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+{
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+  "identity_scope": "sequence",
+  "scope_id": "ZY20210800004_H4_C4_N33_S257_s04_T1",
+  "source_locator": {
+    "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_annotations.zip",
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+}
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N33_S257_s04_T1/ego/annotation/object/main/articulation.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N33_S257_s04_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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+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_region_code": 3,
+      "name": "Body of the Cabinet"
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+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
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+      "name": "Drawer"
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+      "parent_id": null,
+      "has_model": false,
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+      "source_label": "Lockerbody"
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+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_label": "Lockerdrawer"
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+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
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+    },
+    {
+      "part_id": "asset_objs_new_4_align_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/assets/objs/new-4-align.obj",
+      "source_asset": "objs/new-4-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_4_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/assets/objs/new-4.obj",
+      "source_asset": "objs/new-4.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_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_N33_S257_s04_T1/ego/annotation/object/main/assets/meta.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N33_S257_s04_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_N33_S257_s04_T1/ego/annotation/object/main/assets/mobility_v2.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N33_S257_s04_T1/ego/annotation/object/main/assets/mobility_v2.json
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--- /dev/null
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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_N33_S257_s04_T1/ego/annotation/object/main/assets/objs/new-0.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N33_S257_s04_T1/ego/annotation/object/main/assets/objs/new-0.obj
new file mode 100644
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N33_S257_s04_T1/ego/annotation/object/main/assets/objs/new-2-align.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N33_S257_s04_T1/ego/annotation/object/main/assets/objs/new-2-align.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c2543b5fa419bbb940131b8707c5840cc5b60cc
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N33_S257_s04_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_N33_S257_s04_T1/ego/annotation/object/main/assets/objs/new-2.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N33_S257_s04_T1/ego/annotation/object/main/assets/objs/new-2.obj
new file mode 100644
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--- /dev/null
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N33_S257_s04_T1/ego/annotation/object/main/assets/objs/new-4-align.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N33_S257_s04_T1/ego/annotation/object/main/assets/objs/new-4-align.obj
new file mode 100644
index 0000000000000000000000000000000000000000..770db08c2ca551a231fed14eef48d08ae967f9d3
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N33_S257_s04_T1/ego/annotation/object/main/assets/objs/new-4-align.obj
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N33_S257_s04_T1/ego/annotation/object/main/assets/objs/new-4.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N33_S257_s04_T1/ego/annotation/object/main/assets/objs/new-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba0f5729c9f0835c86eee07ac75c4f7014a7bea5
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N33_S257_s04_T1/ego/annotation/object/main/assets/objs/new-4.obj
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N33_S257_s04_T1/ego/annotation/object/main/assets/result.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N33_S257_s04_T1/ego/annotation/object/main/assets/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b38fd3f1d4383fab1eba680a6fad9ae76c76a35
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N33_S257_s04_T1/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-4"]}]}, {"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_N33_S257_s04_T1/ego/annotation/object/main/metainfo.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N33_S257_s04_T1/ego/annotation/object/main/metainfo.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4abefa10083d5b5493dad0fba849867613d0204
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N33_S257_s04_T1/ego/annotation/object/main/metainfo.json
@@ -0,0 +1,22 @@
+{
+  "object_id": "main",
+  "identity_scope": "sequence",
+  "scope_id": "ZY20210800004_H4_C4_N33_S257_s04_T1",
+  "source_locator": {
+    "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_annotations.zip",
+    "member": "HOI4D_annotations/ZY20210800004/H4/C4/N33/S257/s04/T1/2Dseg/shift_mask/00000.png",
+    "sha256": "cb7f4e7b00de8dd4042c0f06c3fad6e19cc14c43ac9538f5e52e15b583d91c45"
+  },
+  "has_model": true,
+  "category_id": 4,
+  "source_object_id": null,
+  "asset_refs": [
+    "annotation/object/main/assets/objs/new-4-align.obj",
+    "annotation/object/main/assets/objs/new-2-align.obj",
+    "annotation/object/main/assets/objs/new-4.obj",
+    "annotation/object/main/assets/objs/new-0-align.obj",
+    "annotation/object/main/assets/objs/new-2.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_N33_S257_s04_T1/ego/annotation/object/main/object.pt b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N33_S257_s04_T1/ego/annotation/object/main/object.pt
new file mode 100644
index 0000000000000000000000000000000000000000..bad013d8cc8b0b6599f5ff620b3788ca436ae0d2
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N33_S257_s04_T1/ego/annotation/object/main/object.pt
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+version https://git-lfs.github.com/spec/v1
+oid sha256:7706a579c3769f1499a3d4edac9ab24807c06514bf98313957b7fab7903f4c83
+size 74467
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N33_S257_s04_T1/ego/annotation/segment/instances.jsonl b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N33_S257_s04_T1/ego/annotation/segment/instances.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cbe2763b6fe9e571d04268b1a1b4c2a60d3efb17
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N33_S257_s04_T1/ego/annotation/segment/instances.jsonl
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N33_S257_s04_T1/ego/metainfo.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N33_S257_s04_T1/ego/metainfo.json
new file mode 100644
index 0000000000000000000000000000000000000000..3832b7a537a4e0120f347a4babce24ffb364cca9
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N33_S257_s04_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_N33_S257_s04_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": {
+      "max_frames": null,
+      "source_sequence": "ZY20210800004/H4/C4/N33/S257/s04/T1"
+    }
+  },
+  "camera": {
+    "model": "pinhole",
+    "schema_id": "camera/pinhole/v1",
+    "image_size": [
+      1920,
+      1080
+    ]
+  },
+  "components": {
+    "rgb": {
+      "available": true,
+      "schema_id": "rgb/uint8/v1",
+      "data_ref": "observation/rgb.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width",
+        "channel"
+      ],
+      "provenance": {
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+        "method": "Verified source packet copy or lossless fixed-decoder RGB encoding"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_release.zip",
+        "member": "HOI4D_release/ZY20210800004/H4/C4/N33/S257/s04/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,
+            173
+          ]
+        },
+        "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/N33/S257/s04/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"
+      ],
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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
+        },
+        "source_lossy": false,
+        "storage_fps": 30,
+        "timebase_role": "index_only"
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+      "valid_ref": "observation/depth_valid.mkv",
+      "valid_axes": [
+        "T",
+        "height",
+        "width"
+      ],
+      "unit": "m",
+      "depth_type": "z",
+      "depth_origin": "measured",
+      "invalid_value": "NaN"
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+  "split": "unknown",
+  "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_N33_S257_s04_T1/ego/observation/depth.mkv b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N33_S257_s04_T1/ego/observation/depth.mkv
new file mode 100644
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N33_S257_s04_T1/ego/observation/depth_valid.mkv b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N33_S257_s04_T1/ego/observation/depth_valid.mkv
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+version https://git-lfs.github.com/spec/v1
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N33_S257_s04_T1/ego/observation/rgb.mkv b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N33_S257_s04_T1/ego/observation/rgb.mkv
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+size 6390275
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N33_S257_s04_T1/ego/observation/rgb_valid.pt b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N33_S257_s04_T1/ego/observation/rgb_valid.pt
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+version https://git-lfs.github.com/spec/v1
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S217_s01_T3/ego/annotation/object/bottle/metainfo.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S217_s01_T3/ego/annotation/object/bottle/metainfo.json
new file mode 100644
index 0000000000000000000000000000000000000000..259f3288028ce0372689720e7892e8f21d9bfa98
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S217_s01_T3/ego/annotation/object/bottle/metainfo.json
@@ -0,0 +1,13 @@
+{
+  "object_id": "bottle",
+  "identity_scope": "sequence",
+  "scope_id": "ZY20210800004_H4_C4_N34_S217_s01_T3",
+  "source_locator": {
+    "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_annotations.zip",
+    "member": "HOI4D_annotations/ZY20210800004/H4/C4/N34/S217/s01/T3/2Dseg/shift_mask/00000.png",
+    "sha256": "cb0ba0068e3260a7b75544fbe55a04b73f562e5f60c9d2707c1a22593ef4c888"
+  },
+  "has_model": false,
+  "category_id": 5,
+  "source_object_id": null
+}
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S217_s01_T3/ego/annotation/object/main/articulation.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S217_s01_T3/ego/annotation/object/main/articulation.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7d7ec6acc3af5a18700872d8a2482bbdd109ebe
--- /dev/null
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@@ -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_4_align_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/assets/objs/new-4-align.obj",
+      "source_asset": "objs/new-4-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_4_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/assets/objs/new-4.obj",
+      "source_asset": "objs/new-4.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_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_N34_S217_s01_T3/ego/annotation/object/main/assets/meta.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S217_s01_T3/ego/annotation/object/main/assets/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c84c7461d608b870635e0e9055b4f8c276b01570
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S217_s01_T3/ego/annotation/object/main/assets/meta.json
@@ -0,0 +1 @@
+{"user_id": "leoly", "model_cat": "StorageFurniture", "model_id": "storageFurniture034", "version": "1", "anno_id": "529", "time_in_sec": "279"}
\ No newline at end of file
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S217_s01_T3/ego/annotation/object/main/assets/mobility_v2.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S217_s01_T3/ego/annotation/object/main/assets/mobility_v2.json
new file mode 100644
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@@ -0,0 +1 @@
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\ No newline at end of file
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new file mode 100644
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S217_s01_T3/ego/annotation/object/main/assets/objs/new-2-align.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S217_s01_T3/ego/annotation/object/main/assets/objs/new-2-align.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7eb69979115a3920481480d3fc8f6d62a9df4eb0
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S217_s01_T3/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_N34_S217_s01_T3/ego/annotation/object/main/assets/objs/new-2.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S217_s01_T3/ego/annotation/object/main/assets/objs/new-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..364da70118681e6f92e59e1484b99d2af9003e6a
--- /dev/null
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S217_s01_T3/ego/annotation/object/main/assets/objs/new-4-align.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S217_s01_T3/ego/annotation/object/main/assets/objs/new-4-align.obj
new file mode 100644
index 0000000000000000000000000000000000000000..452bc41ff929b2ae31f8acab62cda955977b5488
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S217_s01_T3/ego/annotation/object/main/assets/objs/new-4-align.obj
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S217_s01_T3/ego/annotation/object/main/assets/objs/new-4.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S217_s01_T3/ego/annotation/object/main/assets/objs/new-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68d42b0fef6e9029c873bcd64199e0d979e7d5c8
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S217_s01_T3/ego/annotation/segment/mask.mkv b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S217_s01_T3/ego/annotation/segment/mask.mkv
new file mode 100644
index 0000000000000000000000000000000000000000..f31c26a4a360f913c690d63dc18bb5e705d54a7f
--- /dev/null
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S217_s01_T3/ego/metainfo.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S217_s01_T3/ego/metainfo.json
new file mode 100644
index 0000000000000000000000000000000000000000..48a447b3482016284771d4a1b5d6346538a03a2b
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S217_s01_T3/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_N34_S217_s01_T3",
+  "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/N34/S217/s01/T3"
+    }
+  },
+  "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/N34/S217/s01/T3/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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+            227
+          ]
+        },
+        "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/N34/S217/s01/T3/3Dseg/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": [
+        "T"
+      ],
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+    "member": "HOI4D_annotations/ZY20210800004/H4/C4/N34/S221/s04/T4/2Dseg/shift_mask/00000.png",
+    "sha256": "6331333a5d3dfa6014068f3084e5a0a59b474ce0d0265b38493ad9cdfe23ea00"
+  },
+  "has_model": false,
+  "category_id": 5,
+  "source_object_id": null
+}
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S221_s04_T4/ego/annotation/object/main/articulation.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S221_s04_T4/ego/annotation/object/main/articulation.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7d7ec6acc3af5a18700872d8a2482bbdd109ebe
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S221_s04_T4/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_4_align_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/assets/objs/new-4-align.obj",
+      "source_asset": "objs/new-4-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_4_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/assets/objs/new-4.obj",
+      "source_asset": "objs/new-4.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_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_N34_S221_s04_T4/ego/annotation/object/main/assets/meta.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S221_s04_T4/ego/annotation/object/main/assets/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c84c7461d608b870635e0e9055b4f8c276b01570
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S221_s04_T4/ego/annotation/object/main/assets/meta.json
@@ -0,0 +1 @@
+{"user_id": "leoly", "model_cat": "StorageFurniture", "model_id": "storageFurniture034", "version": "1", "anno_id": "529", "time_in_sec": "279"}
\ No newline at end of file
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S221_s04_T4/ego/annotation/object/main/assets/mobility_v2.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S221_s04_T4/ego/annotation/object/main/assets/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ba0dd2ca3d4ba8e41a5ff3273d1ff4b16209005
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S221_s04_T4/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":[0.08645443398971112,0.0933557310855897,0],"direction":[0,0,1]},"limit":{"a":-96.84000000000003,"b":33.48,"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":-0.17199999999999993,"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_N34_S221_s04_T4/ego/annotation/object/main/assets/objs/new-0-align.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S221_s04_T4/ego/annotation/object/main/assets/objs/new-0-align.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bba07b181d9ecc9edde7833f412957f118229de6
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S221_s04_T4/ego/annotation/object/main/assets/objs/new-0-align.obj
@@ -0,0 +1,25412 @@
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+# object name: new-0-align
+# number of vertices: 6395
+# number of triangles: 12618
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new file mode 100644
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S221_s04_T4/ego/annotation/object/main/assets/objs/new-2-align.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S221_s04_T4/ego/annotation/object/main/assets/objs/new-2-align.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7eb69979115a3920481480d3fc8f6d62a9df4eb0
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S221_s04_T4/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_N34_S221_s04_T4/ego/annotation/object/main/assets/objs/new-2.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S221_s04_T4/ego/annotation/object/main/assets/objs/new-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..364da70118681e6f92e59e1484b99d2af9003e6a
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S221_s04_T4/ego/annotation/object/main/assets/objs/new-2.obj
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S221_s04_T4/ego/annotation/object/main/assets/objs/new-4-align.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S221_s04_T4/ego/annotation/object/main/assets/objs/new-4-align.obj
new file mode 100644
index 0000000000000000000000000000000000000000..452bc41ff929b2ae31f8acab62cda955977b5488
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S221_s04_T4/ego/annotation/object/main/assets/objs/new-4-align.obj
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new file mode 100644
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S221_s04_T4/ego/annotation/object/main/assets/result.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S221_s04_T4/ego/annotation/object/main/assets/result.json
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S221_s04_T4/ego/metainfo.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S221_s04_T4/ego/metainfo.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a48a3a65aa06da600def0ff8979db0ddb44c48a
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N34_S221_s04_T4/ego/metainfo.json
@@ -0,0 +1,842 @@
+{
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+  "dataset_id": "HOI4D",
+  "release_id": "shared-v1.1",
+  "sequence_id": "ZY20210800004_H4_C4_N34_S221_s04_T4",
+  "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/N34/S221/s04/T4"
+    }
+  },
+  "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/N34/S221/s04/T4/align_rgb/image.mp4"
+      },
+      "storage": {
+        "profile": "mkv/source_copy/v1",
+        "codec": "h264",
+        "pixel_format": "yuv420p",
+        "encoded_size": [
+          1920,
+          1080
+        ],
+        "decoder": {
+          "name": "ffmpeg",
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "autorotate": false,
+          "color_space": "unknown",
+          "color_range": "unknown",
+          "color_primaries": "unknown",
+          "color_transfer": "unknown"
+        },
+        "encoder_parameters": {
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "stream_copy": true,
+          "keyframe_indices": [
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+            250
+          ]
+        },
+        "source_lossy": "unknown",
+        "storage_fps": "15/1",
+        "timebase_role": "index_only",
+        "preserve_source_pts": true
+      },
+      "valid_ref": "observation/rgb_valid.pt",
+      "valid_axes": [
+        "T"
+      ]
+    },
+    "intrinsic": {
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+      "schema_id": "camera/pinhole/v1",
+      "data_ref": "camera/camera.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/camera_params.zip",
+        "member": "camera_params/ZY20210800004/intrin.npy"
+      },
+      "valid_ref": "camera/camera.pt",
+      "valid_axes": [
+        "T"
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+        "member": "HOI4D_depth_video/ZY20210800004/H4/C4/N34/S221/s04/T4/align_depth/depth_video.avi",
+        "conversion": "registered millimetre camera-Z to metres"
+      },
+      "storage": {
+        "profile": "mkv/depth_float32_bits/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray16le",
+        "encoded_size": [
+          3840,
+          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_storage": {
+        "profile": "mkv/bool_ffv1/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray",
+        "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": "observation/depth_valid.mkv",
+      "valid_axes": [
+        "T",
+        "height",
+        "width"
+      ],
+      "unit": "m",
+      "depth_type": "z",
+      "depth_origin": "measured",
+      "invalid_value": "NaN"
+    }
+  },
+  "split": "unknown",
+  "view_type": "ego",
+  "split_reason": "No verified official split mapping available for this sequence"
+}