_index": 6, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}]}
+{"frame_index": 7, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}]}
+{"frame_index": 8, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}]}
+{"frame_index": 9, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}]}
+{"frame_index": 10, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}]}
+{"frame_index": 11, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}]}
+{"frame_index": 12, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}]}
+{"frame_index": 13, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}]}
+{"frame_index": 14, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}]}
+{"frame_index": 15, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}]}
+{"frame_index": 16, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}]}
+{"frame_index": 17, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 18, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 19, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 20, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 21, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 22, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 23, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 24, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 25, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 26, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 27, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 28, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 29, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 30, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 31, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 32, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 33, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 34, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 35, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 36, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 37, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 38, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 39, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 40, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 41, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 42, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 43, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 44, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 45, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 46, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 47, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 48, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 49, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 50, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 51, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 52, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 53, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 54, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 55, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 56, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 57, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 58, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 59, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 60, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 61, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 62, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 63, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 64, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 65, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 66, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 67, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 68, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 69, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 70, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 71, "labels": [{"mask_value": 6, "category_id": 6, "entity_id": "ycb_06", "part_id": null, "source_instance_id": 6}, {"mask_value": 13, "category_id": 13, "entity_id": "ycb_13", "part_id": null, "source_instance_id": 13}, {"mask_value": 21, "category_id": 21, "entity_id": "ycb_21", "part_id": null, "source_instance_id": 21}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}