Add HOI4D shared-v1.1 batch 703

.gitattributes

@@ -71874,3 +71874,17 @@ HOI4D/shared-v1.1/data/ZY20210800002_H2_C9_N50_S72_s02_T1/ego/observation/rgb.mk
 HOI4D/shared-v1.1/data/ZY20210800002_H2_C9_N50_S72_s02_T2/ego/annotation/segment/mask.mkv filter=lfs diff=lfs merge=lfs -text
 HOI4D/shared-v1.1/data/ZY20210800002_H2_C9_N50_S72_s02_T2/ego/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
 HOI4D/shared-v1.1/data/ZY20210800002_H2_C9_N50_S72_s02_T2/ego/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
+HOI4D/shared-v1.1/data/ZY20210800002_H2_C9_N50_S72_s02_T2/ego/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text
+HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N07_S151_s03_T1/ego/annotation/segment/mask.mkv filter=lfs diff=lfs merge=lfs -text
+HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N07_S151_s03_T1/ego/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
+HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N07_S151_s03_T1/ego/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
+HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N07_S151_s03_T1/ego/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text
+HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N07_S182_s03_T4/ego/annotation/segment/mask.mkv filter=lfs diff=lfs merge=lfs -text
+HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N07_S182_s03_T4/ego/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
+HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N07_S182_s03_T4/ego/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
+HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N07_S182_s03_T4/ego/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text
+HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N09_S151_s03_T1/ego/annotation/segment/mask.mkv filter=lfs diff=lfs merge=lfs -text
+HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N09_S151_s03_T1/ego/observation/depth.mkv filter=lfs diff=lfs merge=lfs -text
+HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N09_S151_s03_T1/ego/observation/depth_valid.mkv filter=lfs diff=lfs merge=lfs -text
+HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N09_S151_s03_T1/ego/observation/rgb.mkv filter=lfs diff=lfs merge=lfs -text
+HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N09_S182_s03_T4/ego/annotation/segment/mask.mkv filter=lfs diff=lfs merge=lfs -text

HOI4D/shared-v1.1/data/ZY20210800002_H2_C9_N50_S72_s02_T2/ego/observation/rgb.mkv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f56006453882ee634e4621a68ba02f1d4af0cadc42d90a6af5a3c3659868cb2
+size 9046131

HOI4D/shared-v1.1/data/ZY20210800002_H2_C9_N50_S72_s02_T2/ego/observation/rgb_valid.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9d5ce3fd090734968a97c1897f1b561135ec8c4a10cf7da5e54e3f7feb9ddf1
+size 1847

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N07_S151_s03_T1/ego/annotation/object/main/articulation.json

@@ -0,0 +1,69 @@
+{
+  "parts": [
+    {
+      "part_id": "region_1",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_region_code": 1,
+      "name": "Left Part of the Pliers"
+    },
+    {
+      "part_id": "region_3",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_region_code": 3,
+      "name": "Right Part of the Pliers"
+    },
+    {
+      "part_id": "pose_Pliersleft",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_label": "Pliersleft"
+    },
+    {
+      "part_id": "pose_Pliersright",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_label": "Pliersright"
+    },
+    {
+      "part_id": "asset_objs_new_1_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/assets/objs/new-1.obj",
+      "source_asset": "objs/new-1.obj",
+      "note": "Source asset; correspondence to motion part labels remains unverified"
+    },
+    {
+      "part_id": "asset_objs_new_0_align_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/assets/objs/new-0-align.obj",
+      "source_asset": "objs/new-0-align.obj",
+      "note": "Source asset; correspondence to motion part labels remains unverified"
+    },
+    {
+      "part_id": "asset_objs_new_1_align_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/assets/objs/new-1-align.obj",
+      "source_asset": "objs/new-1-align.obj",
+      "note": "Source asset; correspondence to motion part labels remains unverified"
+    },
+    {
+      "part_id": "asset_objs_new_0_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/assets/objs/new-0.obj",
+      "source_asset": "objs/new-0.obj",
+      "note": "Source asset; correspondence to motion part labels remains unverified"
+    }
+  ],
+  "joints": [],
+  "hierarchy_semantics": "semantic_containment",
+  "note": "Unassociated source region, motion and asset nodes; original CAD trees retained in assets"
+}

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N07_S151_s03_T1/ego/annotation/object/main/assets/meta.json

@@ -0,0 +1 @@
+{"user_id": "leoly", "model_cat": "Pliers", "model_id": "pliers007", "version": "1", "anno_id": "197", "time_in_sec": "56"}

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N07_S151_s03_T1/ego/annotation/object/main/assets/mobility_v2.json

@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "铰链（旋转）", "name": "left blade", "parts": [{"id": 1, "name": "left blade", "children": []}], "jointData": {"axis": {"origin": [0.024096512389602143, -0.02290612444731695, 0], "direction": [0, 0, 1]}, "limit": {"a": 43.92, "b": 0, "noLimit": false}}}, {"id": 1, "parent": -1, "joint": "自由", "name": "right blade", "parts": [{"id": 2, "name": "right blade", "children": []}], "jointData": {}}]

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N07_S151_s03_T1/ego/annotation/object/main/assets/result.json

@@ -0,0 +1 @@
+[{"id": 0, "name": "pliers", "text": "Pliers", "children": [{"id": 1, "name": "left blade", "text": "Left blade", "objs": ["new-1"]}, {"id": 2, "name": "right blade", "text": "Right blade", "objs": ["new-0"]}]}]

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N07_S151_s03_T1/ego/annotation/object/main/metainfo.json

@@ -0,0 +1,20 @@
+{
+  "object_id": "main",
+  "identity_scope": "sequence",
+  "scope_id": "ZY20210800003_H3_C11_N07_S151_s03_T1",
+  "source_locator": {
+    "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_annotations.zip",
+    "member": "HOI4D_annotations/ZY20210800003/H3/C11/N07/S151/s03/T1/2Dseg/shift_mask/00000.png",
+    "sha256": "bc4304ae4c0e982bb6ef90942f23b5a1345fe5bea26b59911395fca71a3cb0df"
+  },
+  "has_model": true,
+  "category_id": 11,
+  "source_object_id": null,
+  "asset_refs": [
+    "annotation/object/main/assets/objs/new-1.obj",
+    "annotation/object/main/assets/objs/new-0-align.obj",
+    "annotation/object/main/assets/objs/new-1-align.obj",
+    "annotation/object/main/assets/objs/new-0.obj"
+  ],
+  "articulation_ref": "annotation/object/main/articulation.json"
+}

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N07_S151_s03_T1/ego/annotation/object/main/object.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da7651d80016c9ff7bd2eb1c24d87ecea867bd312024a77ff2c184a2e4140066
+size 50089

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N07_S151_s03_T1/ego/annotation/segment/mask.mkv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cfeb9ddec2a533c4a78e09851e14dc253625a64c976f0f463d5c70b53108243
+size 3987598

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N07_S151_s03_T1/ego/annotation/segment/mask_valid.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:482317b8cb5657c2b75c8a0d284ed860272af6fa81f5e0129fe4b73b6c14bb64
+size 1854

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N07_S151_s03_T1/ego/camera/camera.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe37b777e8a415aa6d43de589a168c0ac309eb9c547ba1e37cdb06ead743df35
+size 32881

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N07_S151_s03_T1/ego/metainfo.json

@@ -0,0 +1,677 @@
+{
+  "schema_version": "hand-warehouse/1.1",
+  "dataset_id": "HOI4D",
+  "release_id": "shared-v1.1",
+  "sequence_id": "ZY20210800003_H3_C11_N07_S151_s03_T1",
+  "camera_id": "ego",
+  "sample_type": "video",
+  "num_frames": 300,
+  "hand_slots": [
+    "left",
+    "right"
+  ],
+  "sampling": {
+    "type": "dense",
+    "source_fps": null,
+    "frames_ref": "camera/frames.jsonl",
+    "selection": {
+      "max_frames": null,
+      "source_sequence": "ZY20210800003/H3/C11/N07/S151/s03/T1"
+    }
+  },
+  "camera": {
+    "model": "pinhole",
+    "schema_id": "camera/pinhole/v1",
+    "image_size": [
+      1920,
+      1080
+    ]
+  },
+  "components": {
+    "rgb": {
+      "available": true,
+      "schema_id": "rgb/uint8/v1",
+      "data_ref": "observation/rgb.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width",
+        "channel"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Verified source packet copy or lossless fixed-decoder RGB encoding"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_release.zip",
+        "member": "HOI4D_release/ZY20210800003/H3/C11/N07/S151/s03/T1/align_rgb/image.mp4"
+      },
+      "storage": {
+        "profile": "mkv/source_copy/v1",
+        "codec": "h264",
+        "pixel_format": "yuv420p",
+        "encoded_size": [
+          1920,
+          1080
+        ],
+        "decoder": {
+          "name": "ffmpeg",
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "autorotate": false,
+          "color_space": "unknown",
+          "color_range": "unknown",
+          "color_primaries": "unknown",
+          "color_transfer": "unknown"
+        },
+        "encoder_parameters": {
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "stream_copy": true,
+          "keyframe_indices": [
+            0,
+            61,
+            151,
+            244
+          ]
+        },
+        "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/ZY20210800003/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/ZY20210800003/H3/C11/N07/S151/s03/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_Pliersleft": {
+      "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": "Pliersleft",
+      "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_Pliersleft",
+        "pose",
+        "data"
+      ],
+      "valid_key": [
+        "parts",
+        "pose_Pliersleft",
+        "pose",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "dimensions_main_pose_Pliersleft": {
+      "available": true,
+      "schema_id": "object/dimensions/v1",
+      "data_ref": "annotation/object/main/object.pt",
+      "axes": [
+        "T",
+        "dimension"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/object/main/object.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "dimensions_semantics": "source_unspecified",
+      "unit": "m",
+      "scale_applied_to_mesh": false,
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Matched source object record contains dimensions; size/mesh relation remains source_unspecified",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "scope": [
+          "T"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      },
+      "data_key": [
+        "parts",
+        "pose_Pliersleft",
+        "dimensions",
+        "data"
+      ],
+      "valid_key": [
+        "parts",
+        "pose_Pliersleft",
+        "dimensions",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "pose_main_pose_Pliersright": {
+      "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": "Pliersright",
+      "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_Pliersright",
+        "pose",
+        "data"
+      ],
+      "valid_key": [
+        "parts",
+        "pose_Pliersright",
+        "pose",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "dimensions_main_pose_Pliersright": {
+      "available": true,
+      "schema_id": "object/dimensions/v1",
+      "data_ref": "annotation/object/main/object.pt",
+      "axes": [
+        "T",
+        "dimension"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/object/main/object.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "dimensions_semantics": "source_unspecified",
+      "unit": "m",
+      "scale_applied_to_mesh": false,
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Matched source object record contains dimensions; size/mesh relation remains source_unspecified",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "scope": [
+          "T"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      },
+      "data_key": [
+        "parts",
+        "pose_Pliersright",
+        "dimensions",
+        "data"
+      ],
+      "valid_key": [
+        "parts",
+        "pose_Pliersright",
+        "dimensions",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "mesh_main_objs_new_1_obj": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/main/assets/objs/new-1.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_CAD_Model_for_release.zip",
+        "member": "HOI4D_CAD_Model_for_release/articulated/Pliers/007/objs/new-1.obj"
+      },
+      "unit": "m",
+      "valid": true,
+      "scale_applied_to_mesh": false,
+      "dimensions_semantics": "source_unspecified"
+    },
+    "mesh_main_objs_new_0_align_obj": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/main/assets/objs/new-0-align.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_CAD_Model_for_release.zip",
+        "member": "HOI4D_CAD_Model_for_release/articulated/Pliers/007/objs/new-0-align.obj"
+      },
+      "unit": "m",
+      "valid": true,
+      "scale_applied_to_mesh": false,
+      "dimensions_semantics": "source_unspecified"
+    },
+    "mesh_main_objs_new_1_align_obj": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/main/assets/objs/new-1-align.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_CAD_Model_for_release.zip",
+        "member": "HOI4D_CAD_Model_for_release/articulated/Pliers/007/objs/new-1-align.obj"
+      },
+      "unit": "m",
+      "valid": true,
+      "scale_applied_to_mesh": false,
+      "dimensions_semantics": "source_unspecified"
+    },
+    "mesh_main_objs_new_0_obj": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/main/assets/objs/new-0.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_CAD_Model_for_release.zip",
+        "member": "HOI4D_CAD_Model_for_release/articulated/Pliers/007/objs/new-0.obj"
+      },
+      "unit": "m",
+      "valid": true,
+      "scale_applied_to_mesh": false,
+      "dimensions_semantics": "source_unspecified"
+    },
+    "articulation_main": {
+      "available": true,
+      "schema_id": "object/articulated/v1",
+      "data_ref": "annotation/object/main/articulation.json",
+      "axes": [],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      }
+    },
+    "depth": {
+      "available": true,
+      "schema_id": "depth/z_float32/v1",
+      "data_ref": "observation/depth.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "files": [
+          "/data0/xuzhefeng/Datasets/HOI4D/raw/data/DEPTH/HOI4D_depth_video.tar.gz0",
+          "/data0/xuzhefeng/Datasets/HOI4D/raw/data/DEPTH/HOI4D_depth_video.tar.gz1",
+          "/data0/xuzhefeng/Datasets/HOI4D/raw/data/DEPTH/HOI4D_depth_video.tar.gz2",
+          "/data0/xuzhefeng/Datasets/HOI4D/raw/data/DEPTH/HOI4D_depth_video.tar.gz3",
+          "/data0/xuzhefeng/Datasets/HOI4D/raw/data/DEPTH/HOI4D_depth_video.tar.gz4",
+          "/data0/xuzhefeng/Datasets/HOI4D/raw/data/DEPTH/HOI4D_depth_video.tar.gz5",
+          "/data0/xuzhefeng/Datasets/HOI4D/raw/data/DEPTH/HOI4D_depth_video.tar.gz6"
+        ],
+        "member": "HOI4D_depth_video/ZY20210800003/H3/C11/N07/S151/s03/T1/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"
+}

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N07_S151_s03_T1/ego/observation/depth.mkv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0717233869f24aa3b7bbfd919fd5f47c098673bd38ea7fde1841cdda2ac9cce
+size 130244240

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N07_S151_s03_T1/ego/observation/depth_valid.mkv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f53fe48166331c9f132c57d414171fbf2f86996e777163d7d5806dffba8043bf
+size 796786

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N07_S151_s03_T1/ego/observation/rgb.mkv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f45ef970d9405c76332a265c032d2d9b366e90b285d73df5e10e56a91392537b
+size 4250028

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N07_S151_s03_T1/ego/observation/rgb_valid.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9d5ce3fd090734968a97c1897f1b561135ec8c4a10cf7da5e54e3f7feb9ddf1
+size 1847

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N07_S182_s03_T4/ego/annotation/object/main/articulation.json

@@ -0,0 +1,69 @@
+{
+  "parts": [
+    {
+      "part_id": "region_1",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_region_code": 1,
+      "name": "Left Part of the Pliers"
+    },
+    {
+      "part_id": "region_3",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_region_code": 3,
+      "name": "Right Part of the Pliers"
+    },
+    {
+      "part_id": "pose_Pliersleft",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_label": "Pliersleft"
+    },
+    {
+      "part_id": "pose_Pliersright",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_label": "Pliersright"
+    },
+    {
+      "part_id": "asset_objs_new_1_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/assets/objs/new-1.obj",
+      "source_asset": "objs/new-1.obj",
+      "note": "Source asset; correspondence to motion part labels remains unverified"
+    },
+    {
+      "part_id": "asset_objs_new_0_align_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/assets/objs/new-0-align.obj",
+      "source_asset": "objs/new-0-align.obj",
+      "note": "Source asset; correspondence to motion part labels remains unverified"
+    },
+    {
+      "part_id": "asset_objs_new_1_align_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/assets/objs/new-1-align.obj",
+      "source_asset": "objs/new-1-align.obj",
+      "note": "Source asset; correspondence to motion part labels remains unverified"
+    },
+    {
+      "part_id": "asset_objs_new_0_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/assets/objs/new-0.obj",
+      "source_asset": "objs/new-0.obj",
+      "note": "Source asset; correspondence to motion part labels remains unverified"
+    }
+  ],
+  "joints": [],
+  "hierarchy_semantics": "semantic_containment",
+  "note": "Unassociated source region, motion and asset nodes; original CAD trees retained in assets"
+}

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N07_S182_s03_T4/ego/annotation/object/main/assets/meta.json

@@ -0,0 +1 @@
+{"user_id": "leoly", "model_cat": "Pliers", "model_id": "pliers007", "version": "1", "anno_id": "197", "time_in_sec": "56"}

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N07_S182_s03_T4/ego/annotation/object/main/assets/mobility_v2.json

@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "铰链（旋转）", "name": "left blade", "parts": [{"id": 1, "name": "left blade", "children": []}], "jointData": {"axis": {"origin": [0.024096512389602143, -0.02290612444731695, 0], "direction": [0, 0, 1]}, "limit": {"a": 43.92, "b": 0, "noLimit": false}}}, {"id": 1, "parent": -1, "joint": "自由", "name": "right blade", "parts": [{"id": 2, "name": "right blade", "children": []}], "jointData": {}}]

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N07_S182_s03_T4/ego/annotation/object/main/assets/result.json

@@ -0,0 +1 @@
+[{"id": 0, "name": "pliers", "text": "Pliers", "children": [{"id": 1, "name": "left blade", "text": "Left blade", "objs": ["new-1"]}, {"id": 2, "name": "right blade", "text": "Right blade", "objs": ["new-0"]}]}]

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N07_S182_s03_T4/ego/annotation/object/main/metainfo.json

@@ -0,0 +1,20 @@
+{
+  "object_id": "main",
+  "identity_scope": "sequence",
+  "scope_id": "ZY20210800003_H3_C11_N07_S182_s03_T4",
+  "source_locator": {
+    "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_annotations.zip",
+    "member": "HOI4D_annotations/ZY20210800003/H3/C11/N07/S182/s03/T4/2Dseg/shift_mask/00000.png",
+    "sha256": "456575e9f5a8aab712649cbb5b446466d5422a4952b9f83c06f5a197fa6178ca"
+  },
+  "has_model": true,
+  "category_id": 11,
+  "source_object_id": null,
+  "asset_refs": [
+    "annotation/object/main/assets/objs/new-1.obj",
+    "annotation/object/main/assets/objs/new-0-align.obj",
+    "annotation/object/main/assets/objs/new-1-align.obj",
+    "annotation/object/main/assets/objs/new-0.obj"
+  ],
+  "articulation_ref": "annotation/object/main/articulation.json"
+}

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N07_S182_s03_T4/ego/annotation/object/main/object.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59fabf7ab48b0ef4113574097c75b0ddb8522c44b72c89cf41449d6be3040fa1
+size 50089

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N07_S182_s03_T4/ego/annotation/segment/mask.mkv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7c6122f0bc30727c72eb6c3032553f83735751723d4e508d13a7e2f93f93aed
+size 3998572

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N07_S182_s03_T4/ego/annotation/segment/mask_valid.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:482317b8cb5657c2b75c8a0d284ed860272af6fa81f5e0129fe4b73b6c14bb64
+size 1854

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N07_S182_s03_T4/ego/camera/camera.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4043bbe44718de6a51b2cf45bbba90b0a84cd0a3e5edd37121b54515ca63ed3a
+size 32881

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N07_S182_s03_T4/ego/metainfo.json

@@ -0,0 +1,675 @@
+{
+  "schema_version": "hand-warehouse/1.1",
+  "dataset_id": "HOI4D",
+  "release_id": "shared-v1.1",
+  "sequence_id": "ZY20210800003_H3_C11_N07_S182_s03_T4",
+  "camera_id": "ego",
+  "sample_type": "video",
+  "num_frames": 300,
+  "hand_slots": [
+    "left",
+    "right"
+  ],
+  "sampling": {
+    "type": "dense",
+    "source_fps": null,
+    "frames_ref": "camera/frames.jsonl",
+    "selection": {
+      "max_frames": null,
+      "source_sequence": "ZY20210800003/H3/C11/N07/S182/s03/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": [
+        "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/ZY20210800003/H3/C11/N07/S182/s03/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": [
+            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/ZY20210800003/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/ZY20210800003/H3/C11/N07/S182/s03/T4/3Dseg/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_Pliersleft": {
+      "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": "Pliersleft",
+      "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_Pliersleft",
+        "pose",
+        "data"
+      ],
+      "valid_key": [
+        "parts",
+        "pose_Pliersleft",
+        "pose",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "dimensions_main_pose_Pliersleft": {
+      "available": true,
+      "schema_id": "object/dimensions/v1",
+      "data_ref": "annotation/object/main/object.pt",
+      "axes": [
+        "T",
+        "dimension"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/object/main/object.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "dimensions_semantics": "source_unspecified",
+      "unit": "m",
+      "scale_applied_to_mesh": false,
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Matched source object record contains dimensions; size/mesh relation remains source_unspecified",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "scope": [
+          "T"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      },
+      "data_key": [
+        "parts",
+        "pose_Pliersleft",
+        "dimensions",
+        "data"
+      ],
+      "valid_key": [
+        "parts",
+        "pose_Pliersleft",
+        "dimensions",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "pose_main_pose_Pliersright": {
+      "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": "Pliersright",
+      "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_Pliersright",
+        "pose",
+        "data"
+      ],
+      "valid_key": [
+        "parts",
+        "pose_Pliersright",
+        "pose",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "dimensions_main_pose_Pliersright": {
+      "available": true,
+      "schema_id": "object/dimensions/v1",
+      "data_ref": "annotation/object/main/object.pt",
+      "axes": [
+        "T",
+        "dimension"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/object/main/object.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "dimensions_semantics": "source_unspecified",
+      "unit": "m",
+      "scale_applied_to_mesh": false,
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Matched source object record contains dimensions; size/mesh relation remains source_unspecified",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "scope": [
+          "T"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      },
+      "data_key": [
+        "parts",
+        "pose_Pliersright",
+        "dimensions",
+        "data"
+      ],
+      "valid_key": [
+        "parts",
+        "pose_Pliersright",
+        "dimensions",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "mesh_main_objs_new_1_obj": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/main/assets/objs/new-1.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_CAD_Model_for_release.zip",
+        "member": "HOI4D_CAD_Model_for_release/articulated/Pliers/007/objs/new-1.obj"
+      },
+      "unit": "m",
+      "valid": true,
+      "scale_applied_to_mesh": false,
+      "dimensions_semantics": "source_unspecified"
+    },
+    "mesh_main_objs_new_0_align_obj": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/main/assets/objs/new-0-align.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_CAD_Model_for_release.zip",
+        "member": "HOI4D_CAD_Model_for_release/articulated/Pliers/007/objs/new-0-align.obj"
+      },
+      "unit": "m",
+      "valid": true,
+      "scale_applied_to_mesh": false,
+      "dimensions_semantics": "source_unspecified"
+    },
+    "mesh_main_objs_new_1_align_obj": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/main/assets/objs/new-1-align.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_CAD_Model_for_release.zip",
+        "member": "HOI4D_CAD_Model_for_release/articulated/Pliers/007/objs/new-1-align.obj"
+      },
+      "unit": "m",
+      "valid": true,
+      "scale_applied_to_mesh": false,
+      "dimensions_semantics": "source_unspecified"
+    },
+    "mesh_main_objs_new_0_obj": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/main/assets/objs/new-0.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_CAD_Model_for_release.zip",
+        "member": "HOI4D_CAD_Model_for_release/articulated/Pliers/007/objs/new-0.obj"
+      },
+      "unit": "m",
+      "valid": true,
+      "scale_applied_to_mesh": false,
+      "dimensions_semantics": "source_unspecified"
+    },
+    "articulation_main": {
+      "available": true,
+      "schema_id": "object/articulated/v1",
+      "data_ref": "annotation/object/main/articulation.json",
+      "axes": [],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      }
+    },
+    "depth": {
+      "available": true,
+      "schema_id": "depth/z_float32/v1",
+      "data_ref": "observation/depth.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "files": [
+          "/data0/xuzhefeng/Datasets/HOI4D/raw/data/DEPTH/HOI4D_depth_video.tar.gz0",
+          "/data0/xuzhefeng/Datasets/HOI4D/raw/data/DEPTH/HOI4D_depth_video.tar.gz1",
+          "/data0/xuzhefeng/Datasets/HOI4D/raw/data/DEPTH/HOI4D_depth_video.tar.gz2",
+          "/data0/xuzhefeng/Datasets/HOI4D/raw/data/DEPTH/HOI4D_depth_video.tar.gz3",
+          "/data0/xuzhefeng/Datasets/HOI4D/raw/data/DEPTH/HOI4D_depth_video.tar.gz4",
+          "/data0/xuzhefeng/Datasets/HOI4D/raw/data/DEPTH/HOI4D_depth_video.tar.gz5",
+          "/data0/xuzhefeng/Datasets/HOI4D/raw/data/DEPTH/HOI4D_depth_video.tar.gz6"
+        ],
+        "member": "HOI4D_depth_video/ZY20210800003/H3/C11/N07/S182/s03/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"
+}

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N07_S182_s03_T4/ego/observation/depth.mkv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fe26d87ad4a38d959d903d25f06af23100798cb3565a4857c2c57de1c94ddcd
+size 135916251

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N07_S182_s03_T4/ego/observation/depth_valid.mkv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60770871ce257500efaac5ad870cc82837fbc65f27dd762b7059fe3de6750468
+size 1032309

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N07_S182_s03_T4/ego/observation/rgb.mkv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc6c56285b5d6938be4b627c1a18369b54f0ac38ca39b0b8f3557eae0ce99c5e
+size 6020789

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N07_S182_s03_T4/ego/observation/rgb_valid.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9d5ce3fd090734968a97c1897f1b561135ec8c4a10cf7da5e54e3f7feb9ddf1
+size 1847

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N09_S151_s03_T1/ego/annotation/object/main/articulation.json

@@ -0,0 +1,69 @@
+{
+  "parts": [
+    {
+      "part_id": "region_1",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_region_code": 1,
+      "name": "Left Part of the Pliers"
+    },
+    {
+      "part_id": "region_3",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_region_code": 3,
+      "name": "Right Part of the Pliers"
+    },
+    {
+      "part_id": "pose_Pliersleft",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_label": "Pliersleft"
+    },
+    {
+      "part_id": "pose_Pliersright",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_label": "Pliersright"
+    },
+    {
+      "part_id": "asset_objs_new_1_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/assets/objs/new-1.obj",
+      "source_asset": "objs/new-1.obj",
+      "note": "Source asset; correspondence to motion part labels remains unverified"
+    },
+    {
+      "part_id": "asset_objs_new_0_align_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/assets/objs/new-0-align.obj",
+      "source_asset": "objs/new-0-align.obj",
+      "note": "Source asset; correspondence to motion part labels remains unverified"
+    },
+    {
+      "part_id": "asset_objs_new_1_align_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/assets/objs/new-1-align.obj",
+      "source_asset": "objs/new-1-align.obj",
+      "note": "Source asset; correspondence to motion part labels remains unverified"
+    },
+    {
+      "part_id": "asset_objs_new_0_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/assets/objs/new-0.obj",
+      "source_asset": "objs/new-0.obj",
+      "note": "Source asset; correspondence to motion part labels remains unverified"
+    }
+  ],
+  "joints": [],
+  "hierarchy_semantics": "semantic_containment",
+  "note": "Unassociated source region, motion and asset nodes; original CAD trees retained in assets"
+}

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N09_S151_s03_T1/ego/annotation/object/main/assets/meta.json

@@ -0,0 +1 @@
+{"user_id": "leoly", "model_cat": "Pliers", "model_id": "pliers009", "version": "1", "anno_id": "199", "time_in_sec": "57"}

HOI4D/shared-v1.1/data/ZY20210800003_H3_C11_N09_S151_s03_T1/ego/annotation/object/main/assets/mobility_v2.json

@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "铰链（旋转）", "name": "left blade", "parts": [{"id": 1, "name": "left blade", "children": []}], "jointData": {"axis": {"origin": [0.046697948855397985, -0.01300291550139596, 0], "direction": [0, 0, 1]}, "limit": {"a": 23.76, "b": 0, "noLimit": false}}}, {"id": 1, "parent": -1, "joint": "自由", "name": "right blade", "parts": [{"id": 2, "name": "right blade", "children": []}], "jointData": {}}]