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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S254_s02_T1/ego/annotation/object/main/articulation.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S254_s02_T1/ego/annotation/object/main/articulation.json
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+{
+  "parts": [
+    {
+      "part_id": "region_1",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_region_code": 1,
+      "name": "Door"
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+      "part_id": "region_3",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_region_code": 3,
+      "name": "Body of the Cabinet"
+    },
+    {
+      "part_id": "region_4",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
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+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_label": "Lockerbody"
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+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_label": "Lockersldingdoor"
+    },
+    {
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+      "parent_id": null,
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+      "mesh_ref": null,
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+    {
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+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/assets/objs/new-3-align.obj",
+      "source_asset": "objs/new-3-align.obj",
+      "note": "Source asset; correspondence to motion part labels remains unverified"
+    },
+    {
+      "part_id": "asset_objs_new_2_align_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/assets/objs/new-2-align.obj",
+      "source_asset": "objs/new-2-align.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_2_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/assets/objs/new-2.obj",
+      "source_asset": "objs/new-2.obj",
+      "note": "Source asset; correspondence to motion part labels remains unverified"
+    },
+    {
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+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/assets/objs/new-3.obj",
+      "source_asset": "objs/new-3.obj",
+      "note": "Source asset; correspondence to motion part labels remains unverified"
+    },
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+      "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"
+    }
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+  "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_C4_N05_S254_s02_T1/ego/annotation/object/main/assets/meta.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S254_s02_T1/ego/annotation/object/main/assets/meta.json
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@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S254_s02_T1/ego/annotation/object/main/assets/mobility_v2.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S254_s02_T1/ego/annotation/object/main/assets/mobility_v2.json
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\ No newline at end of file
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S254_s02_T1/ego/annotation/object/main/assets/objs/new-0.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S254_s02_T1/ego/annotation/object/main/assets/objs/new-0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..610063d2afe3b9dd50ac35d0ba68fb68448a04f0
--- /dev/null
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S254_s02_T1/ego/annotation/object/main/assets/objs/new-2-align.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S254_s02_T1/ego/annotation/object/main/assets/objs/new-2-align.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d6fa9d9b93cdac82d0b42ca63a9e2c5e082b9af
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S254_s02_T1/ego/annotation/object/main/assets/objs/new-2-align.obj
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S254_s02_T1/ego/annotation/object/main/assets/objs/new-2.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S254_s02_T1/ego/annotation/object/main/assets/objs/new-2.obj
new file mode 100644
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S254_s02_T1/ego/annotation/object/main/assets/objs/new-3-align.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S254_s02_T1/ego/annotation/object/main/assets/objs/new-3-align.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd842dca17b223ff6b6acdece6dc7df2a188f880
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S254_s02_T1/ego/annotation/object/main/assets/objs/new-3-align.obj
@@ -0,0 +1,88510 @@
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S254_s02_T1/ego/annotation/object/main/assets/objs/new-3.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S254_s02_T1/ego/annotation/object/main/assets/objs/new-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..235f5ebcbcedc2103c5ff3fa0d9ca2fd8465e7ce
--- /dev/null
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S254_s02_T1/ego/annotation/object/main/assets/result.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S254_s02_T1/ego/annotation/object/main/assets/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..256c7ee578c4776102800713daf60e632778e6a2
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S254_s02_T1/ego/annotation/object/main/assets/result.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S254_s02_T1/ego/annotation/object/main/metainfo.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S254_s02_T1/ego/annotation/object/main/metainfo.json
new file mode 100644
index 0000000000000000000000000000000000000000..99eb9b2a70b6627bcb2522bfc5a1281da949fefe
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S254_s02_T1/ego/annotation/object/main/metainfo.json
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+  "source_locator": {
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+    "member": "HOI4D_annotations/ZY20210800004/H4/C4/N05/S254/s02/T1/2Dseg/shift_mask/00000.png",
+    "sha256": "1282a8d423159a2f1e026555fd6e89bb1aa0fa25cd70ccc514eaf12c9702776d"
+  },
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+  "category_id": 4,
+  "source_object_id": null,
+  "asset_refs": [
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+    "annotation/object/main/assets/objs/new-2-align.obj",
+    "annotation/object/main/assets/objs/new-0-align.obj",
+    "annotation/object/main/assets/objs/new-2.obj",
+    "annotation/object/main/assets/objs/new-3.obj",
+    "annotation/object/main/assets/objs/new-0.obj"
+  ],
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+}
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S254_s02_T1/ego/annotation/object/main/object.pt b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S254_s02_T1/ego/annotation/object/main/object.pt
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S254_s02_T1/ego/annotation/segment/instances.jsonl b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S254_s02_T1/ego/annotation/segment/instances.jsonl
new file mode 100644
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S254_s02_T1/ego/annotation/segment/mask.mkv b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S254_s02_T1/ego/annotation/segment/mask.mkv
new file mode 100644
index 0000000000000000000000000000000000000000..f1591fbc16d9675cd174a4bc5634c26e33c53e4e
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S254_s02_T1/ego/annotation/segment/mask.mkv
@@ -0,0 +1,3 @@
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S254_s02_T1/ego/metainfo.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S254_s02_T1/ego/metainfo.json
new file mode 100644
index 0000000000000000000000000000000000000000..86e74c53d1c66a95e12609c9fcf7df03dfce3fb5
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S254_s02_T1/ego/metainfo.json
@@ -0,0 +1,842 @@
+{
+  "schema_version": "hand-warehouse/1.1",
+  "dataset_id": "HOI4D",
+  "release_id": "shared-v1.1",
+  "sequence_id": "ZY20210800004_H4_C4_N05_S254_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/C4/N05/S254/s02/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/C4/N05/S254/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/C4/N05/S254/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_main_pose_Lockerbody": {
+      "available": true,
+      "schema_id": "transform/se3/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_part",
+      "unit": "m",
+      "source_label": "Lockerbody",
+      "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": [
+        "parts",
+        "pose_Lockerbody",
+        "pose",
+        "data"
+      ],
+      "valid_key": [
+        "parts",
+        "pose_Lockerbody",
+        "pose",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "dimensions_main_pose_Lockerbody": {
+      "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": [
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+      "source_region_code": 3,
+      "name": "Body of the Cabinet"
+    },
+    {
+      "part_id": "region_4",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_region_code": 4,
+      "name": "Drawer"
+    },
+    {
+      "part_id": "pose_Lockerbody",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_label": "Lockerbody"
+    },
+    {
+      "part_id": "pose_Lockersldingdoor",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_label": "Lockersldingdoor"
+    },
+    {
+      "part_id": "pose_Lockerdrawer",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_label": "Lockerdrawer"
+    },
+    {
+      "part_id": "asset_objs_new_3_align_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/assets/objs/new-3-align.obj",
+      "source_asset": "objs/new-3-align.obj",
+      "note": "Source asset; correspondence to motion part labels remains unverified"
+    },
+    {
+      "part_id": "asset_objs_new_2_align_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/assets/objs/new-2-align.obj",
+      "source_asset": "objs/new-2-align.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_2_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/assets/objs/new-2.obj",
+      "source_asset": "objs/new-2.obj",
+      "note": "Source asset; correspondence to motion part labels remains unverified"
+    },
+    {
+      "part_id": "asset_objs_new_3_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/assets/objs/new-3.obj",
+      "source_asset": "objs/new-3.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_C4_N05_S260_s04_T2/ego/annotation/object/main/assets/meta.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S260_s04_T2/ego/annotation/object/main/assets/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6de27838a2e2d839729f6fd1881e4b92bfcb697c
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S260_s04_T2/ego/annotation/object/main/assets/meta.json
@@ -0,0 +1 @@
+{"user_id": "leoly", "model_cat": "StorageFurniture", "model_id": "storageFurniture005", "version": "1", "anno_id": "523", "time_in_sec": "140"}
\ No newline at end of file
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S260_s04_T2/ego/annotation/object/main/assets/mobility_v2.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S260_s04_T2/ego/annotation/object/main/assets/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4ef23385b3766ce7982c472da4744b578ec3ac1
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S260_s04_T2/ego/annotation/object/main/assets/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":-1,"joint":"沉重","name":"vertical_side_panel","parts":[{"id":8,"name":"vertical_side_panel","children":[]}],"jointData":{}},{"id":1,"parent":0,"joint":"铰链（旋转）","name":"cabinet_door_surface","parts":[{"id":7,"name":"cabinet_door_surface","children":[]}],"jointData":{"axis":{"origin":[-0.0033266604859381807,-0.16708867037080055,0],"direction":[0,0,1]},"limit":{"a":96.84,"b":-22.319999999999993,"noLimit":false}}},{"id":2,"parent":0,"joint":"滑动","name":"drawer_front","parts":[{"id":6,"name":"drawer_front","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[1,0,0]},"limit":{"a":0.01,"b":-0.1479999999999999,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}}]
\ No newline at end of file
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S260_s04_T2/ego/annotation/object/main/assets/objs/new-0-align.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S260_s04_T2/ego/annotation/object/main/assets/objs/new-0-align.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4851020af85d347799bc158a8f2fadf80afabe5
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S260_s04_T2/ego/annotation/object/main/assets/objs/new-0-align.obj
@@ -0,0 +1,19051 @@
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S260_s04_T2/ego/annotation/object/main/assets/objs/new-0.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S260_s04_T2/ego/annotation/object/main/assets/objs/new-0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..610063d2afe3b9dd50ac35d0ba68fb68448a04f0
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S260_s04_T2/ego/annotation/object/main/assets/objs/new-2-align.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S260_s04_T2/ego/annotation/object/main/assets/objs/new-2-align.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d6fa9d9b93cdac82d0b42ca63a9e2c5e082b9af
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S260_s04_T2/ego/annotation/object/main/assets/objs/new-2-align.obj
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S260_s04_T2/ego/annotation/object/main/assets/objs/new-2.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S260_s04_T2/ego/annotation/object/main/assets/objs/new-2.obj
new file mode 100644
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S260_s04_T2/ego/annotation/object/main/assets/objs/new-3-align.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S260_s04_T2/ego/annotation/object/main/assets/objs/new-3-align.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd842dca17b223ff6b6acdece6dc7df2a188f880
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S260_s04_T2/ego/annotation/object/main/assets/objs/new-3-align.obj
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S260_s04_T2/ego/annotation/object/main/assets/objs/new-3.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S260_s04_T2/ego/annotation/object/main/assets/objs/new-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..235f5ebcbcedc2103c5ff3fa0d9ca2fd8465e7ce
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S260_s04_T2/ego/annotation/object/main/assets/objs/new-3.obj
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S260_s04_T2/ego/annotation/object/main/assets/result.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S260_s04_T2/ego/annotation/object/main/assets/result.json
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+    "annotation/object/main/assets/objs/new-0.obj"
+  ],
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S260_s04_T2/ego/metainfo.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S260_s04_T2/ego/metainfo.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6816cc60a06d3c312447a9f486d6940da5c1db5
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S260_s04_T2/ego/metainfo.json
@@ -0,0 +1,842 @@
+{
+  "schema_version": "hand-warehouse/1.1",
+  "dataset_id": "HOI4D",
+  "release_id": "shared-v1.1",
+  "sequence_id": "ZY20210800004_H4_C4_N05_S260_s04_T2",
+  "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/C4/N05/S260/s04/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": [
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+        "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/C4/N05/S260/s04/T2/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": [
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+            217
+          ]
+        },
+        "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/C4/N05/S260/s04/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"
+      }
+    },
+    "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"
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+        "profile": "pt/tensor_bundle/v1"
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+      "valid_ref": "annotation/object/main/object.pt",
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+        "profile": "pt/tensor_bundle/v1"
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+      "schema_id": "transform/se3/v1",
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+      "schema_id": "object/dimensions/v1",
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+      "schema_id": "mesh/obj/v1",
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+      "dimensions_semantics": "source_unspecified"
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+      "data_ref": "annotation/object/main/assets/objs/new-2-align.obj",
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+      "dimensions_semantics": "source_unspecified"
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+      "schema_id": "mesh/obj/v1",
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+      "dimensions_semantics": "source_unspecified"
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+      "schema_id": "object/articulated/v1",
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+    },
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+      "schema_id": "depth/z_float32/v1",
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+        "width"
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+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
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+          "color_space": "unknown",
+          "color_range": "unknown",
+          "color_primaries": "unknown",
+          "color_transfer": "unknown"
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+        "timebase_role": "index_only"
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+      "valid_storage": {
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+        "pixel_format": "gray",
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+          1080
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+          "color_space": "unknown",
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+        "timebase_role": "index_only"
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+        "width"
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+  "view_type": "ego",
+  "split_reason": "No verified official split mapping available for this sequence"
+}
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S260_s04_T2/ego/observation/depth.mkv b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S260_s04_T2/ego/observation/depth.mkv
new file mode 100644
index 0000000000000000000000000000000000000000..e728522bec4958682cbfce8484ac9ba38b4bccd2
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+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S260_s04_T2/ego/observation/depth.mkv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 151128588
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S260_s04_T2/ego/observation/depth_valid.mkv b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S260_s04_T2/ego/observation/depth_valid.mkv
new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2879120a467d7bee965129b5916bcb751db5650d7086e043b3dfe53c4259f401
+size 2514836
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S260_s04_T2/ego/observation/rgb.mkv b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S260_s04_T2/ego/observation/rgb.mkv
new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 5714722
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S260_s04_T2/ego/observation/rgb_valid.pt b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S260_s04_T2/ego/observation/rgb_valid.pt
new file mode 100644
index 0000000000000000000000000000000000000000..9984775cc1c59b5d3db6942d4a3b103e47c1617b
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N05_S260_s04_T2/ego/observation/rgb_valid.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1847
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N08_S219_s02_T3/ego/annotation/object/bottle/metainfo.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N08_S219_s02_T3/ego/annotation/object/bottle/metainfo.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6ddb15946c7a570a9fd8b25e8b98a967b5daec1
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N08_S219_s02_T3/ego/annotation/object/bottle/metainfo.json
@@ -0,0 +1,13 @@
+{
+  "object_id": "bottle",
+  "identity_scope": "sequence",
+  "scope_id": "ZY20210800004_H4_C4_N08_S219_s02_T3",
+  "source_locator": {
+    "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_annotations.zip",
+    "member": "HOI4D_annotations/ZY20210800004/H4/C4/N08/S219/s02/T3/2Dseg/shift_mask/00000.png",
+    "sha256": "d2c133452cedd7d64cfc4880ed16f65c170f87074b0e44001ed9a9caa2c558e0"
+  },
+  "has_model": false,
+  "category_id": 5,
+  "source_object_id": null
+}
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N08_S219_s02_T3/ego/annotation/object/main/articulation.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N08_S219_s02_T3/ego/annotation/object/main/articulation.json
new file mode 100644
index 0000000000000000000000000000000000000000..62b2423e731283286a81df5dcd74d020b189ee0f
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N08_S219_s02_T3/ego/annotation/object/main/articulation.json
@@ -0,0 +1,100 @@
+{
+  "parts": [
+    {
+      "part_id": "region_1",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_region_code": 1,
+      "name": "Door"
+    },
+    {
+      "part_id": "region_3",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_region_code": 3,
+      "name": "Body of the Cabinet"
+    },
+    {
+      "part_id": "region_4",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_region_code": 4,
+      "name": "Drawer"
+    },
+    {
+      "part_id": "pose_Lockerbody",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_label": "Lockerbody"
+    },
+    {
+      "part_id": "pose_Lockerdrawer",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_label": "Lockerdrawer"
+    },
+    {
+      "part_id": "pose_Lockersldingdoor",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_label": "Lockersldingdoor"
+    },
+    {
+      "part_id": "asset_objs_new_3_align_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/assets/objs/new-3-align.obj",
+      "source_asset": "objs/new-3-align.obj",
+      "note": "Source asset; correspondence to motion part labels remains unverified"
+    },
+    {
+      "part_id": "asset_objs_new_2_align_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/assets/objs/new-2-align.obj",
+      "source_asset": "objs/new-2-align.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_2_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/assets/objs/new-2.obj",
+      "source_asset": "objs/new-2.obj",
+      "note": "Source asset; correspondence to motion part labels remains unverified"
+    },
+    {
+      "part_id": "asset_objs_new_3_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/assets/objs/new-3.obj",
+      "source_asset": "objs/new-3.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_C4_N08_S219_s02_T3/ego/annotation/object/main/assets/meta.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N08_S219_s02_T3/ego/annotation/object/main/assets/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..10b42bc30db532663f173693476a3b51ac692e02
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N08_S219_s02_T3/ego/annotation/object/main/assets/meta.json
@@ -0,0 +1 @@
+{"user_id": "leoly", "model_cat": "StorageFurniture", "model_id": "storageFurniture008", "version": "1", "anno_id": "524", "time_in_sec": "135"}
\ No newline at end of file
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N08_S219_s02_T3/ego/annotation/object/main/assets/mobility_v2.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N08_S219_s02_T3/ego/annotation/object/main/assets/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..401e922aa61e2a5cd64be3596491504ff73cce5c
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N08_S219_s02_T3/ego/annotation/object/main/assets/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":-1,"joint":"沉重","name":"vertical_side_panel","parts":[{"id":8,"name":"vertical_side_panel","children":[]}],"jointData":{}},{"id":1,"parent":0,"joint":"铰链（旋转）","name":"cabinet_door_surface","parts":[{"id":7,"name":"cabinet_door_surface","children":[]}],"jointData":{"axis":{"origin":[0.00022415823850314986,-0.1675167823456866,0],"direction":[0,0,1]},"limit":{"a":96.84,"b":-16.19999999999999,"noLimit":false}}},{"id":2,"parent":0,"joint":"滑动","name":"drawer_front","parts":[{"id":6,"name":"drawer_front","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[1,0,0]},"limit":{"a":0.01,"b":-0.15999999999999992,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}}]
\ No newline at end of file
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N08_S219_s02_T3/ego/annotation/object/main/assets/objs/new-0-align.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N08_S219_s02_T3/ego/annotation/object/main/assets/objs/new-0-align.obj
new file mode 100644
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--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N08_S219_s02_T3/ego/annotation/object/main/assets/objs/new-0-align.obj
@@ -0,0 +1,14527 @@
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N08_S219_s02_T3/ego/annotation/object/main/assets/objs/new-2-align.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N08_S219_s02_T3/ego/annotation/object/main/assets/objs/new-2-align.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a167c96cde923f50351c6e1a1366f9c9dcf86fe9
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N08_S219_s02_T3/ego/annotation/object/main/assets/objs/new-2-align.obj
@@ -0,0 +1,16342 @@
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new file mode 100644
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N08_S219_s02_T3/ego/annotation/object/main/assets/objs/new-3-align.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N08_S219_s02_T3/ego/annotation/object/main/assets/objs/new-3-align.obj
new file mode 100644
index 0000000000000000000000000000000000000000..327e339a090bbff219d95a2bb94f1ca7bb069a84
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N08_S219_s02_T3/ego/annotation/object/main/assets/objs/new-3-align.obj
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N08_S219_s02_T3/ego/annotation/object/main/assets/objs/new-3.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N08_S219_s02_T3/ego/annotation/object/main/assets/objs/new-3.obj
new file mode 100644
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N08_S219_s02_T3/ego/annotation/object/main/assets/result.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N08_S219_s02_T3/ego/annotation/object/main/assets/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..256c7ee578c4776102800713daf60e632778e6a2
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N08_S219_s02_T3/ego/annotation/object/main/assets/result.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "storage_furniture", "text": "Storage Furniture", "children": [{"id": 1, "name": "cabinet", "text": "Cabinet", "children": [{"id": 2, "name": "cabinet_frame", "text": "Cabinet frame", "children": [{"id": 8, "name": "vertical_side_panel", "text": "Vertical side panel", "objs": ["new-3"]}]}, {"id": 3, "name": "cabinet_door", "text": "Cabinet door", "children": [{"id": 7, "name": "cabinet_door_surface", "text": "Cabinet door surface", "objs": ["new-0"]}]}, {"id": 4, "name": "drawer", "text": "Drawer", "children": [{"id": 5, "name": "drawer_box", "text": "Drawer box", "children": [{"id": 6, "name": "drawer_front", "text": "Drawer front", "objs": ["new-2"]}]}]}]}]}]
\ No newline at end of file
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N08_S219_s02_T3/ego/annotation/object/main/metainfo.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N08_S219_s02_T3/ego/annotation/object/main/metainfo.json
new file mode 100644
index 0000000000000000000000000000000000000000..60b0b63beab8a0fd39e9db6ccdb8b35e141f3e8d
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N08_S219_s02_T3/ego/annotation/object/main/metainfo.json
@@ -0,0 +1,22 @@
+{
+  "object_id": "main",
+  "identity_scope": "sequence",
+  "scope_id": "ZY20210800004_H4_C4_N08_S219_s02_T3",
+  "source_locator": {
+    "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_annotations.zip",
+    "member": "HOI4D_annotations/ZY20210800004/H4/C4/N08/S219/s02/T3/2Dseg/shift_mask/00000.png",
+    "sha256": "d2c133452cedd7d64cfc4880ed16f65c170f87074b0e44001ed9a9caa2c558e0"
+  },
+  "has_model": true,
+  "category_id": 4,
+  "source_object_id": null,
+  "asset_refs": [
+    "annotation/object/main/assets/objs/new-3-align.obj",
+    "annotation/object/main/assets/objs/new-2-align.obj",
+    "annotation/object/main/assets/objs/new-0-align.obj",
+    "annotation/object/main/assets/objs/new-2.obj",
+    "annotation/object/main/assets/objs/new-3.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_C4_N08_S219_s02_T3/ego/annotation/object/main/object.pt b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N08_S219_s02_T3/ego/annotation/object/main/object.pt
new file mode 100644
index 0000000000000000000000000000000000000000..a3f5986f06e2e223216c225c790f76809fdc4aed
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N08_S219_s02_T3/ego/annotation/object/main/object.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4900851dc9a0fb5041e363a998a7d592cba18903020c3e83981431149376a78
+size 74467
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N08_S219_s02_T3/ego/annotation/segment/instances.jsonl b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N08_S219_s02_T3/ego/annotation/segment/instances.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..58f4d9b65147a991f96b3da2920cd6777d2e8f31
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N08_S219_s02_T3/ego/annotation/segment/instances.jsonl
@@ -0,0 +1,300 @@
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N08_S219_s02_T3/ego/metainfo.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N08_S219_s02_T3/ego/metainfo.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6b9d39a7cfc8c41fa0b08f171ce212601fb3a0b
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N08_S219_s02_T3/ego/metainfo.json
@@ -0,0 +1,842 @@
+{
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+  "dataset_id": "HOI4D",
+  "release_id": "shared-v1.1",
+  "sequence_id": "ZY20210800004_H4_C4_N08_S219_s02_T3",
+  "camera_id": "ego",
+  "sample_type": "video",
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+      1080
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+        "width",
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+          1080
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+        "decoder": {
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+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "autorotate": false,
+          "color_space": "unknown",
+          "color_range": "unknown",
+          "color_primaries": "unknown",
+          "color_transfer": "unknown"
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+        "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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+            250
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+        "source_lossy": "unknown",
+        "storage_fps": "15/1",
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+        "method": "Copy source annotation; normalize storage only"
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+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
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+    "extrinsic": {
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+      "schema_id": "transform/se3/v1",
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+      "axes": [
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+        "column"
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+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
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+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_annotations.zip",
+        "member": "HOI4D_annotations/ZY20210800004/H4/C4/N08/S219/s02/T3/3Dseg/output.log"
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+      "valid_ref": "camera/camera.pt",
+      "valid_axes": [
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+        "valid"
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+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
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+      "schema_id": "segment/uint16_labels/v1",
+      "data_ref": "annotation/segment/mask.mkv",
+      "axes": [
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+        "height",
+        "width"
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+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
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+        "source_field": "component_sources"
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+          1080
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+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "autorotate": false,
+          "color_space": "unknown",
+          "color_range": "unknown",
+          "color_primaries": "unknown",
+          "color_transfer": "unknown"
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+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "name": "ffv1",
+          "arguments": [],
+          "threads": 2
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+        "storage_fps": 30,
+        "timebase_role": "index_only"
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+      "valid_ref": "annotation/segment/mask_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "segmentation_type": "part",
+      "mapping_ref": "annotation/segment/instances.jsonl",
+      "coverage": {
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+      },
+      "valid_policy": {
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+        "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",
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+        "visibility_independent": true
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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"
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+      "valid_ref": "annotation/object/main/object.pt",
+      "valid_axes": [
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+      "convention": "T_camera_from_part",
+      "unit": "m",
+      "source_label": "Lockerbody",
+      "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"
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+        "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"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
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+      "data_key": [
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+        "pose_Lockerbody",
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+        "data"
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+      "valid_key": [
+        "parts",
+        "pose_Lockerbody",
+        "pose",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
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+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "dimensions_main_pose_Lockerbody": {
+      "available": true,
+      "schema_id": "object/dimensions/v1",
+      "data_ref": "annotation/object/main/object.pt",
+      "axes": [
+        "T",
+        "dimension"
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+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
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+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
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+      "valid_ref": "annotation/object/main/object.pt",
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+      "dimensions_semantics": "source_unspecified",
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+        "revision": "usable-annotation-2026-09-20",
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+        "source_rule": "Matched source object record contains dimensions; size/mesh relation remains source_unspecified",
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+          "source_field": "component_sources"
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+        "scope": [
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+        "local_exclusion_reasons": {},
+        "visibility_independent": true
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+      "data_key": [
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+      "valid_key": [
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+        "profile": "pt/tensor_bundle/v1"
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+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
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+    "pose_main_pose_Lockerdrawer": {
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+      "schema_id": "transform/se3/v1",
+      "data_ref": "annotation/object/main/object.pt",
+      "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": "Lockerdrawer",
+      "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",
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+          "source_field": "component_sources"
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+        "scope": [
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+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
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+        "local_exclusion_reasons": {},
+        "visibility_independent": true
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+      "data_key": [
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+        "pose_Lockerdrawer",
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+        "data"
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+      "valid_key": [
+        "parts",
+        "pose_Lockerdrawer",
+        "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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+    },
+    "dimensions_main_pose_Lockerdrawer": {
+      "available": true,
+      "schema_id": "object/dimensions/v1",
+      "data_ref": "annotation/object/main/object.pt",
+      "axes": [
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+        "dimension"
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+      "provenance": {
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+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
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+      "valid_ref": "annotation/object/main/object.pt",
+      "valid_axes": [
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+      "dimensions_semantics": "source_unspecified",
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+        "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",
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+          "source_field": "component_sources"
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+        "scope": [
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+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
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+          "reason": "No separate applicable official QA in selected source inputs"
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+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      },
+      "data_key": [
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+      "valid_key": [
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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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+    },
+    "pose_main_pose_Lockersldingdoor": {
+      "available": true,
+      "schema_id": "transform/se3/v1",
+      "data_ref": "annotation/object/main/object.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
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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"
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+      "valid_ref": "annotation/object/main/object.pt",
+      "valid_axes": [
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+      "convention": "T_camera_from_part",
+      "unit": "m",
+      "source_label": "Lockersldingdoor",
+      "source_euler_order": "XYZ",
+      "definition": "https://github.com/hoi4d/ObjTracking/blob/main/process_data.py",
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+        "meaning": "annotation usable for supervision, not merely record presence",
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+        "scope": [
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+        "local_exclusion_reasons": {},
+        "visibility_independent": true
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+      "data_key": [
+        "parts",
+        "pose_Lockersldingdoor",
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+      "valid_key": [
+        "parts",
+        "pose_Lockersldingdoor",
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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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+    "dimensions_main_pose_Lockersldingdoor": {
+      "available": true,
+      "schema_id": "object/dimensions/v1",
+      "data_ref": "annotation/object/main/object.pt",
+      "axes": [
+        "T",
+        "dimension"
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+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
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+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
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+      "valid_ref": "annotation/object/main/object.pt",
+      "valid_axes": [
+        "T"
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+      "dimensions_semantics": "source_unspecified",
+      "unit": "m",
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+      "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_Lockersldingdoor",
+        "dimensions",
+        "data"
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+      "valid_key": [
+        "parts",
+        "pose_Lockersldingdoor",
+        "dimensions",
+        "valid"
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+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
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+}