Upload folder using huggingface_hub (part 8)

.gitattributes

@@ -59530,3 +59530,62 @@ dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/840412060917/observ
 dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/840412060917/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
 dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/840412060917/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text
 dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/841412060263/annotation/segment/mask.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/841412060263/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/841412060263/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/841412060263/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/932122060857/annotation/segment/mask.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/932122060857/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/932122060857/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/932122060857/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/932122060861/annotation/segment/mask.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/932122060861/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/932122060861/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/932122060861/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/932122061900/annotation/segment/mask.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/932122061900/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/932122061900/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/932122061900/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/932122062010/annotation/segment/mask.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/932122062010/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/932122062010/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/932122062010/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113619/836212060125/annotation/segment/mask.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113619/836212060125/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113619/836212060125/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113619/836212060125/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113619/839512060362/annotation/segment/mask.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113619/839512060362/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113619/839512060362/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113619/839512060362/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113619/840412060917/annotation/segment/mask.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113619/840412060917/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113619/840412060917/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113619/840412060917/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113619/841412060263/annotation/segment/mask.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113619/841412060263/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113619/841412060263/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113619/841412060263/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113619/932122060857/annotation/segment/mask.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113619/932122060857/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113619/932122060857/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113619/932122060857/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113619/932122060861/annotation/segment/mask.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113619/932122060861/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113619/932122060861/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113619/932122060861/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113619/932122061900/annotation/segment/mask.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113619/932122061900/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113619/932122061900/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113619/932122061900/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113619/932122062010/annotation/segment/mask.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113619/932122062010/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113619/932122062010/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113619/932122062010/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113641/836212060125/annotation/segment/mask.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113641/836212060125/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113641/836212060125/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113641/836212060125/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113641/839512060362/annotation/segment/mask.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113641/839512060362/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113641/839512060362/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
+dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113641/839512060362/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/841412060263/camera/intrinsic.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbc09ef96a2433cec28acd3b943af46282e7b4bce128edac4f1c045c2d6142b0
+size 4215

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/841412060263/camera/intrinsic_valid.pt

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

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/841412060263/metainfo.json

@@ -0,0 +1,751 @@
+{
+  "schema_version": "hand-warehouse/1.0",
+  "dataset_id": "dex-ycb",
+  "release_id": "shared-v1.0",
+  "sequence_id": "20201022-subject-10_20201022_113558",
+  "camera_id": "841412060263",
+  "sample_type": "video",
+  "num_frames": 74,
+  "hand_slots": [
+    "left",
+    "right"
+  ],
+  "sampling": {
+    "type": "dense",
+    "source_fps": null,
+    "frames_ref": "camera/frames.jsonl",
+    "selection": {
+      "max_frames": null,
+      "views": null
+    }
+  },
+  "camera": {
+    "model": "pinhole",
+    "schema_id": "camera/pinhole/v1",
+    "image_size": [
+      640,
+      480
+    ]
+  },
+  "components": {
+    "rgb": {
+      "available": true,
+      "schema_id": "rgb/uint8/v1",
+      "data_ref": "observation/rgb.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width",
+        "channel"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Verified source packet copy or lossless fixed-decoder RGB encoding"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl"
+      },
+      "storage": {
+        "profile": "mkv/mjpeg_copy/v1",
+        "codec": "mjpeg",
+        "pixel_format": "yuvj420p",
+        "encoded_size": [
+          640,
+          480
+        ],
+        "decoder": {
+          "name": "ffmpeg",
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "autorotate": false,
+          "color_space": "bt470bg",
+          "color_range": "pc",
+          "color_primaries": "unknown",
+          "color_transfer": "unknown",
+          "source_color_metadata": {
+            "color_space": "bt470bg",
+            "color_range": "pc",
+            "color_primaries": "unknown",
+            "color_transfer": "unknown"
+          }
+        },
+        "encoder_parameters": {
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "stream_copy": true
+        },
+        "source_lossy": true,
+        "storage_fps": 30,
+        "timebase_role": "index_only"
+      },
+      "valid_ref": "observation/rgb_valid.pt",
+      "valid_axes": [
+        "T"
+      ]
+    },
+    "intrinsic": {
+      "available": true,
+      "schema_id": "camera/pinhole/v1",
+      "data_ref": "camera/intrinsic.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/calibration.tar.gz",
+        "member": "calibration/intrinsics/841412060263_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_02": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/ycb_02/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_02/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_02": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/ycb_02/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/003_cracker_box/textured_simple.obj"
+      },
+      "valid": true,
+      "unit": "m"
+    },
+    "pose_ycb_09": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/ycb_09/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_09/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_09": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/ycb_09/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/010_potted_meat_can/textured_simple.obj"
+      },
+      "valid": true,
+      "unit": "m"
+    },
+    "pose_ycb_10": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/ycb_10/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_10/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_10": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/ycb_10/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/011_banana/textured_simple.obj"
+      },
+      "valid": true,
+      "unit": "m"
+    },
+    "pose_ycb_14": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/ycb_14/pose.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources.labels"
+      },
+      "valid_ref": "annotation/object/ycb_14/pose_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "convention": "T_camera_from_object",
+      "unit": "m",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source pose_y for this ycb_ids slot present and not an all-zero matrix",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources.labels"
+        },
+        "scope": [
+          "T"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
+    "mesh_ycb_14": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/ycb_14/assets/textured_simple.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/models.tar.gz",
+        "member": "models/025_mug/textured_simple.obj"
+      },
+      "valid": true,
+      "unit": "m"
+    },
+    "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_02",
+          "ycb_09",
+          "ycb_10",
+          "ycb_14"
+        ]
+      },
+      "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_113558/meta.yml",
+        "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"
+      },
+      "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_113558/meta.yml",
+          "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"
+        },
+        "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_113558/841412060263/observation/depth.mkv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b90dca64c4e4a48ee19cee585247af6456bea75c3424b6f7c8c57344c7da11e3
+size 16457720

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/841412060263/observation/depth_valid.mkv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a80dc4832b3cce3525df35b1e807df3a9e2e872a5730bed407789826f0b369c9
+size 159276

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/841412060263/observation/rgb.mkv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c0579acaede5d85c442be89d7311486c189d63e9fe83bfbffaec02fc61284f8
+size 5628581

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/841412060263/observation/rgb_valid.pt

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

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/932122060857/annotation/contact/relations.jsonl

@@ -0,0 +1,74 @@
+{"frame_index": 0, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 72, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "provenance": {"kind": "source", "method": "sequence ycb_grasp_ind resolved through ycb_ids; not per-frame contact"}}]}
+{"frame_index": 73, "relations": [{"relation_type": "grasp", "subject_id": "hand_right", "object_id": "ycb_14", "status": "positive", "source_locator": {"file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz", "member": "20201022-subject-10/20201022_113558/meta.yml", "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"}, "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_113558/932122060857/annotation/contact/relations_valid.pt

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

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/932122060857/annotation/keypoints/uv.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cdc005435140987589e3906c9c0ef3d4df604d678a8e7149e696c8583318e3b
+size 26310

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/932122060857/annotation/keypoints/uv_valid.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf1dc8395c563707449ed35b7c1029be744770fdefed7280c02b73104fd4b41d
+size 4656

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/932122060857/annotation/keypoints/xyz.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61716d3719368af8b834b2bcd3c862c652bcb077aa9cd2b53da5d020d69fb116
+size 38797

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/932122060857/annotation/keypoints/xyz_valid.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b065de392b04c8aa700b246e93281f127864e6c7a373370510339f2c3306a855
+size 4663

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/932122060857/annotation/mano/motion.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:548040c37ddb670b16b76da0161a2bd8e4482947e164831faee0a0dfb9e61cd5
+size 37666

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/932122060857/annotation/mano/motion_valid.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4224eb8c10f8f935f9b9be1113792a724e938f6b8f48feb2d20e7da8ab8b442
+size 1740

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/932122060857/annotation/object/ycb_02/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_113558/932122060857/annotation/object/ycb_02/metainfo.json

@@ -0,0 +1,14 @@
+{
+  "object_id": "ycb_02",
+  "identity_scope": "sequence",
+  "scope_id": "20201022-subject-10_20201022_113558",
+  "source_locator": {
+    "file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz",
+    "member": "20201022-subject-10/20201022_113558/meta.yml",
+    "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"
+  },
+  "has_model": true,
+  "source_object_id": 2,
+  "category_id": 2,
+  "mesh_ref": "annotation/object/ycb_02/assets/textured_simple.obj"
+}

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/932122060857/annotation/object/ycb_02/pose.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c268e7f72aa70658b5cb6d89543323f6422b4f521ae258c7f173a77aa65d4ba
+size 6228

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/932122060857/annotation/object/ycb_02/pose_valid.pt

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

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/932122060857/annotation/object/ycb_09/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_113558/932122060857/annotation/object/ycb_09/metainfo.json

@@ -0,0 +1,14 @@
+{
+  "object_id": "ycb_09",
+  "identity_scope": "sequence",
+  "scope_id": "20201022-subject-10_20201022_113558",
+  "source_locator": {
+    "file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz",
+    "member": "20201022-subject-10/20201022_113558/meta.yml",
+    "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"
+  },
+  "has_model": true,
+  "source_object_id": 9,
+  "category_id": 9,
+  "mesh_ref": "annotation/object/ycb_09/assets/textured_simple.obj"
+}

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/932122060857/annotation/object/ycb_09/pose.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:411a5a419925bf05106d78947534f244b7383a7523d423d7a196e0c3cb6ea302
+size 6228

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/932122060857/annotation/object/ycb_09/pose_valid.pt

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

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/932122060857/annotation/object/ycb_10/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_113558/932122060857/annotation/object/ycb_10/metainfo.json

@@ -0,0 +1,14 @@
+{
+  "object_id": "ycb_10",
+  "identity_scope": "sequence",
+  "scope_id": "20201022-subject-10_20201022_113558",
+  "source_locator": {
+    "file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz",
+    "member": "20201022-subject-10/20201022_113558/meta.yml",
+    "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"
+  },
+  "has_model": true,
+  "source_object_id": 10,
+  "category_id": 10,
+  "mesh_ref": "annotation/object/ycb_10/assets/textured_simple.obj"
+}

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/932122060857/annotation/object/ycb_10/pose.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a286692b63a8b0276652d0df9c52dba355dc53c5b5b806c60797b2e4d437db28
+size 6228

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/932122060857/annotation/object/ycb_10/pose_valid.pt

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

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/932122060857/annotation/object/ycb_14/assets/textured_simple.obj.mtl

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

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/932122060857/annotation/object/ycb_14/metainfo.json

@@ -0,0 +1,14 @@
+{
+  "object_id": "ycb_14",
+  "identity_scope": "sequence",
+  "scope_id": "20201022-subject-10_20201022_113558",
+  "source_locator": {
+    "file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/20201022-subject-10.tar.gz",
+    "member": "20201022-subject-10/20201022_113558/meta.yml",
+    "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"
+  },
+  "has_model": true,
+  "source_object_id": 14,
+  "category_id": 14,
+  "mesh_ref": "annotation/object/ycb_14/assets/textured_simple.obj"
+}

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/932122060857/annotation/object/ycb_14/pose.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28d82416b7b10ebd14abdb468da81485fb26b8b13298dce08e99091588c09f19
+size 6228

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/932122060857/annotation/object/ycb_14/pose_valid.pt

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

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/932122060857/annotation/segment/instances.jsonl

@@ -0,0 +1,74 @@
+{"frame_index": 0, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}]}
+{"frame_index": 1, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}]}
+{"frame_index": 2, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}]}
+{"frame_index": 3, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}]}
+{"frame_index": 4, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}]}
+{"frame_index": 5, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}]}
+{"frame_index": 6, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}]}
+{"frame_index": 7, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}]}
+{"frame_index": 8, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}]}
+{"frame_index": 9, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}]}
+{"frame_index": 10, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}]}
+{"frame_index": 11, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}]}
+{"frame_index": 12, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}]}
+{"frame_index": 13, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}]}
+{"frame_index": 14, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}]}
+{"frame_index": 15, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}]}
+{"frame_index": 16, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}]}
+{"frame_index": 17, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}]}
+{"frame_index": 18, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}]}
+{"frame_index": 19, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}]}
+{"frame_index": 20, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}]}
+{"frame_index": 21, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}]}
+{"frame_index": 22, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}]}
+{"frame_index": 23, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}]}
+{"frame_index": 24, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}]}
+{"frame_index": 25, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 26, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 27, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 28, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 29, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 30, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 31, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 32, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 33, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 34, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 35, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 36, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 37, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 38, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 39, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 40, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 41, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 42, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 43, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 44, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 45, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 46, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 47, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 48, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 49, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 50, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 51, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 52, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 53, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 54, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 55, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 56, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 57, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 58, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 59, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 60, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 61, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 62, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 63, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 64, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 65, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 66, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 67, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 68, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 69, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 70, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 71, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 72, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"mask_value": 255, "category_id": "hand", "entity_id": "hand_right", "part_id": null, "source_instance_id": 255}]}
+{"frame_index": 73, "labels": [{"mask_value": 2, "category_id": 2, "entity_id": "ycb_02", "part_id": null, "source_instance_id": 2}, {"mask_value": 10, "category_id": 10, "entity_id": "ycb_10", "part_id": null, "source_instance_id": 10}, {"mask_value": 14, "category_id": 14, "entity_id": "ycb_14", "part_id": null, "source_instance_id": 14}, {"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_113558/932122060857/annotation/segment/mask.mkv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2a05499a785ed333f0767f8f59b1e7125da370a5f5a859cc74c183b9530f01d
+size 204459

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/932122060857/annotation/segment/mask_valid.pt

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

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/932122060857/camera/extrinsic.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b084786535cf4e4048587d592dbd9437af5118d34bd81f0e9fa6ddd791fab68
+size 6327

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/932122060857/camera/extrinsic_valid.pt

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

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/932122060857/camera/intrinsic.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21e6610bf43e5627e4a634c10959fcc0e4ada2435db558c17cd8a9a390a7fcce
+size 4215

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/932122060857/camera/intrinsic_valid.pt

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

dex-ycb/shared-v1.0/data/20201022-subject-10_20201022_113558/932122060857/metainfo.json

@@ -0,0 +1,751 @@
+{
+  "schema_version": "hand-warehouse/1.0",
+  "dataset_id": "dex-ycb",
+  "release_id": "shared-v1.0",
+  "sequence_id": "20201022-subject-10_20201022_113558",
+  "camera_id": "932122060857",
+  "sample_type": "video",
+  "num_frames": 74,
+  "hand_slots": [
+    "left",
+    "right"
+  ],
+  "sampling": {
+    "type": "dense",
+    "source_fps": null,
+    "frames_ref": "camera/frames.jsonl",
+    "selection": {
+      "max_frames": null,
+      "views": null
+    }
+  },
+  "camera": {
+    "model": "pinhole",
+    "schema_id": "camera/pinhole/v1",
+    "image_size": [
+      640,
+      480
+    ]
+  },
+  "components": {
+    "rgb": {
+      "available": true,
+      "schema_id": "rgb/uint8/v1",
+      "data_ref": "observation/rgb.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width",
+        "channel"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Verified source packet copy or lossless fixed-decoder RGB encoding"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl"
+      },
+      "storage": {
+        "profile": "mkv/mjpeg_copy/v1",
+        "codec": "mjpeg",
+        "pixel_format": "yuvj420p",
+        "encoded_size": [
+          640,
+          480
+        ],
+        "decoder": {
+          "name": "ffmpeg",
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "autorotate": false,
+          "color_space": "bt470bg",
+          "color_range": "pc",
+          "color_primaries": "unknown",
+          "color_transfer": "unknown",
+          "source_color_metadata": {
+            "color_space": "bt470bg",
+            "color_range": "pc",
+            "color_primaries": "unknown",
+            "color_transfer": "unknown"
+          }
+        },
+        "encoder_parameters": {
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "stream_copy": true
+        },
+        "source_lossy": true,
+        "storage_fps": 30,
+        "timebase_role": "index_only"
+      },
+      "valid_ref": "observation/rgb_valid.pt",
+      "valid_axes": [
+        "T"
+      ]
+    },
+    "intrinsic": {
+      "available": true,
+      "schema_id": "camera/pinhole/v1",
+      "data_ref": "camera/intrinsic.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/calibration.tar.gz",
+        "member": "calibration/intrinsics/932122060857_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_02": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/ycb_02/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_02/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_02": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/ycb_02/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/003_cracker_box/textured_simple.obj"
+      },
+      "valid": true,
+      "unit": "m"
+    },
+    "pose_ycb_09": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/ycb_09/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_09/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_09": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/ycb_09/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/010_potted_meat_can/textured_simple.obj"
+      },
+      "valid": true,
+      "unit": "m"
+    },
+    "pose_ycb_10": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/ycb_10/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_10/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_10": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/ycb_10/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/011_banana/textured_simple.obj"
+      },
+      "valid": true,
+      "unit": "m"
+    },
+    "pose_ycb_14": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/ycb_14/pose.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources.labels"
+      },
+      "valid_ref": "annotation/object/ycb_14/pose_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "convention": "T_camera_from_object",
+      "unit": "m",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source pose_y for this ycb_ids slot present and not an all-zero matrix",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources.labels"
+        },
+        "scope": [
+          "T"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
+    "mesh_ycb_14": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/ycb_14/assets/textured_simple.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/dex-ycb/raw/data/models.tar.gz",
+        "member": "models/025_mug/textured_simple.obj"
+      },
+      "valid": true,
+      "unit": "m"
+    },
+    "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_02",
+          "ycb_09",
+          "ycb_10",
+          "ycb_14"
+        ]
+      },
+      "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_113558/meta.yml",
+        "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"
+      },
+      "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_113558/meta.yml",
+          "sha256": "38f83ced1af6e9b79bba0bb29144a981291b758e868afba059211a07efb9b15c"
+        },
+        "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"
+  }
+}