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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N67_S380_s05_T2/ego/annotation/object/main/assets/objs/new-1.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N67_S380_s05_T2/ego/annotation/object/main/assets/objs/new-1.obj
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N67_S380_s05_T2/ego/annotation/object/main/assets/result.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N67_S380_s05_T2/ego/annotation/object/main/assets/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..c483f99cecfc86d0fd60db0d11675ce079e4083e
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N67_S380_s05_T2/ego/annotation/object/main/assets/result.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "laptop", "text": "Laptop", "children": [{"id": 1, "name": "screen_side", "text": "Screen Side", "children": [{"id": 4, "name": "screen_frame", "text": "Screen Frame", "objs": ["new-0"]}]}, {"id": 2, "name": "base_side", "text": "Base Side", "children": [{"id": 3, "name": "base_frame", "text": "Base Frame", "objs": ["new-1"]}]}]}]
\ No newline at end of file
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N67_S380_s05_T2/ego/annotation/object/main/metainfo.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N67_S380_s05_T2/ego/annotation/object/main/metainfo.json
new file mode 100644
index 0000000000000000000000000000000000000000..1eb0af4c8668a1a25c71c921da787148ce8d8e8e
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N67_S380_s05_T2/ego/annotation/object/main/metainfo.json
@@ -0,0 +1,20 @@
+{
+  "object_id": "main",
+  "identity_scope": "sequence",
+  "scope_id": "ZY20210800004_H4_C3_N67_S380_s05_T2",
+  "source_locator": {
+    "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_annotations.zip",
+    "member": "HOI4D_annotations/ZY20210800004/H4/C3/N67/S380/s05/T2/2Dseg/shift_mask/00000.png",
+    "sha256": "ddbf49e6565b123eeeb87e2c175ae52255da184899062e19c3df273c1641d9af"
+  },
+  "has_model": true,
+  "category_id": 3,
+  "source_object_id": null,
+  "asset_refs": [
+    "annotation/object/main/assets/objs/new-1.obj",
+    "annotation/object/main/assets/objs/new-0-align.obj",
+    "annotation/object/main/assets/objs/new-1-align.obj",
+    "annotation/object/main/assets/objs/new-0.obj"
+  ],
+  "articulation_ref": "annotation/object/main/articulation.json"
+}
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N67_S380_s05_T2/ego/annotation/object/main/object.pt b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N67_S380_s05_T2/ego/annotation/object/main/object.pt
new file mode 100644
index 0000000000000000000000000000000000000000..b90c6d1436712fc14685cc07d5eda67e663d6e4d
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N67_S380_s05_T2/ego/metainfo.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N67_S380_s05_T2/ego/metainfo.json
new file mode 100644
index 0000000000000000000000000000000000000000..798e3a97adfb96d810549e46e3b92ca83f6c3a82
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N67_S380_s05_T2/ego/metainfo.json
@@ -0,0 +1,812 @@
+{
+  "schema_version": "hand-warehouse/1.1",
+  "dataset_id": "HOI4D",
+  "release_id": "shared-v1.1",
+  "sequence_id": "ZY20210800004_H4_C3_N67_S380_s05_T2",
+  "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": {
+      "max_frames": null,
+      "source_sequence": "ZY20210800004/H4/C3/N67/S380/s05/T2"
+    }
+  },
+  "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/C3/N67/S380/s05/T2/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,
+            174
+          ]
+        },
+        "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/C3/N67/S380/s05/T2/3Dseg/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": [
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s01_T1/ego/annotation/mano/mano.pt b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s01_T1/ego/annotation/mano/mano.pt
new file mode 100644
index 0000000000000000000000000000000000000000..357c24bde58966a75f8d452016fa12e5536c24da
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s01_T1/ego/annotation/mano/mano.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5b4a9b2ddd7f9f78ff0918f434eccbe9a2a0fde903a21f690e751bde7eee4d0
+size 148837
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s01_T1/ego/annotation/object/main/articulation.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s01_T1/ego/annotation/object/main/articulation.json
new file mode 100644
index 0000000000000000000000000000000000000000..c09cb4ebb9ccc1c66f4fda7fa02f27a54e0e49f6
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s01_T1/ego/annotation/object/main/articulation.json
@@ -0,0 +1,69 @@
+{
+  "parts": [
+    {
+      "part_id": "region_1",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_region_code": 1,
+      "name": "Screen"
+    },
+    {
+      "part_id": "region_3",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_region_code": 3,
+      "name": "Keyboard"
+    },
+    {
+      "part_id": "pose_Laptopkeyboard",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_label": "Laptopkeyboard"
+    },
+    {
+      "part_id": "pose_Laptopdisplay",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_label": "Laptopdisplay"
+    },
+    {
+      "part_id": "asset_objs_new_1_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/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/main/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/main/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/main/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_C3_N68_S380_s01_T1/ego/annotation/object/main/assets/meta.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s01_T1/ego/annotation/object/main/assets/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcf701c33c71a5d5b63653261ffa53cb09bde774
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s01_T1/ego/annotation/object/main/assets/meta.json
@@ -0,0 +1 @@
+{"user_id": "leoly", "model_cat": "Laptop", "model_id": "laptop068", "version": "1", "anno_id": "421", "time_in_sec": "116"}
\ No newline at end of file
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s01_T1/ego/annotation/object/main/assets/mobility_v2.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s01_T1/ego/annotation/object/main/assets/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..84bd98ebee3b95d447be9f92147755cdd1ab8a41
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s01_T1/ego/annotation/object/main/assets/mobility_v2.json
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s01_T1/ego/annotation/object/main/assets/objs/new-0-align.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s01_T1/ego/annotation/object/main/assets/objs/new-0-align.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05779db028af21dded5ac0a642b12ed1e0c2066c
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s01_T1/ego/annotation/object/main/assets/objs/new-0-align.obj
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s01_T1/ego/annotation/object/main/assets/objs/new-0.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s01_T1/ego/annotation/object/main/assets/objs/new-0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c213b15e5d1747fe88331138092963bae76a102a
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s01_T1/ego/annotation/object/main/assets/objs/new-0.obj
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s01_T1/ego/annotation/object/main/assets/objs/new-1-align.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s01_T1/ego/annotation/object/main/assets/objs/new-1-align.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63551b5de73d4ca80a2d5364037609d6f82d059c
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s01_T1/ego/annotation/object/main/assets/objs/new-1-align.obj
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s01_T1/ego/annotation/object/main/assets/objs/new-1.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s01_T1/ego/annotation/object/main/assets/objs/new-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..841ff271fa203fd99b22bddea33418aefd312d98
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s01_T1/ego/annotation/object/main/assets/result.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s01_T1/ego/annotation/object/main/assets/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..c483f99cecfc86d0fd60db0d11675ce079e4083e
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s01_T1/ego/annotation/object/main/assets/result.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "laptop", "text": "Laptop", "children": [{"id": 1, "name": "screen_side", "text": "Screen Side", "children": [{"id": 4, "name": "screen_frame", "text": "Screen Frame", "objs": ["new-0"]}]}, {"id": 2, "name": "base_side", "text": "Base Side", "children": [{"id": 3, "name": "base_frame", "text": "Base Frame", "objs": ["new-1"]}]}]}]
\ No newline at end of file
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s01_T1/ego/annotation/object/main/metainfo.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s01_T1/ego/annotation/object/main/metainfo.json
new file mode 100644
index 0000000000000000000000000000000000000000..c484fe0cdf120d3d971196d549873bb59f5e4513
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s01_T1/ego/annotation/object/main/metainfo.json
@@ -0,0 +1,20 @@
+{
+  "object_id": "main",
+  "identity_scope": "sequence",
+  "scope_id": "ZY20210800004_H4_C3_N68_S380_s01_T1",
+  "source_locator": {
+    "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_annotations.zip",
+    "member": "HOI4D_annotations/ZY20210800004/H4/C3/N68/S380/s01/T1/2Dseg/shift_mask/00000.png",
+    "sha256": "51e89117f46341907d057b4961aad0a6a0ba8fb3b3872a3e207a13c092196df6"
+  },
+  "has_model": true,
+  "category_id": 3,
+  "source_object_id": null,
+  "asset_refs": [
+    "annotation/object/main/assets/objs/new-1.obj",
+    "annotation/object/main/assets/objs/new-0-align.obj",
+    "annotation/object/main/assets/objs/new-1-align.obj",
+    "annotation/object/main/assets/objs/new-0.obj"
+  ],
+  "articulation_ref": "annotation/object/main/articulation.json"
+}
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s01_T1/ego/annotation/object/main/object.pt b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s01_T1/ego/annotation/object/main/object.pt
new file mode 100644
index 0000000000000000000000000000000000000000..05ff7f9f11fb9d4cdac159bb29df6f56cd2bc6c0
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s01_T1/ego/annotation/object/main/object.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f60c536a5f1d9994b032bfcd4616fb732a7f8162f1d9e30f1d0d3c76b96d1298
+size 50089
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s01_T1/ego/annotation/segment/instances.jsonl b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s01_T1/ego/annotation/segment/instances.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a84fbfe58cdc54be41c10cd3485169fb3587e4d0
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s01_T1/ego/annotation/segment/instances.jsonl
@@ -0,0 +1,300 @@
+{"frame_index": 0, "labels": [{"mask_value": 1, "category_id": 3, "entity_id": "main", "part_id": "region_1", "source_instance_id": 1, "source_attributes": {"region_name": "Screen"}}]}
+{"frame_index": 1, "labels": [{"mask_value": 1, "category_id": 3, "entity_id": "main", "part_id": "region_1", "source_instance_id": 1, "source_attributes": {"region_name": "Screen"}}, {"mask_value": 3, "category_id": 3, "entity_id": "main", "part_id": "region_3", "source_instance_id": 3, "source_attributes": {"region_name": "Keyboard"}}]}
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s01_T1/ego/metainfo.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s01_T1/ego/metainfo.json
new file mode 100644
index 0000000000000000000000000000000000000000..6721e509ff3ce8031adf1fa2238d749814d6a98d
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s01_T1/ego/metainfo.json
@@ -0,0 +1,812 @@
+{
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+  "dataset_id": "HOI4D",
+  "release_id": "shared-v1.1",
+  "sequence_id": "ZY20210800004_H4_C3_N68_S380_s01_T1",
+  "camera_id": "ego",
+  "sample_type": "video",
+  "num_frames": 300,
+  "hand_slots": [
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+    "right"
+  ],
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+    "source_fps": null,
+    "frames_ref": "camera/frames.jsonl",
+    "selection": {
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+      "source_sequence": "ZY20210800004/H4/C3/N68/S380/s01/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": {
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+        "method": "Verified source packet copy or lossless fixed-decoder RGB encoding"
+      },
+      "source_locator": {
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+        "member": "HOI4D_release/ZY20210800004/H4/C3/N68/S380/s01/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": {
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+      "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/C3/N68/S380/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": {
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+}
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@@ -0,0 +1,3 @@
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s01_T1/ego/observation/rgb.mkv b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s01_T1/ego/observation/rgb.mkv
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s01_T1/ego/observation/rgb_valid.pt b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s01_T1/ego/observation/rgb_valid.pt
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@@ -0,0 +1,3 @@
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s02_T1/ego/annotation/keypoints/keypoints.pt b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s02_T1/ego/annotation/keypoints/keypoints.pt
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+version https://git-lfs.github.com/spec/v1
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s02_T1/ego/annotation/mano/mano.pt b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s02_T1/ego/annotation/mano/mano.pt
new file mode 100644
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+size 148837
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s02_T1/ego/annotation/object/main/articulation.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s02_T1/ego/annotation/object/main/articulation.json
new file mode 100644
index 0000000000000000000000000000000000000000..29f975ecc679e04724d7af4c5a0cb842866510c8
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s02_T1/ego/annotation/object/main/articulation.json
@@ -0,0 +1,61 @@
+{
+  "parts": [
+    {
+      "part_id": "region_1",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_region_code": 1,
+      "name": "Screen"
+    },
+    {
+      "part_id": "pose_Laptopkeyboard",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_label": "Laptopkeyboard"
+    },
+    {
+      "part_id": "pose_Laptopdisplay",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_label": "Laptopdisplay"
+    },
+    {
+      "part_id": "asset_objs_new_1_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/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/main/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/main/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/main/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_C3_N68_S380_s02_T1/ego/annotation/object/main/assets/meta.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s02_T1/ego/annotation/object/main/assets/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcf701c33c71a5d5b63653261ffa53cb09bde774
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s02_T1/ego/annotation/object/main/assets/meta.json
@@ -0,0 +1 @@
+{"user_id": "leoly", "model_cat": "Laptop", "model_id": "laptop068", "version": "1", "anno_id": "421", "time_in_sec": "116"}
\ No newline at end of file
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s02_T1/ego/annotation/object/main/assets/mobility_v2.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s02_T1/ego/annotation/object/main/assets/mobility_v2.json
new file mode 100644
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--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s02_T1/ego/annotation/object/main/assets/mobility_v2.json
@@ -0,0 +1 @@
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s02_T1/ego/annotation/object/main/assets/objs/new-0-align.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s02_T1/ego/annotation/object/main/assets/objs/new-0-align.obj
new file mode 100644
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--- /dev/null
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new file mode 100644
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s02_T1/ego/annotation/object/main/assets/objs/new-1-align.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s02_T1/ego/annotation/object/main/assets/objs/new-1-align.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63551b5de73d4ca80a2d5364037609d6f82d059c
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s02_T1/ego/annotation/object/main/assets/objs/new-1-align.obj
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s02_T1/ego/annotation/object/main/assets/objs/new-1.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s02_T1/ego/annotation/object/main/assets/objs/new-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..841ff271fa203fd99b22bddea33418aefd312d98
--- /dev/null
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s02_T1/ego/annotation/object/main/assets/result.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s02_T1/ego/annotation/object/main/assets/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..c483f99cecfc86d0fd60db0d11675ce079e4083e
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s02_T1/ego/annotation/object/main/assets/result.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "laptop", "text": "Laptop", "children": [{"id": 1, "name": "screen_side", "text": "Screen Side", "children": [{"id": 4, "name": "screen_frame", "text": "Screen Frame", "objs": ["new-0"]}]}, {"id": 2, "name": "base_side", "text": "Base Side", "children": [{"id": 3, "name": "base_frame", "text": "Base Frame", "objs": ["new-1"]}]}]}]
\ No newline at end of file
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s02_T1/ego/annotation/object/main/metainfo.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s02_T1/ego/annotation/object/main/metainfo.json
new file mode 100644
index 0000000000000000000000000000000000000000..784413e38735a952b4aadd9a3efd9f669d73e619
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s02_T1/ego/annotation/object/main/metainfo.json
@@ -0,0 +1,20 @@
+{
+  "object_id": "main",
+  "identity_scope": "sequence",
+  "scope_id": "ZY20210800004_H4_C3_N68_S380_s02_T1",
+  "source_locator": {
+    "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_annotations.zip",
+    "member": "HOI4D_annotations/ZY20210800004/H4/C3/N68/S380/s02/T1/2Dseg/shift_mask/00000.png",
+    "sha256": "14c3b8f0ee1a6af3dc7ddab6ae88fada4c31e8b6e84aefcb10151af966596c5f"
+  },
+  "has_model": true,
+  "category_id": 3,
+  "source_object_id": null,
+  "asset_refs": [
+    "annotation/object/main/assets/objs/new-1.obj",
+    "annotation/object/main/assets/objs/new-0-align.obj",
+    "annotation/object/main/assets/objs/new-1-align.obj",
+    "annotation/object/main/assets/objs/new-0.obj"
+  ],
+  "articulation_ref": "annotation/object/main/articulation.json"
+}
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s02_T1/ego/metainfo.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s02_T1/ego/metainfo.json
new file mode 100644
index 0000000000000000000000000000000000000000..8de2a83da0202fd18f862ae16d77f2eb4fade741
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s02_T1/ego/metainfo.json
@@ -0,0 +1,812 @@
+{
+  "schema_version": "hand-warehouse/1.1",
+  "dataset_id": "HOI4D",
+  "release_id": "shared-v1.1",
+  "sequence_id": "ZY20210800004_H4_C3_N68_S380_s02_T1",
+  "camera_id": "ego",
+  "sample_type": "video",
+  "num_frames": 300,
+  "hand_slots": [
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+    "right"
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+    "source_fps": null,
+    "frames_ref": "camera/frames.jsonl",
+    "selection": {
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+      "source_sequence": "ZY20210800004/H4/C3/N68/S380/s02/T1"
+    }
+  },
+  "camera": {
+    "model": "pinhole",
+    "schema_id": "camera/pinhole/v1",
+    "image_size": [
+      1920,
+      1080
+    ]
+  },
+  "components": {
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+      "available": true,
+      "schema_id": "rgb/uint8/v1",
+      "data_ref": "observation/rgb.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width",
+        "channel"
+      ],
+      "provenance": {
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+        "method": "Verified source packet copy or lossless fixed-decoder RGB encoding"
+      },
+      "source_locator": {
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+        "member": "HOI4D_release/ZY20210800004/H4/C3/N68/S380/s02/T1/align_rgb/image.mp4"
+      },
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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": [
+            0,
+            206
+          ]
+        },
+        "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": {
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+      "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": [
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+        "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/C3/N68/S380/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"
+      }
+    },
+    "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": [
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+        "hand"
+      ],
+      "model_profile": {
+        "version": "sha256:eab78181e459e156559df334b103d825e00c8711d2eeffee1cc176fb42051f4f",
+        "flat_hand_mean": true,
+        "left_shapedirs_correction": "not_applied",
+        "models": {
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+            "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",
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+    {
+      "part_id": "region_1",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_region_code": 1,
+      "name": "Screen"
+    },
+    {
+      "part_id": "region_3",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_region_code": 3,
+      "name": "Keyboard"
+    },
+    {
+      "part_id": "pose_Laptopkeyboard",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_label": "Laptopkeyboard"
+    },
+    {
+      "part_id": "pose_Laptopdisplay",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_label": "Laptopdisplay"
+    },
+    {
+      "part_id": "asset_objs_new_1_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/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/main/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/main/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/main/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_C3_N68_S380_s03_T2/ego/annotation/object/main/assets/meta.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s03_T2/ego/annotation/object/main/assets/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcf701c33c71a5d5b63653261ffa53cb09bde774
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s03_T2/ego/annotation/object/main/assets/meta.json
@@ -0,0 +1 @@
+{"user_id": "leoly", "model_cat": "Laptop", "model_id": "laptop068", "version": "1", "anno_id": "421", "time_in_sec": "116"}
\ No newline at end of file
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s03_T2/ego/annotation/object/main/assets/mobility_v2.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s03_T2/ego/annotation/object/main/assets/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..84bd98ebee3b95d447be9f92147755cdd1ab8a41
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s03_T2/ego/annotation/object/main/assets/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"铰链（旋转）","name":"screen_frame","parts":[{"id":4,"name":"screen_frame","children":[]}],"jointData":{"axis":{"origin":[-0.0953152079544962,0,-0.08240718411281708],"direction":[0,1,0]},"limit":{"a":93.60000000000001,"b":-60,"noLimit":false}}},{"id":1,"parent":-1,"joint":"自由","name":"base_frame","parts":[{"id":3,"name":"base_frame","children":[]}],"jointData":{}}]
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s03_T2/ego/annotation/object/main/assets/objs/new-0-align.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s03_T2/ego/annotation/object/main/assets/objs/new-0-align.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05779db028af21dded5ac0a642b12ed1e0c2066c
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s03_T2/ego/annotation/object/main/assets/objs/new-0-align.obj
@@ -0,0 +1,54078 @@
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s03_T2/ego/annotation/object/main/assets/objs/new-0.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s03_T2/ego/annotation/object/main/assets/objs/new-0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c213b15e5d1747fe88331138092963bae76a102a
--- /dev/null
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s03_T2/ego/annotation/object/main/assets/objs/new-1-align.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s03_T2/ego/annotation/object/main/assets/objs/new-1-align.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63551b5de73d4ca80a2d5364037609d6f82d059c
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s03_T2/ego/annotation/object/main/assets/objs/new-1-align.obj
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s03_T2/ego/annotation/object/main/assets/objs/new-1.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s03_T2/ego/annotation/object/main/assets/objs/new-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..841ff271fa203fd99b22bddea33418aefd312d98
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s03_T2/ego/annotation/object/main/assets/result.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s03_T2/ego/annotation/object/main/assets/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..c483f99cecfc86d0fd60db0d11675ce079e4083e
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s03_T2/ego/annotation/object/main/assets/result.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "laptop", "text": "Laptop", "children": [{"id": 1, "name": "screen_side", "text": "Screen Side", "children": [{"id": 4, "name": "screen_frame", "text": "Screen Frame", "objs": ["new-0"]}]}, {"id": 2, "name": "base_side", "text": "Base Side", "children": [{"id": 3, "name": "base_frame", "text": "Base Frame", "objs": ["new-1"]}]}]}]
\ No newline at end of file
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s03_T2/ego/annotation/object/main/metainfo.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s03_T2/ego/annotation/object/main/metainfo.json
new file mode 100644
index 0000000000000000000000000000000000000000..c66432f12efcf435fde1aa2bd4e92bf9f9c40bea
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s03_T2/ego/annotation/object/main/metainfo.json
@@ -0,0 +1,20 @@
+{
+  "object_id": "main",
+  "identity_scope": "sequence",
+  "scope_id": "ZY20210800004_H4_C3_N68_S380_s03_T2",
+  "source_locator": {
+    "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_annotations.zip",
+    "member": "HOI4D_annotations/ZY20210800004/H4/C3/N68/S380/s03/T2/2Dseg/shift_mask/00000.png",
+    "sha256": "f54ba2b001cc84f2226f364f17952bc18e10c3b11b22a9068016090a93cd8b34"
+  },
+  "has_model": true,
+  "category_id": 3,
+  "source_object_id": null,
+  "asset_refs": [
+    "annotation/object/main/assets/objs/new-1.obj",
+    "annotation/object/main/assets/objs/new-0-align.obj",
+    "annotation/object/main/assets/objs/new-1-align.obj",
+    "annotation/object/main/assets/objs/new-0.obj"
+  ],
+  "articulation_ref": "annotation/object/main/articulation.json"
+}
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s03_T2/ego/annotation/object/main/object.pt b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s03_T2/ego/annotation/object/main/object.pt
new file mode 100644
index 0000000000000000000000000000000000000000..902aa301d001181178cc7650ed033c5460b03919
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s03_T2/ego/annotation/object/main/object.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87dc22024f89787fda2a9b30e65c3302feb9a98577eb1db5f3af9dbf9d7f4bad
+size 50089
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s03_T2/ego/annotation/segment/instances.jsonl b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s03_T2/ego/annotation/segment/instances.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..383eb6a9779a1e2ffe1eac7cd00bc76771d14bc1
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s03_T2/ego/annotation/segment/instances.jsonl
@@ -0,0 +1,300 @@
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s03_T2/ego/metainfo.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s03_T2/ego/metainfo.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff956fe773f990d8822bd511c03cc2317b724074
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C3_N68_S380_s03_T2/ego/metainfo.json
@@ -0,0 +1,812 @@
+{
+  "schema_version": "hand-warehouse/1.1",
+  "dataset_id": "HOI4D",
+  "release_id": "shared-v1.1",
+  "sequence_id": "ZY20210800004_H4_C3_N68_S380_s03_T2",
+  "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": {
+      "max_frames": null,
+      "source_sequence": "ZY20210800004/H4/C3/N68/S380/s03/T2"
+    }
+  },
+  "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/C3/N68/S380/s03/T2/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,
+            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/C3/N68/S380/s03/T2/3Dseg/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"
+        ],
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+        "local_exclusion_reasons": {},
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+          1080
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+          "color_space": "unknown",
+          "color_range": "unknown",
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+          "color_transfer": "unknown"
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+      "valid_axes": [
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+          "source_field": "component_sources"
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+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      },
+      "data_key": [
+        "parts",
+        "pose_Laptopkeyboard",
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+        "data"
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+        "pose_Laptopkeyboard",
+        "pose",
+        "valid"
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+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
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+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
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+      "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"
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+        "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": [
+        "parts",
+        "pose_Laptopkeyboard",
+        "dimensions",
+        "data"
+      ],
+      "valid_key": [
+        "parts",
+        "pose_Laptopkeyboard",
+        "dimensions",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "pose_main_pose_Laptopdisplay": {
+      "available": true,
+      "schema_id": "transform/se3/v1",
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+      "axes": [
+        "T",
+        "row",
+        "column"
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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"
+      },
+      "valid_ref": "annotation/object/main/object.pt",
+      "valid_axes": [
+        "T"
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+      "convention": "T_camera_from_part",
+      "unit": "m",
+      "source_label": "Laptopdisplay",
+      "source_euler_order": "XYZ",
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+        "source_rule": "Matched source object record contains rotation and center; record identity retained",
+        "source_locator": {
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+          "source_field": "component_sources"
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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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+        "parts",
+        "pose_Laptopdisplay",
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+        "data"
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+      "valid_key": [
+        "parts",
+        "pose_Laptopdisplay",
+        "pose",
+        "valid"
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+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
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+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
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+      "schema_id": "object/dimensions/v1",
+      "data_ref": "annotation/object/main/object.pt",
+      "axes": [
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+        "dimension"
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+        "method": "Copy source annotation; normalize storage only"
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+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/object/main/object.pt",
+      "valid_axes": [
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+      "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"
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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
+      },
+      "data_key": [
+        "parts",
+        "pose_Laptopdisplay",
+        "dimensions",
+        "data"
+      ],
+      "valid_key": [
+        "parts",
+        "pose_Laptopdisplay",
+        "dimensions",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "mesh_main_objs_new_1_obj": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/main/assets/objs/new-1.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
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+        "member": "HOI4D_CAD_Model_for_release/articulated/Laptop/068/objs/new-1.obj"
+      },
+      "unit": "m",
+      "valid": true,
+      "scale_applied_to_mesh": false,
+      "dimensions_semantics": "source_unspecified"
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+    "mesh_main_objs_new_0_align_obj": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/main/assets/objs/new-0-align.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
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+        "member": "HOI4D_CAD_Model_for_release/articulated/Laptop/068/objs/new-0-align.obj"
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+      "unit": "m",
+      "valid": true,
+      "scale_applied_to_mesh": false,
+      "dimensions_semantics": "source_unspecified"
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+    "mesh_main_objs_new_1_align_obj": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/main/assets/objs/new-1-align.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/articulated/Laptop/068/objs/new-1-align.obj"
+      },
+      "unit": "m",
+      "valid": true,
+      "scale_applied_to_mesh": false,
+      "dimensions_semantics": "source_unspecified"
+    },
+    "mesh_main_objs_new_0_obj": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/main/assets/objs/new-0.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/articulated/Laptop/068/objs/new-0.obj"
+      },
+      "unit": "m",
+      "valid": true,
+      "scale_applied_to_mesh": false,
+      "dimensions_semantics": "source_unspecified"
+    },
+    "articulation_main": {
+      "available": true,
+      "schema_id": "object/articulated/v1",
+      "data_ref": "annotation/object/main/articulation.json",
+      "axes": [],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      }
+    },
+    "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": {
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+        "encoded_size": [
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+          1080
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+        "decoder": {
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+          "color_space": "unknown",
+          "color_range": "unknown",
+          "color_primaries": "unknown",
+          "color_transfer": "unknown"
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+        "encoder_parameters": {
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+          "threads": 2
+        },
+        "source_lossy": false,
+        "storage_fps": 30,
+        "timebase_role": "index_only"
+      },
+      "valid_storage": {
+        "profile": "mkv/bool_ffv1/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray",
+        "encoded_size": [
+          1920,
+          1080
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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": [],
+          "threads": 2
+        },
+        "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"
+    }
+  },
+  "split": "unknown",
+  "view_type": "ego",
+  "split_reason": "No verified official split mapping available for this sequence"
+}