diff --git a/.gitattributes b/.gitattributes
index 3d8b20bc20223959c052354183957daf43c2ebc1..3c6be8017802dc0fafa4d512f9a23e2516385cd8 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -62906,3 +62906,30 @@ H2O/shared-v1.0/data/subject4_h2_7/cam0/observation/rgb.mkv filter=lfs diff=lfs
 H2O/shared-v1.0/data/subject4_h2_7/cam1/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
 H2O/shared-v1.0/data/subject4_h2_7/cam1/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
 H2O/shared-v1.0/data/subject4_h2_7/cam1/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text
+H2O/shared-v1.0/data/subject4_h2_7/cam2/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
+H2O/shared-v1.0/data/subject4_h2_7/cam2/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
+H2O/shared-v1.0/data/subject4_h2_7/cam2/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text
+H2O/shared-v1.0/data/subject4_h2_7/cam3/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
+H2O/shared-v1.0/data/subject4_h2_7/cam3/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
+H2O/shared-v1.0/data/subject4_h2_7/cam3/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text
+H2O/shared-v1.0/data/subject4_h2_7/cam4/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
+H2O/shared-v1.0/data/subject4_h2_7/cam4/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
+H2O/shared-v1.0/data/subject4_h2_7/cam4/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text
+H2O/shared-v1.0/data/subject4_k1_0/cam0/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
+H2O/shared-v1.0/data/subject4_k1_0/cam0/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
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diff --git a/H2O/shared-v1.0/data/subject4_h2_7/cam2/camera/intrinsic_valid.pt b/H2O/shared-v1.0/data/subject4_h2_7/cam2/camera/intrinsic_valid.pt
new file mode 100644
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diff --git a/H2O/shared-v1.0/data/subject4_h2_7/cam2/metainfo.json b/H2O/shared-v1.0/data/subject4_h2_7/cam2/metainfo.json
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index 0000000000000000000000000000000000000000..c8d97d8281e787bca8e67d25baccb03dfc2155fa
--- /dev/null
+++ b/H2O/shared-v1.0/data/subject4_h2_7/cam2/metainfo.json
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+{
+  "schema_version": "hand-warehouse/1.0",
+  "dataset_id": "H2O",
+  "release_id": "shared-v1.0",
+  "sequence_id": "subject4_h2_7",
+  "camera_id": "cam2",
+  "sample_type": "video",
+  "num_frames": 765,
+  "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": [
+      1280,
+      720
+    ]
+  },
+  "components": {
+    "rgb": {
+      "available": true,
+      "schema_id": "rgb/uint8/v1",
+      "data_ref": "observation/rgb.mkv",
+      "axes": [
+        "T",
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+        "width",
+        "channel"
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+        "kind": "format_conversion",
+        "method": "Verified source packet copy or lossless fixed-decoder RGB encoding"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl"
+      },
+      "storage": {
+        "profile": "mkv/ffv1_rgb/v1",
+        "codec": "ffv1",
+        "pixel_format": "bgr0",
+        "encoded_size": [
+          1280,
+          720
+        ],
+        "decoder": {
+          "name": "ffmpeg",
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "autorotate": false,
+          "color_space": "gbr",
+          "color_range": "pc",
+          "color_primaries": "unknown",
+          "color_transfer": "unknown",
+          "source_color_metadata": {
+            "color_space": "gbr",
+            "color_range": "pc",
+            "color_primaries": "unknown",
+            "color_transfer": "unknown"
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+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "name": "ffv1",
+          "arguments": [
+            "-level",
+            "3",
+            "-pix_fmt",
+            "bgr0",
+            "-level",
+            "3",
+            "-slices",
+            "16"
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+          "threads": 10
+        },
+        "source_lossy": false,
+        "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": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/subject4_v1_1.tar.gz",
+        "member": "subject4/h2/7/cam2/cam_intrinsics.txt",
+        "sha256": "ec260a45bda4bf1eb90fdcb46f5aaba5ec5d096763002619f95f1b4e818d8135"
+      },
+      "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": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "camera/extrinsic_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "convention": "T_camera_from_world",
+      "source_convention": "T_world_from_camera"
+    },
+    "mano": {
+      "available": true,
+      "schema_id": "mano/axis_angle61/v1",
+      "data_ref": "annotation/mano/motion.pt",
+      "axes": [
+        "T",
+        "hand",
+        "parameter"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "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"
+          }
+        }
+      },
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Per-hand hand_pose_mano flag equals 1; corresponding side model available",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "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_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"
+      },
+      "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": "Per-hand hand_pose flag equals 1, broadcast to that hand's 21 source points independently of MANO",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "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_espresso": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/espresso/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"
+      },
+      "valid_ref": "annotation/object/espresso/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 obj_pose_rt class equals this nonzero object class",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "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
+      }
+    },
+    "points_espresso": {
+      "available": true,
+      "schema_id": "object_keypoints/camera/v1",
+      "data_ref": "annotation/object/espresso/keypoints/xyz.pt",
+      "axes": [
+        "T",
+        "keypoint",
+        "coordinate"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/object/espresso/keypoints/xyz_valid.pt",
+      "valid_axes": [
+        "T",
+        "keypoint"
+      ],
+      "keypoint_schema": "H2O_official_object21",
+      "keypoint_names": [
+        "center",
+        "corner_0",
+        "corner_1",
+        "corner_2",
+        "corner_3",
+        "corner_4",
+        "corner_5",
+        "corner_6",
+        "corner_7",
+        "edge_midpoint_0",
+        "edge_midpoint_1",
+        "edge_midpoint_2",
+        "edge_midpoint_3",
+        "edge_midpoint_4",
+        "edge_midpoint_5",
+        "edge_midpoint_6",
+        "edge_midpoint_7",
+        "edge_midpoint_8",
+        "edge_midpoint_9",
+        "edge_midpoint_10",
+        "edge_midpoint_11"
+      ],
+      "source_order": "official obj_point_order.jpg: center, 8 corners, 12 edge midpoints",
+      "unit": "m",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source obj_pose class equals this nonzero object class, broadcast to its 21 points",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "scope": [
+          "T",
+          "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"
+        },
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+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
+    "mesh_espresso": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/espresso/assets/espresso.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/object.zip",
+        "member": "object/espresso/espresso.obj"
+      },
+      "valid": true,
+      "unit": "m"
+    },
+    "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.depth",
+        "definition": "https://github.com/taeinkwon/h2oplayer/blob/main/utils.py",
+        "conversion": "registered millimetre camera-Z to metres; no viewer range clipping"
+      },
+      "storage": {
+        "profile": "mkv/depth_float32_bits/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray16le",
+        "encoded_size": [
+          2560,
+          720
+        ],
+        "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": [
+            "-level",
+            "3",
+            "-slices",
+            "16"
+          ],
+          "threads": 10
+        },
+        "source_lossy": false,
+        "storage_fps": 30,
+        "timebase_role": "index_only"
+      },
+      "valid_storage": {
+        "profile": "mkv/bool_ffv1/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray",
+        "encoded_size": [
+          1280,
+          720
+        ],
+        "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": [
+            "-level",
+            "3",
+            "-slices",
+            "16"
+          ],
+          "threads": 10
+        },
+        "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"
+    },
+    "segment": {
+      "available": false,
+      "reason": "H2O provides no native segmentation; rendering deferred to v2.0",
+      "status": "source_missing"
+    },
+    "relations": {
+      "available": false,
+      "reason": "No source contact/grasp annotation",
+      "status": "source_missing"
+    }
+  },
+  "split": "test",
+  "view_type": "exo",
+  "split_scheme": "official_action_split",
+  "split_source_locator": {
+    "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/label_split.zip",
+    "member": "label_split/action_test.txt",
+    "record": 82
+  }
+}
diff --git a/H2O/shared-v1.0/data/subject4_h2_7/cam2/observation/depth.mkv b/H2O/shared-v1.0/data/subject4_h2_7/cam2/observation/depth.mkv
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+++ b/H2O/shared-v1.0/data/subject4_h2_7/cam2/observation/depth.mkv
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diff --git a/H2O/shared-v1.0/data/subject4_h2_7/cam2/observation/depth_valid.mkv b/H2O/shared-v1.0/data/subject4_h2_7/cam2/observation/depth_valid.mkv
new file mode 100644
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diff --git a/H2O/shared-v1.0/data/subject4_h2_7/cam3/camera/intrinsic_valid.pt b/H2O/shared-v1.0/data/subject4_h2_7/cam3/camera/intrinsic_valid.pt
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+        "member": "subject4/h2/7/cam3/cam_intrinsics.txt",
+        "sha256": "f406b977e4559315cefa9088f607eb353d1f28529e81d1eb2ad90ce948c5b8de"
+      },
+      "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": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "camera/extrinsic_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "convention": "T_camera_from_world",
+      "source_convention": "T_world_from_camera"
+    },
+    "mano": {
+      "available": true,
+      "schema_id": "mano/axis_angle61/v1",
+      "data_ref": "annotation/mano/motion.pt",
+      "axes": [
+        "T",
+        "hand",
+        "parameter"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/mano/motion_valid.pt",
+      "valid_axes": [
+        "T",
+        "hand"
+      ],
+      "model_profile": {
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+        "flat_hand_mean": true,
+        "left_shapedirs_correction": "not_applied",
+        "models": {
+          "left": {
+            "file": "MANO_LEFT.pkl",
+            "sha256": "c4022f7083f2ca7c78b2b3d595abbab52debd32b09d372b16923a801f0ea6a30"
+          },
+          "right": {
+            "file": "MANO_RIGHT.pkl",
+            "sha256": "45d60aa3b27ef9107a7afd4e00808f307fd91111e1cfa35afd5c4a62de264767"
+          }
+        }
+      },
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Per-hand hand_pose_mano flag equals 1; corresponding side model available",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "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
+      }
+    },
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+      "available": true,
+      "schema_id": "keypoints/xyz/v1",
+      "data_ref": "annotation/keypoints/xyz.pt",
+      "axes": [
+        "T",
+        "hand",
+        "keypoint",
+        "coordinate"
+      ],
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+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "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": "Per-hand hand_pose flag equals 1, broadcast to that hand's 21 source points independently of MANO",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "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"
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+        "local_exclusion_reasons": {},
+        "visibility_independent": true
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+        "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"
+      },
+      "valid_ref": "annotation/object/espresso/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 obj_pose_rt class equals this nonzero object class",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "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"
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+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
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+      "available": true,
+      "schema_id": "object_keypoints/camera/v1",
+      "data_ref": "annotation/object/espresso/keypoints/xyz.pt",
+      "axes": [
+        "T",
+        "keypoint",
+        "coordinate"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/object/espresso/keypoints/xyz_valid.pt",
+      "valid_axes": [
+        "T",
+        "keypoint"
+      ],
+      "keypoint_schema": "H2O_official_object21",
+      "keypoint_names": [
+        "center",
+        "corner_0",
+        "corner_1",
+        "corner_2",
+        "corner_3",
+        "corner_4",
+        "corner_5",
+        "corner_6",
+        "corner_7",
+        "edge_midpoint_0",
+        "edge_midpoint_1",
+        "edge_midpoint_2",
+        "edge_midpoint_3",
+        "edge_midpoint_4",
+        "edge_midpoint_5",
+        "edge_midpoint_6",
+        "edge_midpoint_7",
+        "edge_midpoint_8",
+        "edge_midpoint_9",
+        "edge_midpoint_10",
+        "edge_midpoint_11"
+      ],
+      "source_order": "official obj_point_order.jpg: center, 8 corners, 12 edge midpoints",
+      "unit": "m",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source obj_pose class equals this nonzero object class, broadcast to its 21 points",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "scope": [
+          "T",
+          "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
+      }
+    },
+    "mesh_espresso": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/espresso/assets/espresso.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/object.zip",
+        "member": "object/espresso/espresso.obj"
+      },
+      "valid": true,
+      "unit": "m"
+    },
+    "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.depth",
+        "definition": "https://github.com/taeinkwon/h2oplayer/blob/main/utils.py",
+        "conversion": "registered millimetre camera-Z to metres; no viewer range clipping"
+      },
+      "storage": {
+        "profile": "mkv/depth_float32_bits/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray16le",
+        "encoded_size": [
+          2560,
+          720
+        ],
+        "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": [
+            "-level",
+            "3",
+            "-slices",
+            "16"
+          ],
+          "threads": 10
+        },
+        "source_lossy": false,
+        "storage_fps": 30,
+        "timebase_role": "index_only"
+      },
+      "valid_storage": {
+        "profile": "mkv/bool_ffv1/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray",
+        "encoded_size": [
+          1280,
+          720
+        ],
+        "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": [
+            "-level",
+            "3",
+            "-slices",
+            "16"
+          ],
+          "threads": 10
+        },
+        "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"
+    },
+    "segment": {
+      "available": false,
+      "reason": "H2O provides no native segmentation; rendering deferred to v2.0",
+      "status": "source_missing"
+    },
+    "relations": {
+      "available": false,
+      "reason": "No source contact/grasp annotation",
+      "status": "source_missing"
+    }
+  },
+  "split": "test",
+  "view_type": "exo",
+  "split_scheme": "official_action_split",
+  "split_source_locator": {
+    "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/label_split.zip",
+    "member": "label_split/action_test.txt",
+    "record": 82
+  }
+}
diff --git a/H2O/shared-v1.0/data/subject4_h2_7/cam3/observation/depth.mkv b/H2O/shared-v1.0/data/subject4_h2_7/cam3/observation/depth.mkv
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+version https://git-lfs.github.com/spec/v1
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diff --git a/H2O/shared-v1.0/data/subject4_h2_7/cam3/observation/depth_valid.mkv b/H2O/shared-v1.0/data/subject4_h2_7/cam3/observation/depth_valid.mkv
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+version https://git-lfs.github.com/spec/v1
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diff --git a/H2O/shared-v1.0/data/subject4_h2_7/cam3/observation/rgb.mkv b/H2O/shared-v1.0/data/subject4_h2_7/cam3/observation/rgb.mkv
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diff --git a/H2O/shared-v1.0/data/subject4_h2_7/cam3/observation/rgb_valid.pt b/H2O/shared-v1.0/data/subject4_h2_7/cam3/observation/rgb_valid.pt
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diff --git a/H2O/shared-v1.0/data/subject4_h2_7/cam4/annotation/keypoints/xyz.pt b/H2O/shared-v1.0/data/subject4_h2_7/cam4/annotation/keypoints/xyz.pt
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+version https://git-lfs.github.com/spec/v1
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diff --git a/H2O/shared-v1.0/data/subject4_h2_7/cam4/annotation/keypoints/xyz_valid.pt b/H2O/shared-v1.0/data/subject4_h2_7/cam4/annotation/keypoints/xyz_valid.pt
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diff --git a/H2O/shared-v1.0/data/subject4_h2_7/cam4/annotation/mano/motion.pt b/H2O/shared-v1.0/data/subject4_h2_7/cam4/annotation/mano/motion.pt
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diff --git a/H2O/shared-v1.0/data/subject4_h2_7/cam4/annotation/mano/motion_valid.pt b/H2O/shared-v1.0/data/subject4_h2_7/cam4/annotation/mano/motion_valid.pt
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+version https://git-lfs.github.com/spec/v1
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diff --git a/H2O/shared-v1.0/data/subject4_h2_7/cam4/annotation/object/espresso/assets/espresso.mtl b/H2O/shared-v1.0/data/subject4_h2_7/cam4/annotation/object/espresso/assets/espresso.mtl
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index 0000000000000000000000000000000000000000..65e07b181115939ecf2af2d968f61cffb788bb3c
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+++ b/H2O/shared-v1.0/data/subject4_h2_7/cam4/annotation/object/espresso/assets/espresso.mtl
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+# Blender MTL File: 'espresso.blend'
+# Material Count: 1
+
+newmtl Material.001
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
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diff --git a/H2O/shared-v1.0/data/subject4_h2_7/cam4/annotation/object/espresso/assets/espresso.obj b/H2O/shared-v1.0/data/subject4_h2_7/cam4/annotation/object/espresso/assets/espresso.obj
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index 0000000000000000000000000000000000000000..a422cf1185ebdaf0766be822b9ae037b0ea362fc
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+++ b/H2O/shared-v1.0/data/subject4_h2_7/cam4/annotation/object/espresso/assets/espresso.obj
@@ -0,0 +1,15745 @@
+# Blender v2.82 (sub 7) OBJ File: 'espresso.blend'
+# www.blender.org
+mtllib espresso.mtl
+o espresso_simple
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diff --git a/H2O/shared-v1.0/data/subject4_h2_7/cam4/camera/intrinsic_valid.pt b/H2O/shared-v1.0/data/subject4_h2_7/cam4/camera/intrinsic_valid.pt
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+        "method": "Copy source annotation; normalize storage only"
+      },
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+      "valid_axes": [
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+        "meaning": "annotation usable for supervision, not merely record presence",
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+        "source_locator": {
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+          "T",
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+        "row",
+        "column"
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+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
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+      "valid_axes": [
+        "T"
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+          "T"
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+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
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+        "local_exclusion_reasons": {},
+        "visibility_independent": true
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+        "coordinate"
+      ],
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+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
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+        "source_field": "component_sources"
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+      "valid_ref": "annotation/object/espresso/keypoints/xyz_valid.pt",
+      "valid_axes": [
+        "T",
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+        "corner_5",
+        "corner_6",
+        "corner_7",
+        "edge_midpoint_0",
+        "edge_midpoint_1",
+        "edge_midpoint_2",
+        "edge_midpoint_3",
+        "edge_midpoint_4",
+        "edge_midpoint_5",
+        "edge_midpoint_6",
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+        "edge_midpoint_8",
+        "edge_midpoint_9",
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+        "meaning": "annotation usable for supervision, not merely record presence",
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+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
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+      "unit": "m"
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+        "width"
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+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources.depth",
+        "definition": "https://github.com/taeinkwon/h2oplayer/blob/main/utils.py",
+        "conversion": "registered millimetre camera-Z to metres; no viewer range clipping"
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+      "storage": {
+        "profile": "mkv/depth_float32_bits/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray16le",
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+        "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"
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+          "name": "ffv1",
+          "arguments": [
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+        "timebase_role": "index_only"
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+      "valid_storage": {
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+        "codec": "ffv1",
+        "pixel_format": "gray",
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+          "name": "ffmpeg",
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "autorotate": false,
+          "color_space": "unknown",
+          "color_range": "unknown",
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+          "color_transfer": "unknown"
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+          "name": "ffv1",
+          "arguments": [
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+      "depth_type": "z",
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+      "reason": "H2O provides no native segmentation; rendering deferred to v2.0",
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+      "reason": "No source contact/grasp annotation",
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+  "split": "test",
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+  }
+}
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diff --git a/H2O/shared-v1.0/data/subject4_k1_0/cam0/annotation/object/cappuccino/assets/cappuccino.png b/H2O/shared-v1.0/data/subject4_k1_0/cam0/annotation/object/cappuccino/assets/cappuccino.png
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diff --git a/H2O/shared-v1.0/data/subject4_k1_0/cam0/annotation/object/cappuccino/assets/starbucks.mtl b/H2O/shared-v1.0/data/subject4_k1_0/cam0/annotation/object/cappuccino/assets/starbucks.mtl
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+# Blender MTL File: 'cappuccino.blend'
+# Material Count: 1
+
+newmtl Material.001
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diff --git a/H2O/shared-v1.0/data/subject4_k1_0/cam0/annotation/object/cappuccino/keypoints/xyz.pt b/H2O/shared-v1.0/data/subject4_k1_0/cam0/annotation/object/cappuccino/keypoints/xyz.pt
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diff --git a/H2O/shared-v1.0/data/subject4_k1_0/cam0/annotation/object/cappuccino/metainfo.json b/H2O/shared-v1.0/data/subject4_k1_0/cam0/annotation/object/cappuccino/metainfo.json
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+{
+  "object_id": "cappuccino",
+  "identity_scope": "sequence",
+  "scope_id": "subject4_k1_0",
+  "source_locator": {
+    "frames_ref": "camera/frames.jsonl",
+    "source_field": "component_sources"
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+}
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+        "method": "Copy source annotation; normalize storage only"
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+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
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+        "T"
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+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
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+          "T"
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+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
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+        "local_exclusion_reasons": {},
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+      }
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+        "T",
+        "keypoint",
+        "coordinate"
+      ],
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+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
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+      "valid_axes": [
+        "T",
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+        "corner_0",
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+        "corner_3",
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+        "corner_5",
+        "corner_6",
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+        "edge_midpoint_0",
+        "edge_midpoint_1",
+        "edge_midpoint_2",
+        "edge_midpoint_3",
+        "edge_midpoint_4",
+        "edge_midpoint_5",
+        "edge_midpoint_6",
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+        "edge_midpoint_8",
+        "edge_midpoint_9",
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+        "meaning": "annotation usable for supervision, not merely record presence",
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+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
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+        "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/object.zip",
+        "member": "object/cappuccino/cappuccino.obj"
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+      "unit": "m"
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+        "width"
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+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources.depth",
+        "definition": "https://github.com/taeinkwon/h2oplayer/blob/main/utils.py",
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+        "pixel_format": "gray16le",
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+          "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"
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+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "name": "ffv1",
+          "arguments": [
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+            "3",
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+            "16"
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+        "storage_fps": 30,
+        "timebase_role": "index_only"
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+      "valid_storage": {
+        "profile": "mkv/bool_ffv1/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray",
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+          720
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+          "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"
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+          "name": "ffv1",
+          "arguments": [
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+        "storage_fps": 30,
+        "timebase_role": "index_only"
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+      "valid_axes": [
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+      "unit": "m",
+      "depth_type": "z",
+      "depth_origin": "measured",
+      "invalid_value": "NaN"
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+      "reason": "H2O provides no native segmentation; rendering deferred to v2.0",
+      "status": "source_missing"
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+      "available": false,
+      "reason": "No source contact/grasp annotation",
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+  "split": "test",
+  "view_type": "exo",
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+    "member": "label_split/action_test.txt",
+    "record": 86
+  }
+}
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+# www.blender.org
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diff --git a/H2O/shared-v1.0/data/subject4_k1_0/cam1/annotation/object/cappuccino/assets/cappuccino.png b/H2O/shared-v1.0/data/subject4_k1_0/cam1/annotation/object/cappuccino/assets/cappuccino.png
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+# Blender MTL File: 'cappuccino.blend'
+# Material Count: 1
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+{
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+  "scope_id": "subject4_k1_0",
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+}
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diff --git a/H2O/shared-v1.0/data/subject4_k1_0/cam1/camera/intrinsic_valid.pt b/H2O/shared-v1.0/data/subject4_k1_0/cam1/camera/intrinsic_valid.pt
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+      "source_locator": {
+        "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/subject4_v1_1.tar.gz",
+        "member": "subject4/k1/0/cam1/cam_intrinsics.txt",
+        "sha256": "0288c7b080a194899cbe77754dec6596d203d0c6f29d7b2fc0f85c1ddb72f046"
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+      "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": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "camera/extrinsic_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "convention": "T_camera_from_world",
+      "source_convention": "T_world_from_camera"
+    },
+    "mano": {
+      "available": true,
+      "schema_id": "mano/axis_angle61/v1",
+      "data_ref": "annotation/mano/motion.pt",
+      "axes": [
+        "T",
+        "hand",
+        "parameter"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "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"
+          }
+        }
+      },
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Per-hand hand_pose_mano flag equals 1; corresponding side model available",
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+          "source_field": "component_sources"
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+          "T",
+          "hand"
+        ],
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+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
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+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
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+      "available": true,
+      "schema_id": "keypoints/xyz/v1",
+      "data_ref": "annotation/keypoints/xyz.pt",
+      "axes": [
+        "T",
+        "hand",
+        "keypoint",
+        "coordinate"
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+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
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+        "source_field": "component_sources"
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+        "T",
+        "hand",
+        "keypoint"
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+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
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+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
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+          "T",
+          "hand",
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+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
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+      "data_ref": "annotation/object/cappuccino/pose.pt",
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+        "row",
+        "column"
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+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
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+      "valid_ref": "annotation/object/cappuccino/pose_valid.pt",
+      "valid_axes": [
+        "T"
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+      "unit": "m",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source obj_pose_rt class equals this nonzero object class",
+        "source_locator": {
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+        },
+        "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"
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+        "local_exclusion_reasons": {},
+        "visibility_independent": true
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+      "data_ref": "annotation/object/cappuccino/keypoints/xyz.pt",
+      "axes": [
+        "T",
+        "keypoint",
+        "coordinate"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/object/cappuccino/keypoints/xyz_valid.pt",
+      "valid_axes": [
+        "T",
+        "keypoint"
+      ],
+      "keypoint_schema": "H2O_official_object21",
+      "keypoint_names": [
+        "center",
+        "corner_0",
+        "corner_1",
+        "corner_2",
+        "corner_3",
+        "corner_4",
+        "corner_5",
+        "corner_6",
+        "corner_7",
+        "edge_midpoint_0",
+        "edge_midpoint_1",
+        "edge_midpoint_2",
+        "edge_midpoint_3",
+        "edge_midpoint_4",
+        "edge_midpoint_5",
+        "edge_midpoint_6",
+        "edge_midpoint_7",
+        "edge_midpoint_8",
+        "edge_midpoint_9",
+        "edge_midpoint_10",
+        "edge_midpoint_11"
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+      "source_order": "official obj_point_order.jpg: center, 8 corners, 12 edge midpoints",
+      "unit": "m",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source obj_pose class equals this nonzero object class, broadcast to its 21 points",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "scope": [
+          "T",
+          "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
+      }
+    },
+    "mesh_cappuccino": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/cappuccino/assets/cappuccino.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/object.zip",
+        "member": "object/cappuccino/cappuccino.obj"
+      },
+      "valid": true,
+      "unit": "m"
+    },
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+      "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.depth",
+        "definition": "https://github.com/taeinkwon/h2oplayer/blob/main/utils.py",
+        "conversion": "registered millimetre camera-Z to metres; no viewer range clipping"
+      },
+      "storage": {
+        "profile": "mkv/depth_float32_bits/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray16le",
+        "encoded_size": [
+          2560,
+          720
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+        "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": [
+            "-level",
+            "3",
+            "-slices",
+            "16"
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+          "threads": 10
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+        "source_lossy": false,
+        "storage_fps": 30,
+        "timebase_role": "index_only"
+      },
+      "valid_storage": {
+        "profile": "mkv/bool_ffv1/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray",
+        "encoded_size": [
+          1280,
+          720
+        ],
+        "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"
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+        "encoder_parameters": {
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "name": "ffv1",
+          "arguments": [
+            "-level",
+            "3",
+            "-slices",
+            "16"
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+        "source_lossy": false,
+        "storage_fps": 30,
+        "timebase_role": "index_only"
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+      "valid_ref": "observation/depth_valid.mkv",
+      "valid_axes": [
+        "T",
+        "height",
+        "width"
+      ],
+      "unit": "m",
+      "depth_type": "z",
+      "depth_origin": "measured",
+      "invalid_value": "NaN"
+    },
+    "segment": {
+      "available": false,
+      "reason": "H2O provides no native segmentation; rendering deferred to v2.0",
+      "status": "source_missing"
+    },
+    "relations": {
+      "available": false,
+      "reason": "No source contact/grasp annotation",
+      "status": "source_missing"
+    }
+  },
+  "split": "test",
+  "view_type": "exo",
+  "split_scheme": "official_action_split",
+  "split_source_locator": {
+    "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/label_split.zip",
+    "member": "label_split/action_test.txt",
+    "record": 86
+  }
+}
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@@ -0,0 +1,15615 @@
+# Blender v2.82 (sub 7) OBJ File: 'starbucks.blend'
+# www.blender.org
+mtllib starbucks.mtl
+o starbucks_simple
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diff --git a/H2O/shared-v1.0/data/subject4_k1_0/cam2/annotation/object/cappuccino/assets/cappuccino.png b/H2O/shared-v1.0/data/subject4_k1_0/cam2/annotation/object/cappuccino/assets/cappuccino.png
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diff --git a/H2O/shared-v1.0/data/subject4_k1_0/cam2/annotation/object/cappuccino/assets/starbucks.mtl b/H2O/shared-v1.0/data/subject4_k1_0/cam2/annotation/object/cappuccino/assets/starbucks.mtl
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diff --git a/H2O/shared-v1.0/data/subject4_k1_0/cam2/annotation/object/cappuccino/keypoints/xyz.pt b/H2O/shared-v1.0/data/subject4_k1_0/cam2/annotation/object/cappuccino/keypoints/xyz.pt
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diff --git a/H2O/shared-v1.0/data/subject4_k1_0/cam2/metainfo.json b/H2O/shared-v1.0/data/subject4_k1_0/cam2/metainfo.json
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+{
+  "schema_version": "hand-warehouse/1.0",
+  "dataset_id": "H2O",
+  "release_id": "shared-v1.0",
+  "sequence_id": "subject4_k1_0",
+  "camera_id": "cam2",
+  "sample_type": "video",
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+  "hand_slots": [
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+    "right"
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+      "views": null
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+      "schema_id": "rgb/uint8/v1",
+      "data_ref": "observation/rgb.mkv",
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+        "width",
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+          720
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+          "color_space": "gbr",
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+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
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+      "schema_id": "transform/se3/v1",
+      "data_ref": "camera/extrinsic.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
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+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
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+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "camera/extrinsic_valid.pt",
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+      "convention": "T_camera_from_world",
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+      "schema_id": "mano/axis_angle61/v1",
+      "data_ref": "annotation/mano/motion.pt",
+      "axes": [
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+        "parameter"
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+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
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+        "source_field": "component_sources"
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+        "flat_hand_mean": true,
+        "left_shapedirs_correction": "not_applied",
+        "models": {
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+            "sha256": "c4022f7083f2ca7c78b2b3d595abbab52debd32b09d372b16923a801f0ea6a30"
+          },
+          "right": {
+            "file": "MANO_RIGHT.pkl",
+            "sha256": "45d60aa3b27ef9107a7afd4e00808f307fd91111e1cfa35afd5c4a62de264767"
+          }
+        }
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+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Per-hand hand_pose_mano flag equals 1; corresponding side model available",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "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"
+        },
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+        "local_exclusion_reasons": {},
+        "visibility_independent": true
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+      "available": true,
+      "schema_id": "keypoints/xyz/v1",
+      "data_ref": "annotation/keypoints/xyz.pt",
+      "axes": [
+        "T",
+        "hand",
+        "keypoint",
+        "coordinate"
+      ],
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+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "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": "Per-hand hand_pose flag equals 1, broadcast to that hand's 21 source points independently of MANO",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "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"
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+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
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+    "pose_cappuccino": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/cappuccino/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"
+      },
+      "valid_ref": "annotation/object/cappuccino/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 obj_pose_rt class equals this nonzero object class",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "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
+      }
+    },
+    "points_cappuccino": {
+      "available": true,
+      "schema_id": "object_keypoints/camera/v1",
+      "data_ref": "annotation/object/cappuccino/keypoints/xyz.pt",
+      "axes": [
+        "T",
+        "keypoint",
+        "coordinate"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/object/cappuccino/keypoints/xyz_valid.pt",
+      "valid_axes": [
+        "T",
+        "keypoint"
+      ],
+      "keypoint_schema": "H2O_official_object21",
+      "keypoint_names": [
+        "center",
+        "corner_0",
+        "corner_1",
+        "corner_2",
+        "corner_3",
+        "corner_4",
+        "corner_5",
+        "corner_6",
+        "corner_7",
+        "edge_midpoint_0",
+        "edge_midpoint_1",
+        "edge_midpoint_2",
+        "edge_midpoint_3",
+        "edge_midpoint_4",
+        "edge_midpoint_5",
+        "edge_midpoint_6",
+        "edge_midpoint_7",
+        "edge_midpoint_8",
+        "edge_midpoint_9",
+        "edge_midpoint_10",
+        "edge_midpoint_11"
+      ],
+      "source_order": "official obj_point_order.jpg: center, 8 corners, 12 edge midpoints",
+      "unit": "m",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source obj_pose class equals this nonzero object class, broadcast to its 21 points",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "scope": [
+          "T",
+          "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"
+        },
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+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
+    "mesh_cappuccino": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/cappuccino/assets/cappuccino.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/object.zip",
+        "member": "object/cappuccino/cappuccino.obj"
+      },
+      "valid": true,
+      "unit": "m"
+    },
+    "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.depth",
+        "definition": "https://github.com/taeinkwon/h2oplayer/blob/main/utils.py",
+        "conversion": "registered millimetre camera-Z to metres; no viewer range clipping"
+      },
+      "storage": {
+        "profile": "mkv/depth_float32_bits/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray16le",
+        "encoded_size": [
+          2560,
+          720
+        ],
+        "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": [
+            "-level",
+            "3",
+            "-slices",
+            "16"
+          ],
+          "threads": 10
+        },
+        "source_lossy": false,
+        "storage_fps": 30,
+        "timebase_role": "index_only"
+      },
+      "valid_storage": {
+        "profile": "mkv/bool_ffv1/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray",
+        "encoded_size": [
+          1280,
+          720
+        ],
+        "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": [
+            "-level",
+            "3",
+            "-slices",
+            "16"
+          ],
+          "threads": 10
+        },
+        "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"
+    },
+    "segment": {
+      "available": false,
+      "reason": "H2O provides no native segmentation; rendering deferred to v2.0",
+      "status": "source_missing"
+    },
+    "relations": {
+      "available": false,
+      "reason": "No source contact/grasp annotation",
+      "status": "source_missing"
+    }
+  },
+  "split": "test",
+  "view_type": "exo",
+  "split_scheme": "official_action_split",
+  "split_source_locator": {
+    "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/label_split.zip",
+    "member": "label_split/action_test.txt",
+    "record": 86
+  }
+}
diff --git a/H2O/shared-v1.0/data/subject4_k1_0/cam2/observation/depth.mkv b/H2O/shared-v1.0/data/subject4_k1_0/cam2/observation/depth.mkv
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+version https://git-lfs.github.com/spec/v1
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diff --git a/H2O/shared-v1.0/data/subject4_k1_0/cam2/observation/depth_valid.mkv b/H2O/shared-v1.0/data/subject4_k1_0/cam2/observation/depth_valid.mkv
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+version https://git-lfs.github.com/spec/v1
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diff --git a/H2O/shared-v1.0/data/subject4_k1_0/cam2/observation/rgb.mkv b/H2O/shared-v1.0/data/subject4_k1_0/cam2/observation/rgb.mkv
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+version https://git-lfs.github.com/spec/v1
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diff --git a/H2O/shared-v1.0/data/subject4_k1_0/cam2/observation/rgb_valid.pt b/H2O/shared-v1.0/data/subject4_k1_0/cam2/observation/rgb_valid.pt
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diff --git a/H2O/shared-v1.0/data/subject4_k1_0/cam3/annotation/keypoints/xyz.pt b/H2O/shared-v1.0/data/subject4_k1_0/cam3/annotation/keypoints/xyz.pt
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+version https://git-lfs.github.com/spec/v1
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+size 277709
diff --git a/H2O/shared-v1.0/data/subject4_k1_0/cam3/annotation/keypoints/xyz_valid.pt b/H2O/shared-v1.0/data/subject4_k1_0/cam3/annotation/keypoints/xyz_valid.pt
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+version https://git-lfs.github.com/spec/v1
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diff --git a/H2O/shared-v1.0/data/subject4_k1_0/cam3/annotation/mano/motion.pt b/H2O/shared-v1.0/data/subject4_k1_0/cam3/annotation/mano/motion.pt
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diff --git a/H2O/shared-v1.0/data/subject4_k1_0/cam3/annotation/mano/motion_valid.pt b/H2O/shared-v1.0/data/subject4_k1_0/cam3/annotation/mano/motion_valid.pt
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+version https://git-lfs.github.com/spec/v1
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diff --git a/H2O/shared-v1.0/data/subject4_k1_0/cam3/annotation/object/cappuccino/assets/cappuccino.obj b/H2O/shared-v1.0/data/subject4_k1_0/cam3/annotation/object/cappuccino/assets/cappuccino.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c76ab2632e314ec090312b785e979c5c5fd1cde6
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+++ b/H2O/shared-v1.0/data/subject4_k1_0/cam3/annotation/object/cappuccino/assets/cappuccino.obj
@@ -0,0 +1,15615 @@
+# Blender v2.82 (sub 7) OBJ File: 'starbucks.blend'
+# www.blender.org
+mtllib starbucks.mtl
+o starbucks_simple
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+{
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+  "sequence_id": "subject4_k1_0",
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+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
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+        "left_shapedirs_correction": "not_applied",
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+            "sha256": "c4022f7083f2ca7c78b2b3d595abbab52debd32b09d372b16923a801f0ea6a30"
+          },
+          "right": {
+            "file": "MANO_RIGHT.pkl",
+            "sha256": "45d60aa3b27ef9107a7afd4e00808f307fd91111e1cfa35afd5c4a62de264767"
+          }
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+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Per-hand hand_pose_mano flag equals 1; corresponding side model available",
+        "source_locator": {
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+          "source_field": "component_sources"
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+          "T",
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+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
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+          "reason": "No separate applicable official QA in selected source inputs"
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+        "keypoint"
+      ],
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+        },
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+      "data_ref": "annotation/object/cappuccino/pose.pt",
+      "axes": [
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+        "row",
+        "column"
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+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
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+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
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+      "valid_ref": "annotation/object/cappuccino/pose_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "convention": "T_camera_from_object",
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+        "revision": "usable-annotation-2026-09-20",
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+        "source_rule": "Source obj_pose_rt class equals this nonzero object class",
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+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
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+          "reason": "No separate applicable official QA in selected source inputs"
+        },
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+        "local_exclusion_reasons": {},
+        "visibility_independent": true
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+      "data_ref": "annotation/object/cappuccino/keypoints/xyz.pt",
+      "axes": [
+        "T",
+        "keypoint",
+        "coordinate"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/object/cappuccino/keypoints/xyz_valid.pt",
+      "valid_axes": [
+        "T",
+        "keypoint"
+      ],
+      "keypoint_schema": "H2O_official_object21",
+      "keypoint_names": [
+        "center",
+        "corner_0",
+        "corner_1",
+        "corner_2",
+        "corner_3",
+        "corner_4",
+        "corner_5",
+        "corner_6",
+        "corner_7",
+        "edge_midpoint_0",
+        "edge_midpoint_1",
+        "edge_midpoint_2",
+        "edge_midpoint_3",
+        "edge_midpoint_4",
+        "edge_midpoint_5",
+        "edge_midpoint_6",
+        "edge_midpoint_7",
+        "edge_midpoint_8",
+        "edge_midpoint_9",
+        "edge_midpoint_10",
+        "edge_midpoint_11"
+      ],
+      "source_order": "official obj_point_order.jpg: center, 8 corners, 12 edge midpoints",
+      "unit": "m",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source obj_pose class equals this nonzero object class, broadcast to its 21 points",
+        "source_locator": {
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+          "source_field": "component_sources"
+        },
+        "scope": [
+          "T",
+          "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"
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+        "visibility_independent": true
+      }
+    },
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+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/cappuccino/assets/cappuccino.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/object.zip",
+        "member": "object/cappuccino/cappuccino.obj"
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+      "unit": "m"
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+      "schema_id": "depth/z_float32/v1",
+      "data_ref": "observation/depth.mkv",
+      "axes": [
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+        "height",
+        "width"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources.depth",
+        "definition": "https://github.com/taeinkwon/h2oplayer/blob/main/utils.py",
+        "conversion": "registered millimetre camera-Z to metres; no viewer range clipping"
+      },
+      "storage": {
+        "profile": "mkv/depth_float32_bits/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray16le",
+        "encoded_size": [
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+          720
+        ],
+        "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": [
+            "-level",
+            "3",
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+            "16"
+          ],
+          "threads": 10
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+        "source_lossy": false,
+        "storage_fps": 30,
+        "timebase_role": "index_only"
+      },
+      "valid_storage": {
+        "profile": "mkv/bool_ffv1/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray",
+        "encoded_size": [
+          1280,
+          720
+        ],
+        "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": [
+            "-level",
+            "3",
+            "-slices",
+            "16"
+          ],
+          "threads": 10
+        },
+        "source_lossy": false,
+        "storage_fps": 30,
+        "timebase_role": "index_only"
+      },
+      "valid_ref": "observation/depth_valid.mkv",
+      "valid_axes": [
+        "T",
+        "height",
+        "width"
+      ],
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+      "depth_type": "z",
+      "depth_origin": "measured",
+      "invalid_value": "NaN"
+    },
+    "segment": {
+      "available": false,
+      "reason": "H2O provides no native segmentation; rendering deferred to v2.0",
+      "status": "source_missing"
+    },
+    "relations": {
+      "available": false,
+      "reason": "No source contact/grasp annotation",
+      "status": "source_missing"
+    }
+  },
+  "split": "test",
+  "view_type": "exo",
+  "split_scheme": "official_action_split",
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+    "member": "label_split/action_test.txt",
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+}
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+version https://git-lfs.github.com/spec/v1
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+size 285942084
diff --git a/H2O/shared-v1.0/data/subject4_k1_0/cam3/observation/depth_valid.mkv b/H2O/shared-v1.0/data/subject4_k1_0/cam3/observation/depth_valid.mkv
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+version https://git-lfs.github.com/spec/v1
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diff --git a/H2O/shared-v1.0/data/subject4_k1_0/cam3/observation/rgb.mkv b/H2O/shared-v1.0/data/subject4_k1_0/cam3/observation/rgb.mkv
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diff --git a/H2O/shared-v1.0/data/subject4_k1_0/cam3/observation/rgb_valid.pt b/H2O/shared-v1.0/data/subject4_k1_0/cam3/observation/rgb_valid.pt
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diff --git a/H2O/shared-v1.0/data/subject4_k1_0/cam4/annotation/keypoints/xyz.pt b/H2O/shared-v1.0/data/subject4_k1_0/cam4/annotation/keypoints/xyz.pt
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+version https://git-lfs.github.com/spec/v1
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diff --git a/H2O/shared-v1.0/data/subject4_k1_0/cam4/annotation/keypoints/xyz_valid.pt b/H2O/shared-v1.0/data/subject4_k1_0/cam4/annotation/keypoints/xyz_valid.pt
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+version https://git-lfs.github.com/spec/v1
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diff --git a/H2O/shared-v1.0/data/subject4_k1_0/cam4/annotation/mano/motion.pt b/H2O/shared-v1.0/data/subject4_k1_0/cam4/annotation/mano/motion.pt
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diff --git a/H2O/shared-v1.0/data/subject4_k1_0/cam4/annotation/mano/motion_valid.pt b/H2O/shared-v1.0/data/subject4_k1_0/cam4/annotation/mano/motion_valid.pt
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+version https://git-lfs.github.com/spec/v1
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diff --git a/H2O/shared-v1.0/data/subject4_k1_0/cam4/annotation/object/cappuccino/assets/cappuccino.obj b/H2O/shared-v1.0/data/subject4_k1_0/cam4/annotation/object/cappuccino/assets/cappuccino.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c76ab2632e314ec090312b785e979c5c5fd1cde6
--- /dev/null
+++ b/H2O/shared-v1.0/data/subject4_k1_0/cam4/annotation/object/cappuccino/assets/cappuccino.obj
@@ -0,0 +1,15615 @@
+# Blender v2.82 (sub 7) OBJ File: 'starbucks.blend'
+# www.blender.org
+mtllib starbucks.mtl
+o starbucks_simple
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+      "data_ref": "annotation/object/cappuccino/pose.pt",
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+        "edge_midpoint_1",
+        "edge_midpoint_2",
+        "edge_midpoint_3",
+        "edge_midpoint_4",
+        "edge_midpoint_5",
+        "edge_midpoint_6",
+        "edge_midpoint_7",
+        "edge_midpoint_8",
+        "edge_midpoint_9",
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+        "meaning": "annotation usable for supervision, not merely record presence",
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+          "status": "not_provided",
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+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
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+        "width"
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+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
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+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources.depth",
+        "definition": "https://github.com/taeinkwon/h2oplayer/blob/main/utils.py",
+        "conversion": "registered millimetre camera-Z to metres; no viewer range clipping"
+      },
+      "storage": {
+        "profile": "mkv/depth_float32_bits/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray16le",
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+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
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+          "color_space": "unknown",
+          "color_range": "unknown",
+          "color_primaries": "unknown",
+          "color_transfer": "unknown"
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+        "timebase_role": "index_only"
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+      "valid_storage": {
+        "profile": "mkv/bool_ffv1/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray",
+        "encoded_size": [
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+        "decoder": {
+          "name": "ffmpeg",
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+          "color_space": "unknown",
+          "color_range": "unknown",
+          "color_primaries": "unknown",
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+      "depth_type": "z",
+      "depth_origin": "measured",
+      "invalid_value": "NaN"
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+    "segment": {
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+      "reason": "H2O provides no native segmentation; rendering deferred to v2.0",
+      "status": "source_missing"
+    },
+    "relations": {
+      "available": false,
+      "reason": "No source contact/grasp annotation",
+      "status": "source_missing"
+    }
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+  "split": "test",
+  "view_type": "ego",
+  "split_scheme": "official_action_split",
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+}
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diff --git a/H2O/shared-v1.0/data/subject4_k1_1/cam0/annotation/keypoints/xyz.pt b/H2O/shared-v1.0/data/subject4_k1_1/cam0/annotation/keypoints/xyz.pt
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diff --git a/H2O/shared-v1.0/data/subject4_k1_1/cam0/annotation/keypoints/xyz_valid.pt b/H2O/shared-v1.0/data/subject4_k1_1/cam0/annotation/keypoints/xyz_valid.pt
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diff --git a/H2O/shared-v1.0/data/subject4_k1_1/cam0/annotation/object/milk/assets/milk.obj b/H2O/shared-v1.0/data/subject4_k1_1/cam0/annotation/object/milk/assets/milk.obj
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+++ b/H2O/shared-v1.0/data/subject4_k1_1/cam0/annotation/object/milk/assets/milk.obj
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+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object milk.obj
+#
+# Vertices: 2495
+# Faces: 4983
+#
+####
+mtllib ./milk.obj.mtl
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+vt 0.474092 0.208829
+f 505/2939/505 1999/2935/1999 915/2919/915
+vt 0.473663 0.221862
+f 930/2940/930 505/2939/505 915/2919/915
+vt 0.283974 0.489186
+f 2138/2941/2138 1155/1704/1155 2482/2915/2482
+f 1864/2916/1864 1183/2872/1183 1262/2907/1262
+f 1955/1597/1955 375/1596/375 455/1769/455
+f 1851/1411/1851 1955/1597/1955 455/1769/455
+f 1358/2782/1358 1201/2728/1201 1917/2742/1917
+vt 0.498093 0.318683
+vt 0.502094 0.338065
+vt 0.507927 0.342925
+f 482/2942/482 1478/2943/1478 1593/2944/1593
+f 1764/2065/1764 435/2030/435 1329/2199/1329
+vt 0.556163 0.164687
+f 1764/2945/1764 1329/2933/1329 2369/2930/2369
+f 1358/2782/1358 1917/2742/1917 979/2715/979
+vt 0.370279 0.341168
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+vt 0.399186 0.338751
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+vt 0.474483 0.276331
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+vt 0.497212 0.312799
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+vt 0.494542 0.287485
+f 1864/2951/1864 1262/2950/1262 1593/2944/1593
+vt 0.473512 0.236173
+f 519/2952/519 930/2940/930 915/2919/915
+vt 0.479473 0.218869
+vt 0.482034 0.230360
+vt 0.486744 0.245973
+f 2251/2953/2251 2084/2954/2084 837/2955/837
+vt 0.518141 0.346703
+vt 0.527738 0.349121
+vt 0.538394 0.347905
+f 2386/2956/2386 1417/2957/1417 2188/2958/2188
+vt 0.557298 0.344211
+f 2386/2956/2386 2188/2958/2188 732/2959/732
+vt 0.415169 0.336912
+vt 0.431009 0.334967
+vt 0.444348 0.334856
+f 1393/2960/1393 1662/2961/1662 1018/2962/1018
+vt 0.575957 0.162978
+vt 0.561472 0.163843
+f 1016/2963/1016 833/2964/833 1764/2945/1764
+f 1016/2963/1016 1764/2945/1764 2369/2930/2369
+vt 0.473031 0.247773
+f 2482/2965/2482 519/2952/519 915/2919/915
+vt 0.452449 0.164595
+vt 0.434407 0.162978
+vt 0.405625 0.167655
+f 365/2966/365 1851/2967/1851 455/2968/455
+f 2482/2965/2482 915/2919/915 365/2966/365
+f 2482/2965/2482 365/2966/365 455/2968/455
+vt 0.389143 0.167478
+f 2482/2965/2482 455/2968/455 602/2969/602
+vt 0.473226 0.260359
+f 2138/2970/2138 2482/2965/2482 602/2969/602
+vt 0.459815 0.334059
+f 972/2971/972 1642/2911/1642 1758/2949/1758
+f 1018/2962/1018 972/2971/972 1758/2949/1758
+f 1393/2960/1393 1018/2962/1018 1758/2949/1758
+f 796/2948/796 1393/2960/1393 1758/2949/1758
+f 1358/2946/1358 796/2948/796 1758/2949/1758
+vt 0.572140 0.340657
+f 2386/2956/2386 732/2959/732 2164/2972/2164
+vt 0.492707 0.274470
+f 2026/2973/2026 1864/2951/1864 1593/2944/1593
+f 2369/2698/2369 1734/2678/1734 719/2938/719
+f 1593/2944/1593 2386/2956/2386 2164/2972/2164
+f 2026/2973/2026 1593/2944/1593 2164/2972/2164
+f 837/2955/837 2026/2973/2026 2164/2972/2164
+f 2251/2953/2251 837/2955/837 2164/2972/2164
+vt 0.475839 0.204226
+f 719/2974/719 2251/2953/2251 2164/2972/2164
+vt 0.574369 0.340146
+f 719/2974/719 2164/2972/2164 1369/2975/1369
+vt 0.474228 0.272347
+f 1358/2946/1358 1758/2949/1758 1919/2976/1919
+f 1016/2963/1016 2369/2930/2369 719/2974/719
+f 1016/2963/1016 719/2974/719 1369/2975/1369
+vt 0.575957 0.339803
+f 1016/2963/1016 1369/2975/1369 1729/2977/1729
+vt 0.576345 0.162981
+vt 0.576365 0.162978
+vt 0.576365 0.337666
+f 602/2978/602 1016/2979/1016 1729/2980/1729
+vt 0.357071 0.341368
+f 2138/2970/2138 602/2969/602 1729/2981/1729
+vt 0.473977 0.268359
+f 340/2982/340 2138/2970/2138 1729/2981/1729
+f 1919/2976/1919 340/2982/340 1729/2981/1729
+f 1358/2946/1358 1919/2976/1919 1729/2981/1729
+# 4983 faces, 2982 coords texture
+
+# End of File
\ No newline at end of file
diff --git a/H2O/shared-v1.0/data/subject4_k1_1/cam0/annotation/object/milk/assets/milk.obj.mtl b/H2O/shared-v1.0/data/subject4_k1_1/cam0/annotation/object/milk/assets/milk.obj.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8cfc759a99761c17b7e277fad568752b6603c30f
--- /dev/null
+++ b/H2O/shared-v1.0/data/subject4_k1_1/cam0/annotation/object/milk/assets/milk.obj.mtl
@@ -0,0 +1,14 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.800000 0.800000 0.800000
+Ks 1.000000 1.000000 1.000000
+Tr 1.000000
+illum 2
+Ns 0.000000
+map_Kd milk.png
+
diff --git a/H2O/shared-v1.0/data/subject4_k1_1/cam0/annotation/object/milk/assets/milk.png b/H2O/shared-v1.0/data/subject4_k1_1/cam0/annotation/object/milk/assets/milk.png
new file mode 100644
index 0000000000000000000000000000000000000000..038bf41370d76e0bac1983066810cbd8215c73ca
--- /dev/null
+++ b/H2O/shared-v1.0/data/subject4_k1_1/cam0/annotation/object/milk/assets/milk.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db00317ddecf28c5500dba95485d9e93ba33801328a9e606b65690032b0a35fc
+size 4202201
diff --git a/H2O/shared-v1.0/data/subject4_k1_1/cam0/annotation/object/milk/keypoints/xyz.pt b/H2O/shared-v1.0/data/subject4_k1_1/cam0/annotation/object/milk/keypoints/xyz.pt
new file mode 100644
index 0000000000000000000000000000000000000000..c6eff153fc7043c873d053dcb1990a218c424171
--- /dev/null
+++ b/H2O/shared-v1.0/data/subject4_k1_1/cam0/annotation/object/milk/keypoints/xyz.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:facf3d017478b2f37eb758a1282aee9ded080a16457cde00f25648c2d5338243
+size 212173
diff --git a/H2O/shared-v1.0/data/subject4_k1_1/cam0/annotation/object/milk/keypoints/xyz_valid.pt b/H2O/shared-v1.0/data/subject4_k1_1/cam0/annotation/object/milk/keypoints/xyz_valid.pt
new file mode 100644
index 0000000000000000000000000000000000000000..4e90f0a0e323fe4cb1457efac13758f10f5442ec
--- /dev/null
+++ b/H2O/shared-v1.0/data/subject4_k1_1/cam0/annotation/object/milk/keypoints/xyz_valid.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86f67b1c54852f6c0c4c618aa3e7b51bcc5ceb0cef61255d895f52092da9677a
+size 19127
diff --git a/H2O/shared-v1.0/data/subject4_k1_1/cam0/annotation/object/milk/metainfo.json b/H2O/shared-v1.0/data/subject4_k1_1/cam0/annotation/object/milk/metainfo.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8d4cdda34580ce8b7abf86b996857b05f9afba8
--- /dev/null
+++ b/H2O/shared-v1.0/data/subject4_k1_1/cam0/annotation/object/milk/metainfo.json
@@ -0,0 +1,13 @@
+{
+  "object_id": "milk",
+  "identity_scope": "sequence",
+  "scope_id": "subject4_k1_1",
+  "source_locator": {
+    "frames_ref": "camera/frames.jsonl",
+    "source_field": "component_sources"
+  },
+  "has_model": true,
+  "category_id": 5,
+  "source_object_id": 5,
+  "mesh_ref": "annotation/object/milk/assets/milk.obj"
+}
diff --git a/H2O/shared-v1.0/data/subject4_k1_1/cam0/annotation/object/milk/pose.pt b/H2O/shared-v1.0/data/subject4_k1_1/cam0/annotation/object/milk/pose.pt
new file mode 100644
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--- /dev/null
+++ b/H2O/shared-v1.0/data/subject4_k1_1/cam0/annotation/object/milk/pose.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5696af2e238757f500bcc7f2583896cb5f293589537f9fc44197ae8d87fad37
+size 54996
diff --git a/H2O/shared-v1.0/data/subject4_k1_1/cam0/annotation/object/milk/pose_valid.pt b/H2O/shared-v1.0/data/subject4_k1_1/cam0/annotation/object/milk/pose_valid.pt
new file mode 100644
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--- /dev/null
+++ b/H2O/shared-v1.0/data/subject4_k1_1/cam0/annotation/object/milk/pose_valid.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 2430
diff --git a/H2O/shared-v1.0/data/subject4_k1_1/cam0/camera/extrinsic.pt b/H2O/shared-v1.0/data/subject4_k1_1/cam0/camera/extrinsic.pt
new file mode 100644
index 0000000000000000000000000000000000000000..39e92a61ee154ee075d7df03ca79f98b6aa50714
--- /dev/null
+++ b/H2O/shared-v1.0/data/subject4_k1_1/cam0/camera/extrinsic.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fb2c40f9527a0e677b91ca098656151ea2bfe7c49a93cce4af6dafb03193ed2
+size 55095
diff --git a/H2O/shared-v1.0/data/subject4_k1_1/cam0/camera/extrinsic_valid.pt b/H2O/shared-v1.0/data/subject4_k1_1/cam0/camera/extrinsic_valid.pt
new file mode 100644
index 0000000000000000000000000000000000000000..6838d60cb4ce121683131d061403bb8ea6de8b37
--- /dev/null
+++ b/H2O/shared-v1.0/data/subject4_k1_1/cam0/camera/extrinsic_valid.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 2465
diff --git a/H2O/shared-v1.0/data/subject4_k1_1/cam0/camera/frames.jsonl b/H2O/shared-v1.0/data/subject4_k1_1/cam0/camera/frames.jsonl
new file mode 100644
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--- /dev/null
+++ b/H2O/shared-v1.0/data/subject4_k1_1/cam0/camera/frames.jsonl
@@ -0,0 +1,836 @@
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diff --git a/H2O/shared-v1.0/data/subject4_k1_1/cam0/camera/intrinsic_valid.pt b/H2O/shared-v1.0/data/subject4_k1_1/cam0/camera/intrinsic_valid.pt
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+      "axes": [
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+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
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+        "source_field": "component_sources"
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+      "valid_axes": [
+        "T",
+        "hand",
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+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Per-hand hand_pose flag equals 1, broadcast to that hand's 21 source points independently of MANO",
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+          "source_field": "component_sources"
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+          "T",
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+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/milk/pose.pt",
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+        "T",
+        "row",
+        "column"
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+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
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+      "valid_ref": "annotation/object/milk/pose_valid.pt",
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+        "T"
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+        "revision": "usable-annotation-2026-09-20",
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+        "source_rule": "Source obj_pose_rt class equals this nonzero object class",
+        "source_locator": {
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+          "source_field": "component_sources"
+        },
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+          "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"
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+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
+    "points_milk": {
+      "available": true,
+      "schema_id": "object_keypoints/camera/v1",
+      "data_ref": "annotation/object/milk/keypoints/xyz.pt",
+      "axes": [
+        "T",
+        "keypoint",
+        "coordinate"
+      ],
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+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/object/milk/keypoints/xyz_valid.pt",
+      "valid_axes": [
+        "T",
+        "keypoint"
+      ],
+      "keypoint_schema": "H2O_official_object21",
+      "keypoint_names": [
+        "center",
+        "corner_0",
+        "corner_1",
+        "corner_2",
+        "corner_3",
+        "corner_4",
+        "corner_5",
+        "corner_6",
+        "corner_7",
+        "edge_midpoint_0",
+        "edge_midpoint_1",
+        "edge_midpoint_2",
+        "edge_midpoint_3",
+        "edge_midpoint_4",
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+        "edge_midpoint_8",
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+        "edge_midpoint_11"
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+      "source_order": "official obj_point_order.jpg: center, 8 corners, 12 edge midpoints",
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+      "valid_policy": {
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+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source obj_pose class equals this nonzero object class, broadcast to its 21 points",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
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+          "T",
+          "keypoint"
+        ],
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+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
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+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
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+      "data_ref": "annotation/object/milk/assets/milk.obj",
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+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/object.zip",
+        "member": "object/milk/milk.obj"
+      },
+      "valid": true,
+      "unit": "m"
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+      "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.depth",
+        "definition": "https://github.com/taeinkwon/h2oplayer/blob/main/utils.py",
+        "conversion": "registered millimetre camera-Z to metres; no viewer range clipping"
+      },
+      "storage": {
+        "profile": "mkv/depth_float32_bits/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray16le",
+        "encoded_size": [
+          2560,
+          720
+        ],
+        "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": [
+            "-level",
+            "3",
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+          "threads": 10
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+        "source_lossy": false,
+        "storage_fps": 30,
+        "timebase_role": "index_only"
+      },
+      "valid_storage": {
+        "profile": "mkv/bool_ffv1/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray",
+        "encoded_size": [
+          1280,
+          720
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+        "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"
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+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "name": "ffv1",
+          "arguments": [
+            "-level",
+            "3",
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+            "16"
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+          "threads": 10
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+        "source_lossy": false,
+        "storage_fps": 30,
+        "timebase_role": "index_only"
+      },
+      "valid_ref": "observation/depth_valid.mkv",
+      "valid_axes": [
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+        "height",
+        "width"
+      ],
+      "unit": "m",
+      "depth_type": "z",
+      "depth_origin": "measured",
+      "invalid_value": "NaN"
+    },
+    "segment": {
+      "available": false,
+      "reason": "H2O provides no native segmentation; rendering deferred to v2.0",
+      "status": "source_missing"
+    },
+    "relations": {
+      "available": false,
+      "reason": "No source contact/grasp annotation",
+      "status": "source_missing"
+    }
+  },
+  "split": "test",
+  "view_type": "exo",
+  "split_scheme": "official_action_split",
+  "split_source_locator": {
+    "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/label_split.zip",
+    "member": "label_split/action_test.txt",
+    "record": 91
+  }
+}
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+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object milk.obj
+#
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+# Faces: 4983
+#
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diff --git a/H2O/shared-v1.0/data/subject4_k1_1/cam1/annotation/object/milk/assets/milk.obj.mtl b/H2O/shared-v1.0/data/subject4_k1_1/cam1/annotation/object/milk/assets/milk.obj.mtl
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diff --git a/H2O/shared-v1.0/data/subject4_k1_1/cam1/annotation/object/milk/assets/milk.png b/H2O/shared-v1.0/data/subject4_k1_1/cam1/annotation/object/milk/assets/milk.png
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diff --git a/H2O/shared-v1.0/data/subject4_k1_1/cam1/metainfo.json b/H2O/shared-v1.0/data/subject4_k1_1/cam1/metainfo.json
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index 0000000000000000000000000000000000000000..09b07744cb68692a855e903a9a31dfca612a7989
--- /dev/null
+++ b/H2O/shared-v1.0/data/subject4_k1_1/cam1/metainfo.json
@@ -0,0 +1,495 @@
+{
+  "schema_version": "hand-warehouse/1.0",
+  "dataset_id": "H2O",
+  "release_id": "shared-v1.0",
+  "sequence_id": "subject4_k1_1",
+  "camera_id": "cam1",
+  "sample_type": "video",
+  "num_frames": 836,
+  "hand_slots": [
+    "left",
+    "right"
+  ],
+  "sampling": {
+    "type": "dense",
+    "source_fps": null,
+    "frames_ref": "camera/frames.jsonl",
+    "selection": {
+      "max_frames": null,
+      "views": null
+    }
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+    "model": "pinhole",
+    "schema_id": "camera/pinhole/v1",
+    "image_size": [
+      1280,
+      720
+    ]
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+      "schema_id": "rgb/uint8/v1",
+      "data_ref": "observation/rgb.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width",
+        "channel"
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+        "method": "Verified source packet copy or lossless fixed-decoder RGB encoding"
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+        "profile": "mkv/ffv1_rgb/v1",
+        "codec": "ffv1",
+        "pixel_format": "bgr0",
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+          720
+        ],
+        "decoder": {
+          "name": "ffmpeg",
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "autorotate": false,
+          "color_space": "gbr",
+          "color_range": "pc",
+          "color_primaries": "unknown",
+          "color_transfer": "unknown",
+          "source_color_metadata": {
+            "color_space": "gbr",
+            "color_range": "pc",
+            "color_primaries": "unknown",
+            "color_transfer": "unknown"
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+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "name": "ffv1",
+          "arguments": [
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+            "3",
+            "-pix_fmt",
+            "bgr0",
+            "-level",
+            "3",
+            "-slices",
+            "16"
+          ],
+          "threads": 10
+        },
+        "source_lossy": false,
+        "storage_fps": 30,
+        "timebase_role": "index_only"
+      },
+      "valid_ref": "observation/rgb_valid.pt",
+      "valid_axes": [
+        "T"
+      ]
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+    "intrinsic": {
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+      "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": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/subject4_v1_1.tar.gz",
+        "member": "subject4/k1/1/cam1/cam_intrinsics.txt",
+        "sha256": "0288c7b080a194899cbe77754dec6596d203d0c6f29d7b2fc0f85c1ddb72f046"
+      },
+      "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": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
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+      "valid_ref": "camera/extrinsic_valid.pt",
+      "valid_axes": [
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+      "convention": "T_camera_from_world",
+      "source_convention": "T_world_from_camera"
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+      "schema_id": "mano/axis_angle61/v1",
+      "data_ref": "annotation/mano/motion.pt",
+      "axes": [
+        "T",
+        "hand",
+        "parameter"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/mano/motion_valid.pt",
+      "valid_axes": [
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+        "hand"
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+      "model_profile": {
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+        "flat_hand_mean": true,
+        "left_shapedirs_correction": "not_applied",
+        "models": {
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+            "sha256": "c4022f7083f2ca7c78b2b3d595abbab52debd32b09d372b16923a801f0ea6a30"
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+          "right": {
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+            "sha256": "45d60aa3b27ef9107a7afd4e00808f307fd91111e1cfa35afd5c4a62de264767"
+          }
+        }
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+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Per-hand hand_pose_mano flag equals 1; corresponding side model available",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "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"
+        },
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+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
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+    "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"
+      },
+      "valid_ref": "annotation/keypoints/xyz_valid.pt",
+      "valid_axes": [
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+        "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": "Per-hand hand_pose flag equals 1, broadcast to that hand's 21 source points independently of MANO",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
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+        "scope": [
+          "T",
+          "hand",
+          "keypoint"
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+        "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"
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+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
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+    },
+    "pose_milk": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/milk/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"
+      },
+      "valid_ref": "annotation/object/milk/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 obj_pose_rt class equals this nonzero object class",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "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
+      }
+    },
+    "points_milk": {
+      "available": true,
+      "schema_id": "object_keypoints/camera/v1",
+      "data_ref": "annotation/object/milk/keypoints/xyz.pt",
+      "axes": [
+        "T",
+        "keypoint",
+        "coordinate"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/object/milk/keypoints/xyz_valid.pt",
+      "valid_axes": [
+        "T",
+        "keypoint"
+      ],
+      "keypoint_schema": "H2O_official_object21",
+      "keypoint_names": [
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+        "corner_0",
+        "corner_1",
+        "corner_2",
+        "corner_3",
+        "corner_4",
+        "corner_5",
+        "corner_6",
+        "corner_7",
+        "edge_midpoint_0",
+        "edge_midpoint_1",
+        "edge_midpoint_2",
+        "edge_midpoint_3",
+        "edge_midpoint_4",
+        "edge_midpoint_5",
+        "edge_midpoint_6",
+        "edge_midpoint_7",
+        "edge_midpoint_8",
+        "edge_midpoint_9",
+        "edge_midpoint_10",
+        "edge_midpoint_11"
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+      "source_order": "official obj_point_order.jpg: center, 8 corners, 12 edge midpoints",
+      "unit": "m",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source obj_pose class equals this nonzero object class, broadcast to its 21 points",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
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+          "keypoint"
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+        "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"
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+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
+    "mesh_milk": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/milk/assets/milk.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/object.zip",
+        "member": "object/milk/milk.obj"
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+      "unit": "m"
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+      "schema_id": "depth/z_float32/v1",
+      "data_ref": "observation/depth.mkv",
+      "axes": [
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+        "height",
+        "width"
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+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources.depth",
+        "definition": "https://github.com/taeinkwon/h2oplayer/blob/main/utils.py",
+        "conversion": "registered millimetre camera-Z to metres; no viewer range clipping"
+      },
+      "storage": {
+        "profile": "mkv/depth_float32_bits/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray16le",
+        "encoded_size": [
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+          720
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+        "decoder": {
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+          "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": [
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+        "storage_fps": 30,
+        "timebase_role": "index_only"
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+        "profile": "mkv/bool_ffv1/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray",
+        "encoded_size": [
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+          720
+        ],
+        "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",
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+        "storage_fps": 30,
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+        "width"
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+      "depth_type": "z",
+      "depth_origin": "measured",
+      "invalid_value": "NaN"
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+      "reason": "H2O provides no native segmentation; rendering deferred to v2.0",
+      "status": "source_missing"
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+      "available": false,
+      "reason": "No source contact/grasp annotation",
+      "status": "source_missing"
+    }
+  },
+  "split": "test",
+  "view_type": "exo",
+  "split_scheme": "official_action_split",
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+    "member": "label_split/action_test.txt",
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+}