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+{"source_frame_id": 299, "source_locator": {"file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_release.zip", "member": "HOI4D_release/ZY20210800004/H4/C7/N13/S57/s01/T1/align_rgb/image.mp4", "frame": 299}, "component_sources": {"segment": {"file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_annotations.zip", "member": "HOI4D_annotations/ZY20210800004/H4/C7/N13/S57/s01/T1/2Dseg/shift_mask/00299.png", "sha256": "f1e05ee08aacf94df720aaa975b0448aa22bfd9af63db29e43f78c61482ebf68"}, "object": {"file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_annotations.zip", "member": "HOI4D_annotations/ZY20210800004/H4/C7/N13/S57/s01/T1/objpose/299.json", "sha256": "226d6e8d079c32771dba9375dec8c629bb702f277e7fcfdb30ba9419f3493b97"}, "hand_right": {"file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_Hand_pose.zip", "member": "Hand_pose/handpose_right_hand/ZY20210800004/H4/C7/N13/S57/s01/T1/299.pickle", "sha256": "cd1d823fa6b83310632d64a86a6aef759358317410f8c410ab33f2ad5ff6b109"}}, "annotation_matches": {"segment": {"source_frame_id": 299, "source_timestamp_ns": null, "clock_domain": null, "match_method": "index_map", "delta_ns": null}, "object": {"source_frame_id": 299, "source_timestamp_ns": null, "clock_domain": null, "match_method": "index_map", "delta_ns": null}, "hand_right": {"source_frame_id": 299, "source_timestamp_ns": null, "clock_domain": null, "match_method": "index_map", "delta_ns": null}}, "frame_index": 299, "timestamp_ns": null, "clock_domain": null}
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C7_N13_S57_s01_T1/ego/metainfo.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C7_N13_S57_s01_T1/ego/metainfo.json
new file mode 100644
index 0000000000000000000000000000000000000000..eecee009f231f53ebc6d35555b9ef4cf751befae
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C7_N13_S57_s01_T1/ego/metainfo.json
@@ -0,0 +1,604 @@
+{
+  "schema_version": "hand-warehouse/1.1",
+  "dataset_id": "HOI4D",
+  "release_id": "shared-v1.1",
+  "sequence_id": "ZY20210800004_H4_C7_N13_S57_s01_T1",
+  "camera_id": "ego",
+  "sample_type": "video",
+  "num_frames": 300,
+  "hand_slots": [
+    "left",
+    "right"
+  ],
+  "sampling": {
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+    "source_fps": null,
+    "frames_ref": "camera/frames.jsonl",
+    "selection": {
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+      "source_sequence": "ZY20210800004/H4/C7/N13/S57/s01/T1"
+    }
+  },
+  "camera": {
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+    "schema_id": "camera/pinhole/v1",
+    "image_size": [
+      1920,
+      1080
+    ]
+  },
+  "components": {
+    "rgb": {
+      "available": true,
+      "schema_id": "rgb/uint8/v1",
+      "data_ref": "observation/rgb.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width",
+        "channel"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Verified source packet copy or lossless fixed-decoder RGB encoding"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_release.zip",
+        "member": "HOI4D_release/ZY20210800004/H4/C7/N13/S57/s01/T1/align_rgb/image.mp4"
+      },
+      "storage": {
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+        "codec": "h264",
+        "pixel_format": "yuv420p",
+        "encoded_size": [
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+          1080
+        ],
+        "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",
+          "stream_copy": true,
+          "keyframe_indices": [
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+            113,
+            243
+          ]
+        },
+        "source_lossy": "unknown",
+        "storage_fps": "15/1",
+        "timebase_role": "index_only",
+        "preserve_source_pts": true
+      },
+      "valid_ref": "observation/rgb_valid.pt",
+      "valid_axes": [
+        "T"
+      ]
+    },
+    "intrinsic": {
+      "available": true,
+      "schema_id": "camera/pinhole/v1",
+      "data_ref": "camera/camera.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/camera_params.zip",
+        "member": "camera_params/ZY20210800004/intrin.npy"
+      },
+      "valid_ref": "camera/camera.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "data_key": [
+        "intrinsic",
+        "data"
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+      "valid_key": [
+        "intrinsic",
+        "valid"
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+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "extrinsic": {
+      "available": true,
+      "schema_id": "transform/se3/v1",
+      "data_ref": "camera/camera.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_annotations.zip",
+        "member": "HOI4D_annotations/ZY20210800004/H4/C7/N13/S57/s01/T1/3Dseg/output.log"
+      },
+      "valid_ref": "camera/camera.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "convention": "T_camera_from_world",
+      "source_convention": "Open3D LOG camera-to-world; inverted",
+      "data_key": [
+        "extrinsic",
+        "data"
+      ],
+      "valid_key": [
+        "extrinsic",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "mano": {
+      "available": true,
+      "schema_id": "mano/axis_angle61/v1",
+      "data_ref": "annotation/mano/mano.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/mano.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": "Matched side pickle has complete finite poseCoeff (48), beta (10), trans (3), and model available; zero angles are valid",
+        "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
+      },
+      "data_key": [
+        "motion",
+        "data"
+      ],
+      "valid_key": [
+        "motion",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "keypoints_uv": {
+      "available": true,
+      "schema_id": "keypoints/uv/v1",
+      "data_ref": "annotation/keypoints/keypoints.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/keypoints.pt",
+      "valid_axes": [
+        "T",
+        "hand",
+        "keypoint"
+      ],
+      "keypoint_schema": "mano21/v1",
+      "unit": "pixel",
+      "source_method": "Upstream fitted MANO projection already present in kps2D",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Matched side pickle has 21 finite native kps2D points; independently provided, no visibility gate",
+        "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
+      },
+      "data_key": [
+        "uv",
+        "data"
+      ],
+      "valid_key": [
+        "uv",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "segment": {
+      "available": true,
+      "schema_id": "segment/uint16_labels/v1",
+      "data_ref": "annotation/segment/mask.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "storage": {
+        "profile": "mkv/uint16_ffv1/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray16le",
+        "encoded_size": [
+          1920,
+          1080
+        ],
+        "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": [],
+          "threads": 2
+        },
+        "source_lossy": false,
+        "storage_fps": 30,
+        "timebase_role": "index_only"
+      },
+      "valid_ref": "annotation/segment/mask_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "segmentation_type": "instance",
+      "mapping_ref": "annotation/segment/instances.jsonl",
+      "coverage": {
+        "kind": "unknown"
+      },
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source mask or shift_mask present with verified palette codes and entity/part mapping",
+        "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
+      }
+    },
+    "pose_main": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/main/object.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/main/object.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "convention": "T_camera_from_object",
+      "unit": "m",
+      "source_label": "bowl",
+      "source_euler_order": "XYZ",
+      "definition": "https://github.com/hoi4d/ObjTracking/blob/main/process_data.py",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Matched source object record contains rotation and center; record identity retained",
+        "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
+      },
+      "data_key": [
+        "pose",
+        "data"
+      ],
+      "valid_key": [
+        "pose",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "dimensions_main": {
+      "available": true,
+      "schema_id": "object/dimensions/v1",
+      "data_ref": "annotation/object/main/object.pt",
+      "axes": [
+        "T",
+        "dimension"
+      ],
+      "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/main/object.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "dimensions_semantics": "source_unspecified",
+      "unit": "m",
+      "scale_applied_to_mesh": false,
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Matched source object record contains dimensions; size/mesh relation remains source_unspecified",
+        "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
+      },
+      "data_key": [
+        "dimensions",
+        "data"
+      ],
+      "valid_key": [
+        "dimensions",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "mesh_main_013_obj": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/main/assets/013.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_CAD_Model_for_release.zip",
+        "member": "HOI4D_CAD_Model_for_release/rigid/Bowl/013.obj"
+      },
+      "unit": "m",
+      "valid": true,
+      "scale_applied_to_mesh": false,
+      "dimensions_semantics": "source_unspecified"
+    },
+    "depth": {
+      "available": true,
+      "schema_id": "depth/z_float32/v1",
+      "data_ref": "observation/depth.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width"
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+  "view_type": "ego",
+  "split_reason": "No verified official split mapping available for this sequence"
+}
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C7_N15_S56_s02_T1/ego/annotation/object/main/metainfo.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C7_N15_S56_s02_T1/ego/annotation/object/main/metainfo.json
new file mode 100644
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--- /dev/null
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C7_N15_S56_s02_T1/ego/metainfo.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C7_N15_S56_s02_T1/ego/metainfo.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd80c45ac47ff088851bae8cd3e44e6940c5e8df
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C7_N15_S56_s02_T1/ego/metainfo.json
@@ -0,0 +1,605 @@
+{
+  "schema_version": "hand-warehouse/1.1",
+  "dataset_id": "HOI4D",
+  "release_id": "shared-v1.1",
+  "sequence_id": "ZY20210800004_H4_C7_N15_S56_s02_T1",
+  "camera_id": "ego",
+  "sample_type": "video",
+  "num_frames": 300,
+  "hand_slots": [
+    "left",
+    "right"
+  ],
+  "sampling": {
+    "type": "dense",
+    "source_fps": null,
+    "frames_ref": "camera/frames.jsonl",
+    "selection": {
+      "max_frames": null,
+      "source_sequence": "ZY20210800004/H4/C7/N15/S56/s02/T1"
+    }
+  },
+  "camera": {
+    "model": "pinhole",
+    "schema_id": "camera/pinhole/v1",
+    "image_size": [
+      1920,
+      1080
+    ]
+  },
+  "components": {
+    "rgb": {
+      "available": true,
+      "schema_id": "rgb/uint8/v1",
+      "data_ref": "observation/rgb.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width",
+        "channel"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Verified source packet copy or lossless fixed-decoder RGB encoding"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_release.zip",
+        "member": "HOI4D_release/ZY20210800004/H4/C7/N15/S56/s02/T1/align_rgb/image.mp4"
+      },
+      "storage": {
+        "profile": "mkv/source_copy/v1",
+        "codec": "h264",
+        "pixel_format": "yuv420p",
+        "encoded_size": [
+          1920,
+          1080
+        ],
+        "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",
+          "stream_copy": true,
+          "keyframe_indices": [
+            0,
+            77,
+            167,
+            274
+          ]
+        },
+        "source_lossy": "unknown",
+        "storage_fps": "15/1",
+        "timebase_role": "index_only",
+        "preserve_source_pts": true
+      },
+      "valid_ref": "observation/rgb_valid.pt",
+      "valid_axes": [
+        "T"
+      ]
+    },
+    "intrinsic": {
+      "available": true,
+      "schema_id": "camera/pinhole/v1",
+      "data_ref": "camera/camera.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/camera_params.zip",
+        "member": "camera_params/ZY20210800004/intrin.npy"
+      },
+      "valid_ref": "camera/camera.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "data_key": [
+        "intrinsic",
+        "data"
+      ],
+      "valid_key": [
+        "intrinsic",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
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+    "member": "HOI4D_annotations/ZY20210800004/H4/C8/N12/S71/s02/T1/objpose/9.json",
+    "record": 0
+  },
+  "has_model": false,
+  "category_id": 8,
+  "source_object_id": 1
+}
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C8_N12_S71_s02_T1/ego/annotation/object/pose_frame_9_0/object.pt b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C8_N12_S71_s02_T1/ego/annotation/object/pose_frame_9_0/object.pt
new file mode 100644
index 0000000000000000000000000000000000000000..367e1dd88e94b2cb7cb57534ee2672517255799e
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C8_N12_S71_s02_T1/ego/annotation/object/pose_frame_9_0/object.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9ba0e8e2edc3ff52cb15730828636959faf43cf283fa2277033844160ea6c41
+size 25713
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C8_N12_S71_s02_T1/ego/annotation/object/pose_frame_9_1/metainfo.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C8_N12_S71_s02_T1/ego/annotation/object/pose_frame_9_1/metainfo.json
new file mode 100644
index 0000000000000000000000000000000000000000..dee69e1f85862ad56fbce5bab2b202beaaffd60c
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C8_N12_S71_s02_T1/ego/annotation/object/pose_frame_9_1/metainfo.json
@@ -0,0 +1,13 @@
+{
+  "object_id": "pose_frame_9_1",
+  "identity_scope": "frame",
+  "scope_id": "ZY20210800004/H4/C8/N12/S71/s02/T1:9",
+  "source_locator": {
+    "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_annotations.zip",
+    "member": "HOI4D_annotations/ZY20210800004/H4/C8/N12/S71/s02/T1/objpose/9.json",
+    "record": 1
+  },
+  "has_model": false,
+  "category_id": 8,
+  "source_object_id": 2
+}
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C8_N12_S71_s02_T1/ego/annotation/object/pose_frame_9_1/object.pt b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C8_N12_S71_s02_T1/ego/annotation/object/pose_frame_9_1/object.pt
new file mode 100644
index 0000000000000000000000000000000000000000..9b456901e5f1d357446811b49826688705a9fc1f
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C8_N12_S71_s02_T1/ego/annotation/object/pose_frame_9_1/object.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90a12c11f7a02a7763a43a0cf4c9a0a24d41c2bcb1404807ab49196b8932a64f
+size 25713
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C8_N12_S71_s02_T1/ego/annotation/object/source_cad_instance/articulation.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C8_N12_S71_s02_T1/ego/annotation/object/source_cad_instance/articulation.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b606203f130b94eb4639981b9587ee1c7c835e3
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C8_N12_S71_s02_T1/ego/annotation/object/source_cad_instance/articulation.json
@@ -0,0 +1,39 @@
+{
+  "parts": [
+    {
+      "part_id": "asset_objs_new_1_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/source_cad_instance/assets/objs/new-1.obj",
+      "source_asset": "objs/new-1.obj",
+      "note": "Source asset; correspondence to motion part labels remains unverified"
+    },
+    {
+      "part_id": "asset_objs_new_0_align_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/source_cad_instance/assets/objs/new-0-align.obj",
+      "source_asset": "objs/new-0-align.obj",
+      "note": "Source asset; correspondence to motion part labels remains unverified"
+    },
+    {
+      "part_id": "asset_objs_new_1_align_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/source_cad_instance/assets/objs/new-1-align.obj",
+      "source_asset": "objs/new-1-align.obj",
+      "note": "Source asset; correspondence to motion part labels remains unverified"
+    },
+    {
+      "part_id": "asset_objs_new_0_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/source_cad_instance/assets/objs/new-0.obj",
+      "source_asset": "objs/new-0.obj",
+      "note": "Source asset; correspondence to motion part labels remains unverified"
+    }
+  ],
+  "joints": [],
+  "hierarchy_semantics": "semantic_containment",
+  "note": "Unassociated source region, motion and asset nodes; original CAD trees retained in assets"
+}
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C8_N12_S71_s02_T1/ego/annotation/object/source_cad_instance/assets/meta.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C8_N12_S71_s02_T1/ego/annotation/object/source_cad_instance/assets/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8f859f79cf089ecb7f43591b288dd42109f9ea6
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C8_N12_S71_s02_T1/ego/annotation/object/source_cad_instance/assets/meta.json
@@ -0,0 +1 @@
+{"user_id": "leoly", "model_cat": "Mug", "model_id": "bucket012", "version": "1", "anno_id": "124", "time_in_sec": "49"}
\ No newline at end of file
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C8_N12_S71_s02_T1/ego/annotation/object/source_cad_instance/assets/mobility_v2.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C8_N12_S71_s02_T1/ego/annotation/object/source_cad_instance/assets/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..06dfba256acb535ea7d2d4a7e391f61a2bf4782d
--- /dev/null
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@@ -0,0 +1 @@
+[{"id":0,"parent":-1,"joint":"自由","name":"body","parts":[{"id":1,"name":"body","children":[]}],"jointData":{}},{"id":1,"parent":0,"joint":"铰链（旋转）","name":"handle","parts":[{"id":2,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0.00990113434723331,0.014153029918670661],"direction":[1,0,0]},"limit":{"a":48.6,"b":-133.92,"noLimit":false}}}]
\ No newline at end of file
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C8_N12_S71_s02_T1/ego/annotation/object/source_cad_instance/assets/objs/new-0-align.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C8_N12_S71_s02_T1/ego/annotation/object/source_cad_instance/assets/objs/new-0-align.obj
new file mode 100644
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C8_N12_S71_s02_T1/ego/annotation/object/source_cad_instance/assets/objs/new-0.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C8_N12_S71_s02_T1/ego/annotation/object/source_cad_instance/assets/objs/new-0.obj
new file mode 100644
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C8_N12_S71_s02_T1/ego/annotation/object/source_cad_instance/assets/objs/new-1-align.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C8_N12_S71_s02_T1/ego/annotation/object/source_cad_instance/assets/objs/new-1-align.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a16ab6c01a3bf6bce41674f67a5bb4edd46271e8
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C8_N12_S71_s02_T1/ego/annotation/object/source_cad_instance/assets/objs/new-1-align.obj
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new file mode 100644
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C8_N12_S71_s02_T1/ego/annotation/object/source_cad_instance/assets/result.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C8_N12_S71_s02_T1/ego/annotation/object/source_cad_instance/assets/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..166a8c75d25c065612218e5f9add56d4b6f571b3
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C8_N12_S71_s02_T1/ego/annotation/object/source_cad_instance/assets/result.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "mug", "text": "Mug", "children": [{"id": 1, "name": "body", "text": "Body", "objs": ["new-1"]}, {"id": 2, "name": "handle", "text": "Handle", "objs": ["new-0"]}]}]
\ No newline at end of file
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C8_N12_S71_s02_T1/ego/annotation/object/source_cad_instance/metainfo.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C8_N12_S71_s02_T1/ego/annotation/object/source_cad_instance/metainfo.json
new file mode 100644
index 0000000000000000000000000000000000000000..acfb34f8d43830fcb387b5de5b759d73ce115250
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C8_N12_S71_s02_T1/ego/annotation/object/source_cad_instance/metainfo.json
@@ -0,0 +1,19 @@
+{
+  "object_id": "source_cad_instance",
+  "identity_scope": "sequence",
+  "scope_id": "ZY20210800004_H4_C8_N12_S71_s02_T1",
+  "source_locator": {
+    "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_CAD_Model_for_release.zip",
+    "member": "HOI4D_CAD_Model_for_release/articulated/Bucket/012"
+  },
+  "has_model": true,
+  "category_id": 8,
+  "source_object_id": null,
+  "asset_refs": [
+    "annotation/object/source_cad_instance/assets/objs/new-1.obj",
+    "annotation/object/source_cad_instance/assets/objs/new-0-align.obj",
+    "annotation/object/source_cad_instance/assets/objs/new-1-align.obj",
+    "annotation/object/source_cad_instance/assets/objs/new-0.obj"
+  ],
+  "articulation_ref": "annotation/object/source_cad_instance/articulation.json"
+}
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C8_N12_S71_s02_T1/ego/annotation/segment/instances.jsonl b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C8_N12_S71_s02_T1/ego/annotation/segment/instances.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a02e18cb720aed1c18bbf0b54767d2a9a3065eac
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C8_N12_S71_s02_T1/ego/annotation/segment/instances.jsonl
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C8_N12_S71_s02_T1/ego/metainfo.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C8_N12_S71_s02_T1/ego/metainfo.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5a81329924765cf12d18cae6a18e59129305192
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C8_N12_S71_s02_T1/ego/metainfo.json
@@ -0,0 +1,71835 @@
+{
+  "schema_version": "hand-warehouse/1.1",
+  "dataset_id": "HOI4D",
+  "release_id": "shared-v1.1",
+  "sequence_id": "ZY20210800004_H4_C8_N12_S71_s02_T1",
+  "camera_id": "ego",
+  "sample_type": "video",
+  "num_frames": 300,
+  "hand_slots": [
+    "left",
+    "right"
+  ],
+  "sampling": {
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+    "source_fps": null,
+    "frames_ref": "camera/frames.jsonl",
+    "selection": {
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+      "source_sequence": "ZY20210800004/H4/C8/N12/S71/s02/T1"
+    }
+  },
+  "camera": {
+    "model": "pinhole",
+    "schema_id": "camera/pinhole/v1",
+    "image_size": [
+      1920,
+      1080
+    ]
+  },
+  "components": {
+    "rgb": {
+      "available": true,
+      "schema_id": "rgb/uint8/v1",
+      "data_ref": "observation/rgb.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width",
+        "channel"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Verified source packet copy or lossless fixed-decoder RGB encoding"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_release.zip",
+        "member": "HOI4D_release/ZY20210800004/H4/C8/N12/S71/s02/T1/align_rgb/image.mp4"
+      },
+      "storage": {
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+        "codec": "h264",
+        "pixel_format": "yuv420p",
+        "encoded_size": [
+          1920,
+          1080
+        ],
+        "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",
+          "stream_copy": true,
+          "keyframe_indices": [
+            0,
+            250
+          ]
+        },
+        "source_lossy": "unknown",
+        "storage_fps": "15/1",
+        "timebase_role": "index_only",
+        "preserve_source_pts": true
+      },
+      "valid_ref": "observation/rgb_valid.pt",
+      "valid_axes": [
+        "T"
+      ]
+    },
+    "intrinsic": {
+      "available": true,
+      "schema_id": "camera/pinhole/v1",
+      "data_ref": "camera/camera.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/camera_params.zip",
+        "member": "camera_params/ZY20210800004/intrin.npy"
+      },
+      "valid_ref": "camera/camera.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "data_key": [
+        "intrinsic",
+        "data"
+      ],
+      "valid_key": [
+        "intrinsic",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "extrinsic": {
+      "available": true,
+      "schema_id": "transform/se3/v1",
+      "data_ref": "camera/camera.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_annotations.zip",
+        "member": "HOI4D_annotations/ZY20210800004/H4/C8/N12/S71/s02/T1/3Dseg/output.log"
+      },
+      "valid_ref": "camera/camera.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "convention": "T_camera_from_world",
+      "source_convention": "Open3D LOG camera-to-world; inverted",
+      "data_key": [
+        "extrinsic",
+        "data"
+      ],
+      "valid_key": [
+        "extrinsic",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "segment": {
+      "available": true,
+      "schema_id": "segment/uint16_labels/v1",
+      "data_ref": "annotation/segment/mask.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "storage": {
+        "profile": "mkv/uint16_ffv1/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray16le",
+        "encoded_size": [
+          1920,
+          1080
+        ],
+        "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": [],
+          "threads": 2
+        },
+        "source_lossy": false,
+        "storage_fps": 30,
+        "timebase_role": "index_only"
+      },
+      "valid_ref": "annotation/segment/mask_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "segmentation_type": "part",
+      "mapping_ref": "annotation/segment/instances.jsonl",
+      "coverage": {
+        "kind": "unknown"
+      },
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source mask or shift_mask present with verified palette codes and entity/part mapping",
+        "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
+      }
+    },
+    "pose_pose_frame_205_0": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/pose_frame_205_0/object.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/pose_frame_205_0/object.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "convention": "T_camera_from_object",
+      "unit": "m",
+      "source_label": "bucket",
+      "source_euler_order": "XYZ",
+      "definition": "https://github.com/hoi4d/ObjTracking/blob/main/process_data.py",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Matched source object record contains rotation and center; record identity retained",
+        "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
+      },
+      "data_key": [
+        "pose",
+        "data"
+      ],
+      "valid_key": [
+        "pose",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "dimensions_pose_frame_205_0": {
+      "available": true,
+      "schema_id": "object/dimensions/v1",
+      "data_ref": "annotation/object/pose_frame_205_0/object.pt",
+      "axes": [
+        "T",
+        "dimension"
+      ],
+      "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/pose_frame_205_0/object.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "dimensions_semantics": "source_unspecified",
+      "unit": "m",
+      "scale_applied_to_mesh": false,
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Matched source object record contains dimensions; size/mesh relation remains source_unspecified",
+        "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
+      },
+      "data_key": [
+        "dimensions",
+        "data"
+      ],
+      "valid_key": [
+        "dimensions",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "pose_pose_frame_205_1": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/pose_frame_205_1/object.pt",
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+}