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diff --git a/EgoPressure/shared-v1.1/data/p_012_calibration_routine_left/cam-d-rgb/metainfo.json b/EgoPressure/shared-v1.1/data/p_012_calibration_routine_left/cam-d-rgb/metainfo.json
new file mode 100644
index 0000000000000000000000000000000000000000..af7d239e6d9b8209d9e0470670feea1a7478e358
--- /dev/null
+++ b/EgoPressure/shared-v1.1/data/p_012_calibration_routine_left/cam-d-rgb/metainfo.json
@@ -0,0 +1,481 @@
+{
+  "schema_version": "hand-warehouse/1.1",
+  "dataset_id": "EgoPressure",
+  "release_id": "shared-v1.1",
+  "sequence_id": "p_012_calibration_routine_left",
+  "camera_id": "cam-d-rgb",
+  "physical_camera_id": "d",
+  "view_type": "ego",
+  "sample_type": "video",
+  "num_frames": 454,
+  "hand_slots": [
+    "left",
+    "right"
+  ],
+  "sampling": {
+    "type": "dense",
+    "source_fps": 30,
+    "frames_ref": "camera/frames.jsonl",
+    "policy": "Every source frame, exact frame-ID joins, no true timestamps available; presentation 30Hz only"
+  },
+  "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",
+      "valid_ref": "observation/rgb_valid.pt",
+      "axes": [
+        "T",
+        "H",
+        "W",
+        "C"
+      ],
+      "valid_axes": [
+        "T"
+      ],
+      "storage": {
+        "profile": "mkv/mjpeg_copy/v1",
+        "codec": "mjpeg",
+        "pixel_format": "yuvj420p",
+        "encoded_size": [
+          1920,
+          1080
+        ],
+        "source_lossy": true,
+        "decoder": {
+          "name": "PyAV/libavcodec",
+          "pyav_version": "12.3.0",
+          "library_versions": {
+            "libavutil": [
+              58,
+              29,
+              100
+            ],
+            "libavcodec": [
+              60,
+              31,
+              102
+            ],
+            "libavformat": [
+              60,
+              16,
+              100
+            ],
+            "libavdevice": [
+              60,
+              3,
+              100
+            ],
+            "libavfilter": [
+              9,
+              12,
+              100
+            ],
+            "libswscale": [
+              7,
+              5,
+              100
+            ],
+            "libswresample": [
+              4,
+              12,
+              100
+            ]
+          },
+          "pixel_interpretation": "rgb24 for RGB; native integer planes for depth and bool; no autorotation"
+        },
+        "encoder_parameters": {
+          "stream_copy": true
+        }
+      },
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Original JPEG packets copied, no resize/crop/re-encoding"
+      },
+      "source_locator": {
+        "file": "raw/data/data/p_012/p_012_calibration_routine_left/cam-d.color.parquet",
+        "record_key": "frame"
+      }
+    },
+    "depth": {
+      "available": true,
+      "schema_id": "depth/z_float32/v1",
+      "data_ref": "observation/depth.mkv",
+      "valid_ref": "observation/depth_valid.mkv",
+      "axes": [
+        "T",
+        "H",
+        "W"
+      ],
+      "valid_axes": [
+        "T",
+        "H",
+        "W"
+      ],
+      "depth_type": "z",
+      "depth_origin": "measured",
+      "unit": "m",
+      "storage": {
+        "profile": "mkv/depth_float32_bits/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray16le",
+        "encoded_size": [
+          3840,
+          1080
+        ],
+        "source_lossy": false,
+        "decoder": {
+          "name": "PyAV/libavcodec",
+          "pyav_version": "12.3.0",
+          "library_versions": {
+            "libavutil": [
+              58,
+              29,
+              100
+            ],
+            "libavcodec": [
+              60,
+              31,
+              102
+            ],
+            "libavformat": [
+              60,
+              16,
+              100
+            ],
+            "libavdevice": [
+              60,
+              3,
+              100
+            ],
+            "libavfilter": [
+              9,
+              12,
+              100
+            ],
+            "libswscale": [
+              7,
+              5,
+              100
+            ],
+            "libswresample": [
+              4,
+              12,
+              100
+            ]
+          },
+          "pixel_interpretation": "rgb24 for RGB; native integer planes for depth and bool; no autorotation"
+        },
+        "encoder_parameters": {
+          "name": "ffv1",
+          "level": 3,
+          "coder": 1,
+          "context": 1,
+          "slicecrc": 1,
+          "slices": 4
+        }
+      },
+      "valid_storage": {
+        "profile": "mkv/bool_ffv1/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray",
+        "encoded_size": [
+          1920,
+          1080
+        ],
+        "source_lossy": false,
+        "decoder": {
+          "name": "PyAV/libavcodec",
+          "pyav_version": "12.3.0",
+          "library_versions": {
+            "libavutil": [
+              58,
+              29,
+              100
+            ],
+            "libavcodec": [
+              60,
+              31,
+              102
+            ],
+            "libavformat": [
+              60,
+              16,
+              100
+            ],
+            "libavdevice": [
+              60,
+              3,
+              100
+            ],
+            "libavfilter": [
+              9,
+              12,
+              100
+            ],
+            "libswscale": [
+              7,
+              5,
+              100
+            ],
+            "libswresample": [
+              4,
+              12,
+              100
+            ]
+          },
+          "pixel_interpretation": "rgb24 for RGB; native integer planes for depth and bool; no autorotation"
+        },
+        "encoder_parameters": {
+          "name": "ffv1",
+          "level": 3,
+          "coder": 1,
+          "context": 1,
+          "slicecrc": 1,
+          "slices": 4
+        }
+      },
+      "provenance": {
+        "kind": "derived",
+        "method": "Official k4a_transformation_depth_image_to_color_camera surface rasterization; SDK uint16 millimetres normalized to float32 metres; zero invalid. No external hole filling."
+      },
+      "source_locator": {
+        "file": "raw/data/data/p_012/p_012_calibration_routine_left/cam-d.depth.parquet",
+        "record_key": "frame"
+      }
+    },
+    "intrinsic": {
+      "available": true,
+      "schema_id": "camera/pinhole/v1",
+      "data_ref": "camera/camera.pt",
+      "data_key": [
+        "intrinsic",
+        "data"
+      ],
+      "valid_ref": "camera/camera.pt",
+      "valid_key": [
+        "intrinsic",
+        "valid"
+      ],
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "valid_axes": [
+        "T"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Original undistorted color K"
+      },
+      "source_locator": {
+        "file": "raw/data/configs/p_012/p_012_calibration_routine_left.json"
+      }
+    },
+    "extrinsic": {
+      "available": true,
+      "schema_id": "transform/se3/v1",
+      "data_ref": "camera/camera.pt",
+      "data_key": [
+        "extrinsic",
+        "data"
+      ],
+      "valid_ref": "camera/camera.pt",
+      "valid_key": [
+        "extrinsic",
+        "valid"
+      ],
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "valid_axes": [
+        "T"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Source ego_R/ego_T unchanged"
+      },
+      "source_locator": {
+        "file": "raw/data/data/p_012/p_012_calibration_routine_left/annotation.parquet",
+        "record_key": "frame"
+      },
+      "direction": "T_camera_from_world",
+      "convention": "T_camera_from_world"
+    },
+    "mano": {
+      "available": true,
+      "schema_id": "mano/axis_angle61/v1",
+      "data_ref": "annotation/mano/mano.pt",
+      "data_key": [
+        "motion",
+        "data"
+      ],
+      "valid_ref": "annotation/mano/mano.pt",
+      "valid_key": [
+        "motion",
+        "valid"
+      ],
+      "axes": [
+        "T",
+        "hand",
+        "parameter"
+      ],
+      "valid_axes": [
+        "T",
+        "hand"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Standard MANO, no per-vertex refinement; camera root rotation composed; additive translation compensated around shaped root joint"
+      },
+      "source_locator": {
+        "file": "raw/data/data/p_012/p_012_calibration_routine_left/annotation.parquet",
+        "record_key": "frame"
+      },
+      "model_profile": {
+        "model": "MANO",
+        "vertices": 778,
+        "flat_hand_mean": true,
+        "use_pca": false,
+        "left_shapedirs_fix_applied": false,
+        "per_vertex_refinement": false,
+        "assets_sha256": {
+          "left": "c4022f7083f2ca7c78b2b3d595abbab52debd32b09d372b16923a801f0ea6a30",
+          "right": "45d60aa3b27ef9107a7afd4e00808f307fd91111e1cfa35afd5c4a62de264767"
+        }
+      },
+      "valid_policy": {
+        "source_annotation_present": "Source has_annotation=true and exact frame ID join",
+        "numerical_checks": "Finite shapes and geometry checked; failure aborts",
+        "official_qa": "not available; visibility not inferred"
+      }
+    }
+  },
+  "split": "unknown",
+  "split_reason": "Official split not provided in selected source",
+  "source_revision": "cea37de99be44078f0e4b9796fd6f614d9110dc2",
+  "calibration": {
+    "baseline": "config DepthToColor",
+    "offset_rgb_optical_z_mm": -6.84644549381777,
+    "offset_estimation": "100-sequence participant-balanced pad fit",
+    "T_rgb_from_depth_rotation": [
+      [
+        0.999999,
+        0.000952568,
+        0.0010665
+      ],
+      [
+        -0.00105482,
+        0.994948,
+        0.10039
+      ],
+      [
+        -0.000965488,
+        -0.100391,
+        0.994948
+      ]
+    ],
+    "T_rgb_from_depth_translation_m": [
+      -0.0335589,
+      -0.00214962,
+      -0.00945180549381777
+    ],
+    "status": "User-approved empirical offset; not official recalibration"
+  },
+  "registration_sdk": {
+    "sdk": "Microsoft.Azure.Kinect.Sensor",
+    "version": "1.4.1",
+    "dll_sha256": "1c6bf5aabb62d4907aa66da92448aebe5f1b8b59f81f2099bc1d9f989cf44cb6",
+    "interfaces": [
+      "k4a_calibration_get_from_raw",
+      "k4a_transformation_create",
+      "k4a_transformation_depth_image_to_color_camera"
+    ],
+    "depth_mode": "WFOV_2X2BINNED",
+    "color_resolution": "1080P",
+    "calibration_adaptation": "Source RGB is already undistorted: config RGB K, zero color distortion, color metric radius 10; depth factory calibration parsed by SDK; config DepthToColor plus approved optical-Z offset; SDK translations in mm.",
+    "T_rgb_from_depth_mm": [
+      [
+        0.999999,
+        0.000952568,
+        0.0010665,
+        -33.5589
+      ],
+      [
+        -0.00105482,
+        0.994948,
+        0.10039,
+        -2.14962
+      ],
+      [
+        -0.000965488,
+        -0.100391,
+        0.994948,
+        -9.45180549381777
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    "native_depth_K": [
+      [
+        252.52279663085938,
+        0.0,
+        257.9237060546875
+      ],
+      [
+        0.0,
+        252.60423278808594,
+        251.84109497070312
+      ],
+      [
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    "calls": {
+      "depth_to_color": 454,
+      "color_to_depth": 0
+    },
+    "depth_output": "Official uint16 mm, zero invalid; losslessly normalized to float32 metres."
+  },
+  "processing": {
+    "adapter": "egopressure-official-k4a-rgb-only-full/1.0",
+    "contract_repo_revision": "9e89722fc3935d1e16aeb9eeeffa4cd5c9d93383",
+    "scope": "All 1344 selected ego d sequences; original RGB plus official SDK depth-to-RGB",
+    "validation_policy": "All frame IDs, tensor validity and packet counts; deterministic representative decode checks, not full decode or SDK replay"
+  }
+}
\ No newline at end of file
diff --git a/EgoPressure/shared-v1.1/data/p_012_calibration_routine_right/cam-d-rgb/camera/frames.jsonl b/EgoPressure/shared-v1.1/data/p_012_calibration_routine_right/cam-d-rgb/camera/frames.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8349cfca17b51fa63615743cb9ea4208dee8f2e1
--- /dev/null
+++ b/EgoPressure/shared-v1.1/data/p_012_calibration_routine_right/cam-d-rgb/camera/frames.jsonl
@@ -0,0 +1,474 @@
+{"frame_index": 0, "source_frame_id": 1, "timestamp_ns": null, "clock_domain": "unknown", "sync_id": "p_012_calibration_routine_right:1", "source_locator": {"file": "raw/data/data/p_012/p_012_calibration_routine_right/cam-d.color.parquet", "frame": 1}, "annotation_matches": {"depth": {"source_frame_id": 1, "source_timestamp_ns": null, "clock_domain": "unknown", "match_method": "exact", "delta_ns": null}, "mano": {"source_frame_id": 1, "source_timestamp_ns": null, "clock_domain": "unknown", "match_method": "exact", "delta_ns": null}, "extrinsic": {"source_frame_id": 1, "source_timestamp_ns": null, "clock_domain": "unknown", "match_method": "exact", "delta_ns": null}}}
+{"frame_index": 1, "source_frame_id": 2, "timestamp_ns": null, "clock_domain": "unknown", "sync_id": "p_012_calibration_routine_right:2", "source_locator": {"file": "raw/data/data/p_012/p_012_calibration_routine_right/cam-d.color.parquet", "frame": 2}, "annotation_matches": {"depth": {"source_frame_id": 2, "source_timestamp_ns": null, "clock_domain": "unknown", "match_method": "exact", "delta_ns": null}, "mano": {"source_frame_id": 2, "source_timestamp_ns": null, "clock_domain": "unknown", "match_method": "exact", "delta_ns": null}, "extrinsic": {"source_frame_id": 2, "source_timestamp_ns": null, "clock_domain": "unknown", "match_method": "exact", "delta_ns": null}}}
+{"frame_index": 2, "source_frame_id": 3, "timestamp_ns": null, "clock_domain": "unknown", "sync_id": "p_012_calibration_routine_right:3", "source_locator": {"file": "raw/data/data/p_012/p_012_calibration_routine_right/cam-d.color.parquet", "frame": 3}, "annotation_matches": {"depth": {"source_frame_id": 3, "source_timestamp_ns": null, "clock_domain": "unknown", "match_method": "exact", "delta_ns": null}, "mano": {"source_frame_id": 3, "source_timestamp_ns": null, "clock_domain": "unknown", "match_method": "exact", "delta_ns": null}, "extrinsic": {"source_frame_id": 3, "source_timestamp_ns": null, "clock_domain": "unknown", "match_method": "exact", "delta_ns": null}}}
+{"frame_index": 3, "source_frame_id": 4, "timestamp_ns": null, "clock_domain": "unknown", "sync_id": "p_012_calibration_routine_right:4", "source_locator": {"file": "raw/data/data/p_012/p_012_calibration_routine_right/cam-d.color.parquet", "frame": 4}, "annotation_matches": {"depth": {"source_frame_id": 4, "source_timestamp_ns": null, "clock_domain": "unknown", "match_method": "exact", "delta_ns": null}, "mano": {"source_frame_id": 4, "source_timestamp_ns": null, "clock_domain": "unknown", "match_method": "exact", "delta_ns": null}, "extrinsic": {"source_frame_id": 4, "source_timestamp_ns": null, "clock_domain": "unknown", "match_method": "exact", "delta_ns": null}}}
+{"frame_index": 4, "source_frame_id": 5, "timestamp_ns": null, "clock_domain": "unknown", "sync_id": "p_012_calibration_routine_right:5", "source_locator": {"file": "raw/data/data/p_012/p_012_calibration_routine_right/cam-d.color.parquet", "frame": 5}, "annotation_matches": {"depth": {"source_frame_id": 5, "source_timestamp_ns": null, "clock_domain": "unknown", "match_method": "exact", "delta_ns": null}, "mano": {"source_frame_id": 5, "source_timestamp_ns": null, "clock_domain": "unknown", "match_method": "exact", "delta_ns": null}, "extrinsic": {"source_frame_id": 5, "source_timestamp_ns": null, "clock_domain": "unknown", "match_method": "exact", "delta_ns": null}}}
+{"frame_index": 5, "source_frame_id": 6, "timestamp_ns": null, "clock_domain": "unknown", "sync_id": "p_012_calibration_routine_right:6", "source_locator": {"file": "raw/data/data/p_012/p_012_calibration_routine_right/cam-d.color.parquet", "frame": 6}, "annotation_matches": {"depth": {"source_frame_id": 6, "source_timestamp_ns": null, "clock_domain": "unknown", "match_method": "exact", "delta_ns": null}, "mano": {"source_frame_id": 6, "source_timestamp_ns": null, "clock_domain": "unknown", "match_method": "exact", "delta_ns": null}, "extrinsic": {"source_frame_id": 6, "source_timestamp_ns": null, "clock_domain": "unknown", "match_method": "exact", "delta_ns": null}}}
+{"frame_index": 6, "source_frame_id": 7, "timestamp_ns": null, "clock_domain": "unknown", "sync_id": "p_012_calibration_routine_right:7", "source_locator": {"file": "raw/data/data/p_012/p_012_calibration_routine_right/cam-d.color.parquet", "frame": 7}, "annotation_matches": {"depth": {"source_frame_id": 7, "source_timestamp_ns": null, "clock_domain": "unknown", "match_method": "exact", "delta_ns": null}, "mano": {"source_frame_id": 7, "source_timestamp_ns": null, "clock_domain": "unknown", "match_method": "exact", "delta_ns": null}, "extrinsic": {"source_frame_id": 7, "source_timestamp_ns": null, "clock_domain": "unknown", "match_method": "exact", "delta_ns": null}}}
+{"frame_index": 7, "source_frame_id": 8, "timestamp_ns": null, "clock_domain": "unknown", "sync_id": "p_012_calibration_routine_right:8", "source_locator": {"file": "raw/data/data/p_012/p_012_calibration_routine_right/cam-d.color.parquet", "frame": 8}, "annotation_matches": {"depth": {"source_frame_id": 8, "source_timestamp_ns": null, "clock_domain": "unknown", "match_method": "exact", "delta_ns": null}, "mano": {"source_frame_id": 8, "source_timestamp_ns": null, "clock_domain": "unknown", "match_method": "exact", "delta_ns": null}, "extrinsic": {"source_frame_id": 8, "source_timestamp_ns": null, "clock_domain": "unknown", "match_method": "exact", "delta_ns": null}}}
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diff --git a/EgoPressure/shared-v1.1/data/p_012_calibration_routine_right/cam-d-rgb/metainfo.json b/EgoPressure/shared-v1.1/data/p_012_calibration_routine_right/cam-d-rgb/metainfo.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ee4e83eb3b01f3168f70a990626d2beeca46c9d
--- /dev/null
+++ b/EgoPressure/shared-v1.1/data/p_012_calibration_routine_right/cam-d-rgb/metainfo.json
@@ -0,0 +1,481 @@
+{
+  "schema_version": "hand-warehouse/1.1",
+  "dataset_id": "EgoPressure",
+  "release_id": "shared-v1.1",
+  "sequence_id": "p_012_calibration_routine_right",
+  "camera_id": "cam-d-rgb",
+  "physical_camera_id": "d",
+  "view_type": "ego",
+  "sample_type": "video",
+  "num_frames": 474,
+  "hand_slots": [
+    "left",
+    "right"
+  ],
+  "sampling": {
+    "type": "dense",
+    "source_fps": 30,
+    "frames_ref": "camera/frames.jsonl",
+    "policy": "Every source frame, exact frame-ID joins, no true timestamps available; presentation 30Hz only"
+  },
+  "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",
+      "valid_ref": "observation/rgb_valid.pt",
+      "axes": [
+        "T",
+        "H",
+        "W",
+        "C"
+      ],
+      "valid_axes": [
+        "T"
+      ],
+      "storage": {
+        "profile": "mkv/mjpeg_copy/v1",
+        "codec": "mjpeg",
+        "pixel_format": "yuvj420p",
+        "encoded_size": [
+          1920,
+          1080
+        ],
+        "source_lossy": true,
+        "decoder": {
+          "name": "PyAV/libavcodec",
+          "pyav_version": "12.3.0",
+          "library_versions": {
+            "libavutil": [
+              58,
+              29,
+              100
+            ],
+            "libavcodec": [
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+              31,
+              102
+            ],
+            "libavformat": [
+              60,
+              16,
+              100
+            ],
+            "libavdevice": [
+              60,
+              3,
+              100
+            ],
+            "libavfilter": [
+              9,
+              12,
+              100
+            ],
+            "libswscale": [
+              7,
+              5,
+              100
+            ],
+            "libswresample": [
+              4,
+              12,
+              100
+            ]
+          },
+          "pixel_interpretation": "rgb24 for RGB; native integer planes for depth and bool; no autorotation"
+        },
+        "encoder_parameters": {
+          "stream_copy": true
+        }
+      },
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Original JPEG packets copied, no resize/crop/re-encoding"
+      },
+      "source_locator": {
+        "file": "raw/data/data/p_012/p_012_calibration_routine_right/cam-d.color.parquet",
+        "record_key": "frame"
+      }
+    },
+    "depth": {
+      "available": true,
+      "schema_id": "depth/z_float32/v1",
+      "data_ref": "observation/depth.mkv",
+      "valid_ref": "observation/depth_valid.mkv",
+      "axes": [
+        "T",
+        "H",
+        "W"
+      ],
+      "valid_axes": [
+        "T",
+        "H",
+        "W"
+      ],
+      "depth_type": "z",
+      "depth_origin": "measured",
+      "unit": "m",
+      "storage": {
+        "profile": "mkv/depth_float32_bits/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray16le",
+        "encoded_size": [
+          3840,
+          1080
+        ],
+        "source_lossy": false,
+        "decoder": {
+          "name": "PyAV/libavcodec",
+          "pyav_version": "12.3.0",
+          "library_versions": {
+            "libavutil": [
+              58,
+              29,
+              100
+            ],
+            "libavcodec": [
+              60,
+              31,
+              102
+            ],
+            "libavformat": [
+              60,
+              16,
+              100
+            ],
+            "libavdevice": [
+              60,
+              3,
+              100
+            ],
+            "libavfilter": [
+              9,
+              12,
+              100
+            ],
+            "libswscale": [
+              7,
+              5,
+              100
+            ],
+            "libswresample": [
+              4,
+              12,
+              100
+            ]
+          },
+          "pixel_interpretation": "rgb24 for RGB; native integer planes for depth and bool; no autorotation"
+        },
+        "encoder_parameters": {
+          "name": "ffv1",
+          "level": 3,
+          "coder": 1,
+          "context": 1,
+          "slicecrc": 1,
+          "slices": 4
+        }
+      },
+      "valid_storage": {
+        "profile": "mkv/bool_ffv1/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray",
+        "encoded_size": [
+          1920,
+          1080
+        ],
+        "source_lossy": false,
+        "decoder": {
+          "name": "PyAV/libavcodec",
+          "pyav_version": "12.3.0",
+          "library_versions": {
+            "libavutil": [
+              58,
+              29,
+              100
+            ],
+            "libavcodec": [
+              60,
+              31,
+              102
+            ],
+            "libavformat": [
+              60,
+              16,
+              100
+            ],
+            "libavdevice": [
+              60,
+              3,
+              100
+            ],
+            "libavfilter": [
+              9,
+              12,
+              100
+            ],
+            "libswscale": [
+              7,
+              5,
+              100
+            ],
+            "libswresample": [
+              4,
+              12,
+              100
+            ]
+          },
+          "pixel_interpretation": "rgb24 for RGB; native integer planes for depth and bool; no autorotation"
+        },
+        "encoder_parameters": {
+          "name": "ffv1",
+          "level": 3,
+          "coder": 1,
+          "context": 1,
+          "slicecrc": 1,
+          "slices": 4
+        }
+      },
+      "provenance": {
+        "kind": "derived",
+        "method": "Official k4a_transformation_depth_image_to_color_camera surface rasterization; SDK uint16 millimetres normalized to float32 metres; zero invalid. No external hole filling."
+      },
+      "source_locator": {
+        "file": "raw/data/data/p_012/p_012_calibration_routine_right/cam-d.depth.parquet",
+        "record_key": "frame"
+      }
+    },
+    "intrinsic": {
+      "available": true,
+      "schema_id": "camera/pinhole/v1",
+      "data_ref": "camera/camera.pt",
+      "data_key": [
+        "intrinsic",
+        "data"
+      ],
+      "valid_ref": "camera/camera.pt",
+      "valid_key": [
+        "intrinsic",
+        "valid"
+      ],
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "valid_axes": [
+        "T"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Original undistorted color K"
+      },
+      "source_locator": {
+        "file": "raw/data/configs/p_012/p_012_calibration_routine_right.json"
+      }
+    },
+    "extrinsic": {
+      "available": true,
+      "schema_id": "transform/se3/v1",
+      "data_ref": "camera/camera.pt",
+      "data_key": [
+        "extrinsic",
+        "data"
+      ],
+      "valid_ref": "camera/camera.pt",
+      "valid_key": [
+        "extrinsic",
+        "valid"
+      ],
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "valid_axes": [
+        "T"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Source ego_R/ego_T unchanged"
+      },
+      "source_locator": {
+        "file": "raw/data/data/p_012/p_012_calibration_routine_right/annotation.parquet",
+        "record_key": "frame"
+      },
+      "direction": "T_camera_from_world",
+      "convention": "T_camera_from_world"
+    },
+    "mano": {
+      "available": true,
+      "schema_id": "mano/axis_angle61/v1",
+      "data_ref": "annotation/mano/mano.pt",
+      "data_key": [
+        "motion",
+        "data"
+      ],
+      "valid_ref": "annotation/mano/mano.pt",
+      "valid_key": [
+        "motion",
+        "valid"
+      ],
+      "axes": [
+        "T",
+        "hand",
+        "parameter"
+      ],
+      "valid_axes": [
+        "T",
+        "hand"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Standard MANO, no per-vertex refinement; camera root rotation composed; additive translation compensated around shaped root joint"
+      },
+      "source_locator": {
+        "file": "raw/data/data/p_012/p_012_calibration_routine_right/annotation.parquet",
+        "record_key": "frame"
+      },
+      "model_profile": {
+        "model": "MANO",
+        "vertices": 778,
+        "flat_hand_mean": true,
+        "use_pca": false,
+        "left_shapedirs_fix_applied": false,
+        "per_vertex_refinement": false,
+        "assets_sha256": {
+          "left": "c4022f7083f2ca7c78b2b3d595abbab52debd32b09d372b16923a801f0ea6a30",
+          "right": "45d60aa3b27ef9107a7afd4e00808f307fd91111e1cfa35afd5c4a62de264767"
+        }
+      },
+      "valid_policy": {
+        "source_annotation_present": "Source has_annotation=true and exact frame ID join",
+        "numerical_checks": "Finite shapes and geometry checked; failure aborts",
+        "official_qa": "not available; visibility not inferred"
+      }
+    }
+  },
+  "split": "unknown",
+  "split_reason": "Official split not provided in selected source",
+  "source_revision": "cea37de99be44078f0e4b9796fd6f614d9110dc2",
+  "calibration": {
+    "baseline": "config DepthToColor",
+    "offset_rgb_optical_z_mm": -6.84644549381777,
+    "offset_estimation": "100-sequence participant-balanced pad fit",
+    "T_rgb_from_depth_rotation": [
+      [
+        0.999999,
+        0.000952568,
+        0.0010665
+      ],
+      [
+        -0.00105482,
+        0.994948,
+        0.10039
+      ],
+      [
+        -0.000965488,
+        -0.100391,
+        0.994948
+      ]
+    ],
+    "T_rgb_from_depth_translation_m": [
+      -0.0335589,
+      -0.00214962,
+      -0.00945180549381777
+    ],
+    "status": "User-approved empirical offset; not official recalibration"
+  },
+  "registration_sdk": {
+    "sdk": "Microsoft.Azure.Kinect.Sensor",
+    "version": "1.4.1",
+    "dll_sha256": "1c6bf5aabb62d4907aa66da92448aebe5f1b8b59f81f2099bc1d9f989cf44cb6",
+    "interfaces": [
+      "k4a_calibration_get_from_raw",
+      "k4a_transformation_create",
+      "k4a_transformation_depth_image_to_color_camera"
+    ],
+    "depth_mode": "WFOV_2X2BINNED",
+    "color_resolution": "1080P",
+    "calibration_adaptation": "Source RGB is already undistorted: config RGB K, zero color distortion, color metric radius 10; depth factory calibration parsed by SDK; config DepthToColor plus approved optical-Z offset; SDK translations in mm.",
+    "T_rgb_from_depth_mm": [
+      [
+        0.999999,
+        0.000952568,
+        0.0010665,
+        -33.5589
+      ],
+      [
+        -0.00105482,
+        0.994948,
+        0.10039,
+        -2.14962
+      ],
+      [
+        -0.000965488,
+        -0.100391,
+        0.994948,
+        -9.45180549381777
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    "native_depth_K": [
+      [
+        252.52279663085938,
+        0.0,
+        257.9237060546875
+      ],
+      [
+        0.0,
+        252.60423278808594,
+        251.84109497070312
+      ],
+      [
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    "calls": {
+      "depth_to_color": 474,
+      "color_to_depth": 0
+    },
+    "depth_output": "Official uint16 mm, zero invalid; losslessly normalized to float32 metres."
+  },
+  "processing": {
+    "adapter": "egopressure-official-k4a-rgb-only-full/1.0",
+    "contract_repo_revision": "9e89722fc3935d1e16aeb9eeeffa4cd5c9d93383",
+    "scope": "All 1344 selected ego d sequences; original RGB plus official SDK depth-to-RGB",
+    "validation_policy": "All frame IDs, tensor validity and packet counts; deterministic representative decode checks, not full decode or SDK replay"
+  }
+}
\ No newline at end of file