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diff --git a/H2O/shared-v1.0/data/subject3_h2_3/cam1/camera/intrinsic_valid.pt b/H2O/shared-v1.0/data/subject3_h2_3/cam1/camera/intrinsic_valid.pt
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+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/keypoints/xyz_valid.pt",
+      "valid_axes": [
+        "T",
+        "hand",
+        "keypoint"
+      ],
+      "keypoint_schema": "mano21/v1",
+      "unit": "m",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Per-hand hand_pose flag equals 1, broadcast to that hand's 21 source points independently of MANO",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "scope": [
+          "T",
+          "hand",
+          "keypoint"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
+    "pose_lotion": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/lotion/pose.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/lotion/pose_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "convention": "T_camera_from_object",
+      "unit": "m",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source obj_pose_rt class equals this nonzero object class",
+        "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
+      }
+    },
+    "points_lotion": {
+      "available": true,
+      "schema_id": "object_keypoints/camera/v1",
+      "data_ref": "annotation/object/lotion/keypoints/xyz.pt",
+      "axes": [
+        "T",
+        "keypoint",
+        "coordinate"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/object/lotion/keypoints/xyz_valid.pt",
+      "valid_axes": [
+        "T",
+        "keypoint"
+      ],
+      "keypoint_schema": "H2O_official_object21",
+      "keypoint_names": [
+        "center",
+        "corner_0",
+        "corner_1",
+        "corner_2",
+        "corner_3",
+        "corner_4",
+        "corner_5",
+        "corner_6",
+        "corner_7",
+        "edge_midpoint_0",
+        "edge_midpoint_1",
+        "edge_midpoint_2",
+        "edge_midpoint_3",
+        "edge_midpoint_4",
+        "edge_midpoint_5",
+        "edge_midpoint_6",
+        "edge_midpoint_7",
+        "edge_midpoint_8",
+        "edge_midpoint_9",
+        "edge_midpoint_10",
+        "edge_midpoint_11"
+      ],
+      "source_order": "official obj_point_order.jpg: center, 8 corners, 12 edge midpoints",
+      "unit": "m",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source obj_pose class equals this nonzero object class, broadcast to its 21 points",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "scope": [
+          "T",
+          "keypoint"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
+    "mesh_lotion": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/lotion/assets/lotion.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/object.zip",
+        "member": "object/lotion/lotion.obj"
+      },
+      "valid": true,
+      "unit": "m"
+    },
+    "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": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources.depth",
+        "definition": "https://github.com/taeinkwon/h2oplayer/blob/main/utils.py",
+        "conversion": "registered millimetre camera-Z to metres; no viewer range clipping"
+      },
+      "storage": {
+        "profile": "mkv/depth_float32_bits/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray16le",
+        "encoded_size": [
+          2560,
+          720
+        ],
+        "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": [
+            "-level",
+            "3",
+            "-slices",
+            "16"
+          ],
+          "threads": 10
+        },
+        "source_lossy": false,
+        "storage_fps": 30,
+        "timebase_role": "index_only"
+      },
+      "valid_storage": {
+        "profile": "mkv/bool_ffv1/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray",
+        "encoded_size": [
+          1280,
+          720
+        ],
+        "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": [
+            "-level",
+            "3",
+            "-slices",
+            "16"
+          ],
+          "threads": 10
+        },
+        "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"
+    },
+    "segment": {
+      "available": false,
+      "reason": "H2O provides no native segmentation; rendering deferred to v2.0",
+      "status": "source_missing"
+    },
+    "relations": {
+      "available": false,
+      "reason": "No source contact/grasp annotation",
+      "status": "source_missing"
+    }
+  },
+  "split": "train",
+  "view_type": "exo",
+  "split_scheme": "official_action_split",
+  "split_source_locator": {
+    "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/label_split.zip",
+    "member": "label_split/action_train.txt",
+    "record": 511
+  }
+}
diff --git a/H2O/shared-v1.0/data/subject3_h2_3/cam1/observation/depth.mkv b/H2O/shared-v1.0/data/subject3_h2_3/cam1/observation/depth.mkv
new file mode 100644
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--- /dev/null
+++ b/H2O/shared-v1.0/data/subject3_h2_3/cam1/observation/depth.mkv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 373189295
diff --git a/H2O/shared-v1.0/data/subject3_h2_3/cam1/observation/depth_valid.mkv b/H2O/shared-v1.0/data/subject3_h2_3/cam1/observation/depth_valid.mkv
new file mode 100644
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--- /dev/null
+++ b/H2O/shared-v1.0/data/subject3_h2_3/cam1/observation/depth_valid.mkv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/H2O/shared-v1.0/data/subject3_h2_3/cam1/observation/rgb.mkv b/H2O/shared-v1.0/data/subject3_h2_3/cam1/observation/rgb.mkv
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diff --git a/H2O/shared-v1.0/data/subject3_h2_3/cam1/observation/rgb_valid.pt b/H2O/shared-v1.0/data/subject3_h2_3/cam1/observation/rgb_valid.pt
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diff --git a/H2O/shared-v1.0/data/subject3_h2_3/cam2/annotation/keypoints/xyz.pt b/H2O/shared-v1.0/data/subject3_h2_3/cam2/annotation/keypoints/xyz.pt
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+version https://git-lfs.github.com/spec/v1
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diff --git a/H2O/shared-v1.0/data/subject3_h2_3/cam2/annotation/keypoints/xyz_valid.pt b/H2O/shared-v1.0/data/subject3_h2_3/cam2/annotation/keypoints/xyz_valid.pt
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+version https://git-lfs.github.com/spec/v1
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diff --git a/H2O/shared-v1.0/data/subject3_h2_3/cam2/annotation/mano/motion.pt b/H2O/shared-v1.0/data/subject3_h2_3/cam2/annotation/mano/motion.pt
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+version https://git-lfs.github.com/spec/v1
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diff --git a/H2O/shared-v1.0/data/subject3_h2_3/cam2/annotation/mano/motion_valid.pt b/H2O/shared-v1.0/data/subject3_h2_3/cam2/annotation/mano/motion_valid.pt
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diff --git a/H2O/shared-v1.0/data/subject3_h2_3/cam2/annotation/object/lotion/assets/lotion.mtl b/H2O/shared-v1.0/data/subject3_h2_3/cam2/annotation/object/lotion/assets/lotion.mtl
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index 0000000000000000000000000000000000000000..c3c9aed35ba48d3710c3ce99a4a143c71f77a168
--- /dev/null
+++ b/H2O/shared-v1.0/data/subject3_h2_3/cam2/annotation/object/lotion/assets/lotion.mtl
@@ -0,0 +1,13 @@
+# Blender MTL File: 'lotion.blend'
+# Material Count: 1
+
+newmtl Material.007
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 1
+map_Kd lotion.png
diff --git a/H2O/shared-v1.0/data/subject3_h2_3/cam2/annotation/object/lotion/assets/lotion.obj b/H2O/shared-v1.0/data/subject3_h2_3/cam2/annotation/object/lotion/assets/lotion.obj
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index 0000000000000000000000000000000000000000..28f10d60e02afcf5da29667b60670335f6a91b72
--- /dev/null
+++ b/H2O/shared-v1.0/data/subject3_h2_3/cam2/annotation/object/lotion/assets/lotion.obj
@@ -0,0 +1,16473 @@
+# Blender v2.82 (sub 7) OBJ File: 'lotion.blend'
+# www.blender.org
+mtllib lotion.mtl
+o lotion_simple_lotion_simple.005
+v 0.008353 -0.025436 0.016387
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+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/subject3_v1_1.tar.gz",
+        "member": "subject3/h2/3/cam2/cam_intrinsics.txt",
+        "sha256": "ec260a45bda4bf1eb90fdcb46f5aaba5ec5d096763002619f95f1b4e818d8135"
+      },
+      "valid_ref": "camera/intrinsic_valid.pt",
+      "valid_axes": [
+        "T"
+      ]
+    },
+    "extrinsic": {
+      "available": true,
+      "schema_id": "transform/se3/v1",
+      "data_ref": "camera/extrinsic.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": "camera/extrinsic_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "convention": "T_camera_from_world",
+      "source_convention": "T_world_from_camera"
+    },
+    "mano": {
+      "available": true,
+      "schema_id": "mano/axis_angle61/v1",
+      "data_ref": "annotation/mano/motion.pt",
+      "axes": [
+        "T",
+        "hand",
+        "parameter"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/mano/motion_valid.pt",
+      "valid_axes": [
+        "T",
+        "hand"
+      ],
+      "model_profile": {
+        "version": "sha256:eab78181e459e156559df334b103d825e00c8711d2eeffee1cc176fb42051f4f",
+        "flat_hand_mean": true,
+        "left_shapedirs_correction": "not_applied",
+        "models": {
+          "left": {
+            "file": "MANO_LEFT.pkl",
+            "sha256": "c4022f7083f2ca7c78b2b3d595abbab52debd32b09d372b16923a801f0ea6a30"
+          },
+          "right": {
+            "file": "MANO_RIGHT.pkl",
+            "sha256": "45d60aa3b27ef9107a7afd4e00808f307fd91111e1cfa35afd5c4a62de264767"
+          }
+        }
+      },
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Per-hand hand_pose_mano flag equals 1; corresponding side model available",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "scope": [
+          "T",
+          "hand"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
+    "keypoints_xyz": {
+      "available": true,
+      "schema_id": "keypoints/xyz/v1",
+      "data_ref": "annotation/keypoints/xyz.pt",
+      "axes": [
+        "T",
+        "hand",
+        "keypoint",
+        "coordinate"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/keypoints/xyz_valid.pt",
+      "valid_axes": [
+        "T",
+        "hand",
+        "keypoint"
+      ],
+      "keypoint_schema": "mano21/v1",
+      "unit": "m",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Per-hand hand_pose flag equals 1, broadcast to that hand's 21 source points independently of MANO",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "scope": [
+          "T",
+          "hand",
+          "keypoint"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
+    "pose_lotion": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/lotion/pose.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/lotion/pose_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "convention": "T_camera_from_object",
+      "unit": "m",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source obj_pose_rt class equals this nonzero object class",
+        "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
+      }
+    },
+    "points_lotion": {
+      "available": true,
+      "schema_id": "object_keypoints/camera/v1",
+      "data_ref": "annotation/object/lotion/keypoints/xyz.pt",
+      "axes": [
+        "T",
+        "keypoint",
+        "coordinate"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/object/lotion/keypoints/xyz_valid.pt",
+      "valid_axes": [
+        "T",
+        "keypoint"
+      ],
+      "keypoint_schema": "H2O_official_object21",
+      "keypoint_names": [
+        "center",
+        "corner_0",
+        "corner_1",
+        "corner_2",
+        "corner_3",
+        "corner_4",
+        "corner_5",
+        "corner_6",
+        "corner_7",
+        "edge_midpoint_0",
+        "edge_midpoint_1",
+        "edge_midpoint_2",
+        "edge_midpoint_3",
+        "edge_midpoint_4",
+        "edge_midpoint_5",
+        "edge_midpoint_6",
+        "edge_midpoint_7",
+        "edge_midpoint_8",
+        "edge_midpoint_9",
+        "edge_midpoint_10",
+        "edge_midpoint_11"
+      ],
+      "source_order": "official obj_point_order.jpg: center, 8 corners, 12 edge midpoints",
+      "unit": "m",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source obj_pose class equals this nonzero object class, broadcast to its 21 points",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "scope": [
+          "T",
+          "keypoint"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
+    "mesh_lotion": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/lotion/assets/lotion.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/object.zip",
+        "member": "object/lotion/lotion.obj"
+      },
+      "valid": true,
+      "unit": "m"
+    },
+    "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": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources.depth",
+        "definition": "https://github.com/taeinkwon/h2oplayer/blob/main/utils.py",
+        "conversion": "registered millimetre camera-Z to metres; no viewer range clipping"
+      },
+      "storage": {
+        "profile": "mkv/depth_float32_bits/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray16le",
+        "encoded_size": [
+          2560,
+          720
+        ],
+        "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": [
+            "-level",
+            "3",
+            "-slices",
+            "16"
+          ],
+          "threads": 10
+        },
+        "source_lossy": false,
+        "storage_fps": 30,
+        "timebase_role": "index_only"
+      },
+      "valid_storage": {
+        "profile": "mkv/bool_ffv1/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray",
+        "encoded_size": [
+          1280,
+          720
+        ],
+        "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": [
+            "-level",
+            "3",
+            "-slices",
+            "16"
+          ],
+          "threads": 10
+        },
+        "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"
+    },
+    "segment": {
+      "available": false,
+      "reason": "H2O provides no native segmentation; rendering deferred to v2.0",
+      "status": "source_missing"
+    },
+    "relations": {
+      "available": false,
+      "reason": "No source contact/grasp annotation",
+      "status": "source_missing"
+    }
+  },
+  "split": "train",
+  "view_type": "exo",
+  "split_scheme": "official_action_split",
+  "split_source_locator": {
+    "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/label_split.zip",
+    "member": "label_split/action_train.txt",
+    "record": 511
+  }
+}
diff --git a/H2O/shared-v1.0/data/subject3_h2_3/cam2/observation/depth.mkv b/H2O/shared-v1.0/data/subject3_h2_3/cam2/observation/depth.mkv
new file mode 100644
index 0000000000000000000000000000000000000000..3c04efee556349f5ab1ac446db7e60fea0bef647
--- /dev/null
+++ b/H2O/shared-v1.0/data/subject3_h2_3/cam2/observation/depth.mkv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c28dc0bf1b1cc92077834ccc8015ca5e30ad5d659b264b7c78d7e2ed1e7ffa65
+size 419254842
diff --git a/H2O/shared-v1.0/data/subject3_h2_3/cam2/observation/depth_valid.mkv b/H2O/shared-v1.0/data/subject3_h2_3/cam2/observation/depth_valid.mkv
new file mode 100644
index 0000000000000000000000000000000000000000..f0e86d0a5674db7b16993cbd51804ac6fa1dc63c
--- /dev/null
+++ b/H2O/shared-v1.0/data/subject3_h2_3/cam2/observation/depth_valid.mkv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 8491741
diff --git a/H2O/shared-v1.0/data/subject3_h2_3/cam2/observation/rgb.mkv b/H2O/shared-v1.0/data/subject3_h2_3/cam2/observation/rgb.mkv
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--- /dev/null
+++ b/H2O/shared-v1.0/data/subject3_h2_3/cam2/observation/rgb.mkv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 468568680
diff --git a/H2O/shared-v1.0/data/subject3_h2_3/cam2/observation/rgb_valid.pt b/H2O/shared-v1.0/data/subject3_h2_3/cam2/observation/rgb_valid.pt
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+++ b/H2O/shared-v1.0/data/subject3_h2_3/cam2/observation/rgb_valid.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/H2O/shared-v1.0/data/subject3_h2_3/cam3/annotation/keypoints/xyz.pt b/H2O/shared-v1.0/data/subject3_h2_3/cam3/annotation/keypoints/xyz.pt
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index 0000000000000000000000000000000000000000..6054a2463db91ed604d9255920efcc10ab5ac422
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+++ b/H2O/shared-v1.0/data/subject3_h2_3/cam3/annotation/keypoints/xyz.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/H2O/shared-v1.0/data/subject3_h2_3/cam3/annotation/keypoints/xyz_valid.pt b/H2O/shared-v1.0/data/subject3_h2_3/cam3/annotation/keypoints/xyz_valid.pt
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+++ b/H2O/shared-v1.0/data/subject3_h2_3/cam3/annotation/keypoints/xyz_valid.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/H2O/shared-v1.0/data/subject3_h2_3/cam3/annotation/mano/motion.pt b/H2O/shared-v1.0/data/subject3_h2_3/cam3/annotation/mano/motion.pt
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index 0000000000000000000000000000000000000000..25c2f1bb900b4301cbbdd3a438ec4e9365f7a50d
--- /dev/null
+++ b/H2O/shared-v1.0/data/subject3_h2_3/cam3/annotation/mano/motion.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/H2O/shared-v1.0/data/subject3_h2_3/cam3/annotation/mano/motion_valid.pt b/H2O/shared-v1.0/data/subject3_h2_3/cam3/annotation/mano/motion_valid.pt
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index 0000000000000000000000000000000000000000..1a44e5e6f381dd1e05d81ca2009bfe90eb614b34
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+++ b/H2O/shared-v1.0/data/subject3_h2_3/cam3/annotation/mano/motion_valid.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/H2O/shared-v1.0/data/subject3_h2_3/cam3/annotation/object/lotion/assets/lotion.mtl b/H2O/shared-v1.0/data/subject3_h2_3/cam3/annotation/object/lotion/assets/lotion.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c3c9aed35ba48d3710c3ce99a4a143c71f77a168
--- /dev/null
+++ b/H2O/shared-v1.0/data/subject3_h2_3/cam3/annotation/object/lotion/assets/lotion.mtl
@@ -0,0 +1,13 @@
+# Blender MTL File: 'lotion.blend'
+# Material Count: 1
+
+newmtl Material.007
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 1
+map_Kd lotion.png
diff --git a/H2O/shared-v1.0/data/subject3_h2_3/cam3/annotation/object/lotion/assets/lotion.obj b/H2O/shared-v1.0/data/subject3_h2_3/cam3/annotation/object/lotion/assets/lotion.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28f10d60e02afcf5da29667b60670335f6a91b72
--- /dev/null
+++ b/H2O/shared-v1.0/data/subject3_h2_3/cam3/annotation/object/lotion/assets/lotion.obj
@@ -0,0 +1,16473 @@
+# Blender v2.82 (sub 7) OBJ File: 'lotion.blend'
+# www.blender.org
+mtllib lotion.mtl
+o lotion_simple_lotion_simple.005
+v 0.008353 -0.025436 0.016387
+v 0.016034 -0.005912 -0.033414
+v -0.016953 -0.002117 0.016009
+v 0.012785 -0.022346 -0.017066
+v -0.016020 -0.005874 0.090872
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+v 0.005861 -0.028401 -0.099960
+v 0.012635 -0.021762 -0.021378
+v 0.017164 -0.001000 0.006633
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+v 0.014675 -0.012099 0.054777
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+v 0.014215 -0.019422 0.031148
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diff --git a/H2O/shared-v1.0/data/subject3_h2_3/cam3/camera/intrinsic_valid.pt b/H2O/shared-v1.0/data/subject3_h2_3/cam3/camera/intrinsic_valid.pt
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+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/subject3_v1_1.tar.gz",
+        "member": "subject3/h2/3/cam3/cam_intrinsics.txt",
+        "sha256": "f406b977e4559315cefa9088f607eb353d1f28529e81d1eb2ad90ce948c5b8de"
+      },
+      "valid_ref": "camera/intrinsic_valid.pt",
+      "valid_axes": [
+        "T"
+      ]
+    },
+    "extrinsic": {
+      "available": true,
+      "schema_id": "transform/se3/v1",
+      "data_ref": "camera/extrinsic.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": "camera/extrinsic_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "convention": "T_camera_from_world",
+      "source_convention": "T_world_from_camera"
+    },
+    "mano": {
+      "available": true,
+      "schema_id": "mano/axis_angle61/v1",
+      "data_ref": "annotation/mano/motion.pt",
+      "axes": [
+        "T",
+        "hand",
+        "parameter"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/mano/motion_valid.pt",
+      "valid_axes": [
+        "T",
+        "hand"
+      ],
+      "model_profile": {
+        "version": "sha256:eab78181e459e156559df334b103d825e00c8711d2eeffee1cc176fb42051f4f",
+        "flat_hand_mean": true,
+        "left_shapedirs_correction": "not_applied",
+        "models": {
+          "left": {
+            "file": "MANO_LEFT.pkl",
+            "sha256": "c4022f7083f2ca7c78b2b3d595abbab52debd32b09d372b16923a801f0ea6a30"
+          },
+          "right": {
+            "file": "MANO_RIGHT.pkl",
+            "sha256": "45d60aa3b27ef9107a7afd4e00808f307fd91111e1cfa35afd5c4a62de264767"
+          }
+        }
+      },
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Per-hand hand_pose_mano flag equals 1; corresponding side model available",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "scope": [
+          "T",
+          "hand"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
+    "keypoints_xyz": {
+      "available": true,
+      "schema_id": "keypoints/xyz/v1",
+      "data_ref": "annotation/keypoints/xyz.pt",
+      "axes": [
+        "T",
+        "hand",
+        "keypoint",
+        "coordinate"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/keypoints/xyz_valid.pt",
+      "valid_axes": [
+        "T",
+        "hand",
+        "keypoint"
+      ],
+      "keypoint_schema": "mano21/v1",
+      "unit": "m",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Per-hand hand_pose flag equals 1, broadcast to that hand's 21 source points independently of MANO",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "scope": [
+          "T",
+          "hand",
+          "keypoint"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
+    "pose_lotion": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/lotion/pose.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/lotion/pose_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "convention": "T_camera_from_object",
+      "unit": "m",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source obj_pose_rt class equals this nonzero object class",
+        "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
+      }
+    },
+    "points_lotion": {
+      "available": true,
+      "schema_id": "object_keypoints/camera/v1",
+      "data_ref": "annotation/object/lotion/keypoints/xyz.pt",
+      "axes": [
+        "T",
+        "keypoint",
+        "coordinate"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/object/lotion/keypoints/xyz_valid.pt",
+      "valid_axes": [
+        "T",
+        "keypoint"
+      ],
+      "keypoint_schema": "H2O_official_object21",
+      "keypoint_names": [
+        "center",
+        "corner_0",
+        "corner_1",
+        "corner_2",
+        "corner_3",
+        "corner_4",
+        "corner_5",
+        "corner_6",
+        "corner_7",
+        "edge_midpoint_0",
+        "edge_midpoint_1",
+        "edge_midpoint_2",
+        "edge_midpoint_3",
+        "edge_midpoint_4",
+        "edge_midpoint_5",
+        "edge_midpoint_6",
+        "edge_midpoint_7",
+        "edge_midpoint_8",
+        "edge_midpoint_9",
+        "edge_midpoint_10",
+        "edge_midpoint_11"
+      ],
+      "source_order": "official obj_point_order.jpg: center, 8 corners, 12 edge midpoints",
+      "unit": "m",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source obj_pose class equals this nonzero object class, broadcast to its 21 points",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "scope": [
+          "T",
+          "keypoint"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
+    "mesh_lotion": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/lotion/assets/lotion.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/object.zip",
+        "member": "object/lotion/lotion.obj"
+      },
+      "valid": true,
+      "unit": "m"
+    },
+    "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": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources.depth",
+        "definition": "https://github.com/taeinkwon/h2oplayer/blob/main/utils.py",
+        "conversion": "registered millimetre camera-Z to metres; no viewer range clipping"
+      },
+      "storage": {
+        "profile": "mkv/depth_float32_bits/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray16le",
+        "encoded_size": [
+          2560,
+          720
+        ],
+        "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": [
+            "-level",
+            "3",
+            "-slices",
+            "16"
+          ],
+          "threads": 10
+        },
+        "source_lossy": false,
+        "storage_fps": 30,
+        "timebase_role": "index_only"
+      },
+      "valid_storage": {
+        "profile": "mkv/bool_ffv1/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray",
+        "encoded_size": [
+          1280,
+          720
+        ],
+        "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": [
+            "-level",
+            "3",
+            "-slices",
+            "16"
+          ],
+          "threads": 10
+        },
+        "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"
+    },
+    "segment": {
+      "available": false,
+      "reason": "H2O provides no native segmentation; rendering deferred to v2.0",
+      "status": "source_missing"
+    },
+    "relations": {
+      "available": false,
+      "reason": "No source contact/grasp annotation",
+      "status": "source_missing"
+    }
+  },
+  "split": "train",
+  "view_type": "exo",
+  "split_scheme": "official_action_split",
+  "split_source_locator": {
+    "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/label_split.zip",
+    "member": "label_split/action_train.txt",
+    "record": 511
+  }
+}
diff --git a/H2O/shared-v1.0/data/subject3_h2_3/cam3/observation/depth.mkv b/H2O/shared-v1.0/data/subject3_h2_3/cam3/observation/depth.mkv
new file mode 100644
index 0000000000000000000000000000000000000000..7072cb84afd6d6f1a74d8e75604771075ee304e1
--- /dev/null
+++ b/H2O/shared-v1.0/data/subject3_h2_3/cam3/observation/depth.mkv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4030eaf2fea38d36fa02cb5e5e03e705e2406c5abcd341f7d9d463b0414c2e87
+size 543716589
diff --git a/H2O/shared-v1.0/data/subject3_h2_3/cam3/observation/depth_valid.mkv b/H2O/shared-v1.0/data/subject3_h2_3/cam3/observation/depth_valid.mkv
new file mode 100644
index 0000000000000000000000000000000000000000..797ab0af033207f084489e840a831aa81ac53594
--- /dev/null
+++ b/H2O/shared-v1.0/data/subject3_h2_3/cam3/observation/depth_valid.mkv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10363415
diff --git a/H2O/shared-v1.0/data/subject3_h2_3/cam3/observation/rgb.mkv b/H2O/shared-v1.0/data/subject3_h2_3/cam3/observation/rgb.mkv
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+++ b/H2O/shared-v1.0/data/subject3_h2_3/cam3/observation/rgb.mkv
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+version https://git-lfs.github.com/spec/v1
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+size 448096852
diff --git a/H2O/shared-v1.0/data/subject3_h2_3/cam3/observation/rgb_valid.pt b/H2O/shared-v1.0/data/subject3_h2_3/cam3/observation/rgb_valid.pt
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+++ b/H2O/shared-v1.0/data/subject3_h2_3/cam3/observation/rgb_valid.pt
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+version https://git-lfs.github.com/spec/v1
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diff --git a/H2O/shared-v1.0/data/subject3_h2_3/cam4/annotation/keypoints/xyz.pt b/H2O/shared-v1.0/data/subject3_h2_3/cam4/annotation/keypoints/xyz.pt
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+++ b/H2O/shared-v1.0/data/subject3_h2_3/cam4/annotation/keypoints/xyz.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/H2O/shared-v1.0/data/subject3_h2_3/cam4/annotation/keypoints/xyz_valid.pt b/H2O/shared-v1.0/data/subject3_h2_3/cam4/annotation/keypoints/xyz_valid.pt
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+++ b/H2O/shared-v1.0/data/subject3_h2_3/cam4/annotation/keypoints/xyz_valid.pt
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+version https://git-lfs.github.com/spec/v1
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diff --git a/H2O/shared-v1.0/data/subject3_h2_3/cam4/annotation/mano/motion.pt b/H2O/shared-v1.0/data/subject3_h2_3/cam4/annotation/mano/motion.pt
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index 0000000000000000000000000000000000000000..567ebde6a78f90cede2423a85c4fc62cb9ea1b03
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+++ b/H2O/shared-v1.0/data/subject3_h2_3/cam4/annotation/mano/motion.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/H2O/shared-v1.0/data/subject3_h2_3/cam4/annotation/mano/motion_valid.pt b/H2O/shared-v1.0/data/subject3_h2_3/cam4/annotation/mano/motion_valid.pt
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index 0000000000000000000000000000000000000000..1a44e5e6f381dd1e05d81ca2009bfe90eb614b34
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+++ b/H2O/shared-v1.0/data/subject3_h2_3/cam4/annotation/mano/motion_valid.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/H2O/shared-v1.0/data/subject3_h2_3/cam4/annotation/object/lotion/assets/lotion.mtl b/H2O/shared-v1.0/data/subject3_h2_3/cam4/annotation/object/lotion/assets/lotion.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c3c9aed35ba48d3710c3ce99a4a143c71f77a168
--- /dev/null
+++ b/H2O/shared-v1.0/data/subject3_h2_3/cam4/annotation/object/lotion/assets/lotion.mtl
@@ -0,0 +1,13 @@
+# Blender MTL File: 'lotion.blend'
+# Material Count: 1
+
+newmtl Material.007
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 1
+map_Kd lotion.png
diff --git a/H2O/shared-v1.0/data/subject3_h2_3/cam4/annotation/object/lotion/assets/lotion.obj b/H2O/shared-v1.0/data/subject3_h2_3/cam4/annotation/object/lotion/assets/lotion.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28f10d60e02afcf5da29667b60670335f6a91b72
--- /dev/null
+++ b/H2O/shared-v1.0/data/subject3_h2_3/cam4/annotation/object/lotion/assets/lotion.obj
@@ -0,0 +1,16473 @@
+# Blender v2.82 (sub 7) OBJ File: 'lotion.blend'
+# www.blender.org
+mtllib lotion.mtl
+o lotion_simple_lotion_simple.005
+v 0.008353 -0.025436 0.016387
+v 0.016034 -0.005912 -0.033414
+v -0.016953 -0.002117 0.016009
+v 0.012785 -0.022346 -0.017066
+v -0.016020 -0.005874 0.090872
+v 0.009486 0.022021 -0.010649
+v 0.005861 -0.028401 -0.099960
+v 0.012635 -0.021762 -0.021378
+v 0.017164 -0.001000 0.006633
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+v 0.014675 -0.012099 0.054777
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+        "method": "Copy source annotation; normalize storage only"
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+        "T"
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+    "extrinsic": {
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+      "schema_id": "transform/se3/v1",
+      "data_ref": "camera/extrinsic.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"
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+      "valid_ref": "camera/extrinsic_valid.pt",
+      "valid_axes": [
+        "T"
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+      "convention": "T_camera_from_world",
+      "source_convention": "T_world_from_camera"
+    },
+    "mano": {
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+      "schema_id": "mano/axis_angle61/v1",
+      "data_ref": "annotation/mano/motion.pt",
+      "axes": [
+        "T",
+        "hand",
+        "parameter"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
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+      },
+      "valid_ref": "annotation/mano/motion_valid.pt",
+      "valid_axes": [
+        "T",
+        "hand"
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+        "flat_hand_mean": true,
+        "left_shapedirs_correction": "not_applied",
+        "models": {
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+            "sha256": "c4022f7083f2ca7c78b2b3d595abbab52debd32b09d372b16923a801f0ea6a30"
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+        "source_rule": "Per-hand hand_pose_mano flag equals 1; corresponding side model available",
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+          "reason": "No separate applicable official QA in selected source inputs"
+        },
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+      "schema_id": "keypoints/xyz/v1",
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+        "T",
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+        "keypoint"
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+        "meaning": "annotation usable for supervision, not merely record presence",
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+        "source_locator": {
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+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
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+        "row",
+        "column"
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+        "method": "Copy source annotation; normalize storage only"
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+        "source_field": "component_sources"
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+        "T"
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+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
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+        },
+        "scope": [
+          "T"
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+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
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+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
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+        "local_exclusion_reasons": {},
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+      "schema_id": "object_keypoints/camera/v1",
+      "data_ref": "annotation/object/lotion/keypoints/xyz.pt",
+      "axes": [
+        "T",
+        "keypoint",
+        "coordinate"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
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+      "valid_ref": "annotation/object/lotion/keypoints/xyz_valid.pt",
+      "valid_axes": [
+        "T",
+        "keypoint"
+      ],
+      "keypoint_schema": "H2O_official_object21",
+      "keypoint_names": [
+        "center",
+        "corner_0",
+        "corner_1",
+        "corner_2",
+        "corner_3",
+        "corner_4",
+        "corner_5",
+        "corner_6",
+        "corner_7",
+        "edge_midpoint_0",
+        "edge_midpoint_1",
+        "edge_midpoint_2",
+        "edge_midpoint_3",
+        "edge_midpoint_4",
+        "edge_midpoint_5",
+        "edge_midpoint_6",
+        "edge_midpoint_7",
+        "edge_midpoint_8",
+        "edge_midpoint_9",
+        "edge_midpoint_10",
+        "edge_midpoint_11"
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+      "source_order": "official obj_point_order.jpg: center, 8 corners, 12 edge midpoints",
+      "unit": "m",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source obj_pose class equals this nonzero object class, broadcast to its 21 points",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "scope": [
+          "T",
+          "keypoint"
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+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
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+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
+    "mesh_lotion": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/lotion/assets/lotion.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/object.zip",
+        "member": "object/lotion/lotion.obj"
+      },
+      "valid": true,
+      "unit": "m"
+    },
+    "depth": {
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+      "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": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources.depth",
+        "definition": "https://github.com/taeinkwon/h2oplayer/blob/main/utils.py",
+        "conversion": "registered millimetre camera-Z to metres; no viewer range clipping"
+      },
+      "storage": {
+        "profile": "mkv/depth_float32_bits/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray16le",
+        "encoded_size": [
+          2560,
+          720
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+        "decoder": {
+          "name": "ffmpeg",
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "autorotate": false,
+          "color_space": "unknown",
+          "color_range": "unknown",
+          "color_primaries": "unknown",
+          "color_transfer": "unknown"
+        },
+        "encoder_parameters": {
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "name": "ffv1",
+          "arguments": [
+            "-level",
+            "3",
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+          "threads": 10
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+        "source_lossy": false,
+        "storage_fps": 30,
+        "timebase_role": "index_only"
+      },
+      "valid_storage": {
+        "profile": "mkv/bool_ffv1/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray",
+        "encoded_size": [
+          1280,
+          720
+        ],
+        "decoder": {
+          "name": "ffmpeg",
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "autorotate": false,
+          "color_space": "unknown",
+          "color_range": "unknown",
+          "color_primaries": "unknown",
+          "color_transfer": "unknown"
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+        "encoder_parameters": {
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "name": "ffv1",
+          "arguments": [
+            "-level",
+            "3",
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+            "16"
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+          "threads": 10
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+        "storage_fps": 30,
+        "timebase_role": "index_only"
+      },
+      "valid_ref": "observation/depth_valid.mkv",
+      "valid_axes": [
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+        "height",
+        "width"
+      ],
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+      "depth_type": "z",
+      "depth_origin": "measured",
+      "invalid_value": "NaN"
+    },
+    "segment": {
+      "available": false,
+      "reason": "H2O provides no native segmentation; rendering deferred to v2.0",
+      "status": "source_missing"
+    },
+    "relations": {
+      "available": false,
+      "reason": "No source contact/grasp annotation",
+      "status": "source_missing"
+    }
+  },
+  "split": "train",
+  "view_type": "ego",
+  "split_scheme": "official_action_split",
+  "split_source_locator": {
+    "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/label_split.zip",
+    "member": "label_split/action_train.txt",
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+  }
+}
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+{
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diff --git a/H2O/shared-v1.0/data/subject3_h2_4/cam0/camera/intrinsic_valid.pt b/H2O/shared-v1.0/data/subject3_h2_4/cam0/camera/intrinsic_valid.pt
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+      "valid_ref": "camera/intrinsic_valid.pt",
+      "valid_axes": [
+        "T"
+      ]
+    },
+    "extrinsic": {
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+      "schema_id": "transform/se3/v1",
+      "data_ref": "camera/extrinsic.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": "camera/extrinsic_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "convention": "T_camera_from_world",
+      "source_convention": "T_world_from_camera"
+    },
+    "mano": {
+      "available": true,
+      "schema_id": "mano/axis_angle61/v1",
+      "data_ref": "annotation/mano/motion.pt",
+      "axes": [
+        "T",
+        "hand",
+        "parameter"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/mano/motion_valid.pt",
+      "valid_axes": [
+        "T",
+        "hand"
+      ],
+      "model_profile": {
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+        "flat_hand_mean": true,
+        "left_shapedirs_correction": "not_applied",
+        "models": {
+          "left": {
+            "file": "MANO_LEFT.pkl",
+            "sha256": "c4022f7083f2ca7c78b2b3d595abbab52debd32b09d372b16923a801f0ea6a30"
+          },
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+          }
+        }
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+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Per-hand hand_pose_mano flag equals 1; corresponding side model available",
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+          "source_field": "component_sources"
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+          "T",
+          "hand"
+        ],
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+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
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+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
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+      "schema_id": "keypoints/xyz/v1",
+      "data_ref": "annotation/keypoints/xyz.pt",
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+        "T",
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+        "keypoint",
+        "coordinate"
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+        "method": "Copy source annotation; normalize storage only"
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+        "T",
+        "hand",
+        "keypoint"
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+        "meaning": "annotation usable for supervision, not merely record presence",
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+        "source_locator": {
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+          "keypoint"
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+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
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+      "data_ref": "annotation/object/chips/pose.pt",
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+        "row",
+        "column"
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+        "method": "Copy source annotation; normalize storage only"
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+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
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+        "T"
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+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source obj_pose_rt class equals this nonzero object class",
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+        },
+        "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"
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+        "local_exclusion_reasons": {},
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+      "schema_id": "object_keypoints/camera/v1",
+      "data_ref": "annotation/object/chips/keypoints/xyz.pt",
+      "axes": [
+        "T",
+        "keypoint",
+        "coordinate"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/object/chips/keypoints/xyz_valid.pt",
+      "valid_axes": [
+        "T",
+        "keypoint"
+      ],
+      "keypoint_schema": "H2O_official_object21",
+      "keypoint_names": [
+        "center",
+        "corner_0",
+        "corner_1",
+        "corner_2",
+        "corner_3",
+        "corner_4",
+        "corner_5",
+        "corner_6",
+        "corner_7",
+        "edge_midpoint_0",
+        "edge_midpoint_1",
+        "edge_midpoint_2",
+        "edge_midpoint_3",
+        "edge_midpoint_4",
+        "edge_midpoint_5",
+        "edge_midpoint_6",
+        "edge_midpoint_7",
+        "edge_midpoint_8",
+        "edge_midpoint_9",
+        "edge_midpoint_10",
+        "edge_midpoint_11"
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+      "source_order": "official obj_point_order.jpg: center, 8 corners, 12 edge midpoints",
+      "unit": "m",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source obj_pose class equals this nonzero object class, broadcast to its 21 points",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "scope": [
+          "T",
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+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
+    "mesh_chips": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/chips/assets/chips.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/object.zip",
+        "member": "object/chips/chips.obj"
+      },
+      "valid": true,
+      "unit": "m"
+    },
+    "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": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources.depth",
+        "definition": "https://github.com/taeinkwon/h2oplayer/blob/main/utils.py",
+        "conversion": "registered millimetre camera-Z to metres; no viewer range clipping"
+      },
+      "storage": {
+        "profile": "mkv/depth_float32_bits/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray16le",
+        "encoded_size": [
+          2560,
+          720
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+        "decoder": {
+          "name": "ffmpeg",
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "autorotate": false,
+          "color_space": "unknown",
+          "color_range": "unknown",
+          "color_primaries": "unknown",
+          "color_transfer": "unknown"
+        },
+        "encoder_parameters": {
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "name": "ffv1",
+          "arguments": [
+            "-level",
+            "3",
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+          "threads": 10
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+        "source_lossy": false,
+        "storage_fps": 30,
+        "timebase_role": "index_only"
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+      "valid_storage": {
+        "profile": "mkv/bool_ffv1/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray",
+        "encoded_size": [
+          1280,
+          720
+        ],
+        "decoder": {
+          "name": "ffmpeg",
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "autorotate": false,
+          "color_space": "unknown",
+          "color_range": "unknown",
+          "color_primaries": "unknown",
+          "color_transfer": "unknown"
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+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "name": "ffv1",
+          "arguments": [
+            "-level",
+            "3",
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+            "16"
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+        "storage_fps": 30,
+        "timebase_role": "index_only"
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+      "valid_ref": "observation/depth_valid.mkv",
+      "valid_axes": [
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+        "height",
+        "width"
+      ],
+      "unit": "m",
+      "depth_type": "z",
+      "depth_origin": "measured",
+      "invalid_value": "NaN"
+    },
+    "segment": {
+      "available": false,
+      "reason": "H2O provides no native segmentation; rendering deferred to v2.0",
+      "status": "source_missing"
+    },
+    "relations": {
+      "available": false,
+      "reason": "No source contact/grasp annotation",
+      "status": "source_missing"
+    }
+  },
+  "split": "train",
+  "view_type": "exo",
+  "split_scheme": "official_action_split",
+  "split_source_locator": {
+    "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/label_split.zip",
+    "member": "label_split/action_train.txt",
+    "record": 516
+  }
+}
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+      "valid_ref": "camera/intrinsic_valid.pt",
+      "valid_axes": [
+        "T"
+      ]
+    },
+    "extrinsic": {
+      "available": true,
+      "schema_id": "transform/se3/v1",
+      "data_ref": "camera/extrinsic.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": "camera/extrinsic_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "convention": "T_camera_from_world",
+      "source_convention": "T_world_from_camera"
+    },
+    "mano": {
+      "available": true,
+      "schema_id": "mano/axis_angle61/v1",
+      "data_ref": "annotation/mano/motion.pt",
+      "axes": [
+        "T",
+        "hand",
+        "parameter"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/mano/motion_valid.pt",
+      "valid_axes": [
+        "T",
+        "hand"
+      ],
+      "model_profile": {
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+        "flat_hand_mean": true,
+        "left_shapedirs_correction": "not_applied",
+        "models": {
+          "left": {
+            "file": "MANO_LEFT.pkl",
+            "sha256": "c4022f7083f2ca7c78b2b3d595abbab52debd32b09d372b16923a801f0ea6a30"
+          },
+          "right": {
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+          }
+        }
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+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Per-hand hand_pose_mano flag equals 1; corresponding side model available",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "scope": [
+          "T",
+          "hand"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
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+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
+    "keypoints_xyz": {
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+      "schema_id": "keypoints/xyz/v1",
+      "data_ref": "annotation/keypoints/xyz.pt",
+      "axes": [
+        "T",
+        "hand",
+        "keypoint",
+        "coordinate"
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+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
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+        "source_field": "component_sources"
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+      "valid_ref": "annotation/keypoints/xyz_valid.pt",
+      "valid_axes": [
+        "T",
+        "hand",
+        "keypoint"
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+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Per-hand hand_pose flag equals 1, broadcast to that hand's 21 source points independently of MANO",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "scope": [
+          "T",
+          "hand",
+          "keypoint"
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+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
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+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/chips/pose.pt",
+      "axes": [
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+        "row",
+        "column"
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+        "method": "Copy source annotation; normalize storage only"
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+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
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+      "valid_ref": "annotation/object/chips/pose_valid.pt",
+      "valid_axes": [
+        "T"
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+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source obj_pose_rt class equals this nonzero object class",
+        "source_locator": {
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+          "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"
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+        "local_exclusion_reasons": {},
+        "visibility_independent": true
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+      "schema_id": "object_keypoints/camera/v1",
+      "data_ref": "annotation/object/chips/keypoints/xyz.pt",
+      "axes": [
+        "T",
+        "keypoint",
+        "coordinate"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/object/chips/keypoints/xyz_valid.pt",
+      "valid_axes": [
+        "T",
+        "keypoint"
+      ],
+      "keypoint_schema": "H2O_official_object21",
+      "keypoint_names": [
+        "center",
+        "corner_0",
+        "corner_1",
+        "corner_2",
+        "corner_3",
+        "corner_4",
+        "corner_5",
+        "corner_6",
+        "corner_7",
+        "edge_midpoint_0",
+        "edge_midpoint_1",
+        "edge_midpoint_2",
+        "edge_midpoint_3",
+        "edge_midpoint_4",
+        "edge_midpoint_5",
+        "edge_midpoint_6",
+        "edge_midpoint_7",
+        "edge_midpoint_8",
+        "edge_midpoint_9",
+        "edge_midpoint_10",
+        "edge_midpoint_11"
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+      "source_order": "official obj_point_order.jpg: center, 8 corners, 12 edge midpoints",
+      "unit": "m",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source obj_pose class equals this nonzero object class, broadcast to its 21 points",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "scope": [
+          "T",
+          "keypoint"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
+    "mesh_chips": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/chips/assets/chips.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/object.zip",
+        "member": "object/chips/chips.obj"
+      },
+      "valid": true,
+      "unit": "m"
+    },
+    "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": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources.depth",
+        "definition": "https://github.com/taeinkwon/h2oplayer/blob/main/utils.py",
+        "conversion": "registered millimetre camera-Z to metres; no viewer range clipping"
+      },
+      "storage": {
+        "profile": "mkv/depth_float32_bits/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray16le",
+        "encoded_size": [
+          2560,
+          720
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+        "decoder": {
+          "name": "ffmpeg",
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "autorotate": false,
+          "color_space": "unknown",
+          "color_range": "unknown",
+          "color_primaries": "unknown",
+          "color_transfer": "unknown"
+        },
+        "encoder_parameters": {
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "name": "ffv1",
+          "arguments": [
+            "-level",
+            "3",
+            "-slices",
+            "16"
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+          "threads": 10
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+        "source_lossy": false,
+        "storage_fps": 30,
+        "timebase_role": "index_only"
+      },
+      "valid_storage": {
+        "profile": "mkv/bool_ffv1/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray",
+        "encoded_size": [
+          1280,
+          720
+        ],
+        "decoder": {
+          "name": "ffmpeg",
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "autorotate": false,
+          "color_space": "unknown",
+          "color_range": "unknown",
+          "color_primaries": "unknown",
+          "color_transfer": "unknown"
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+        "encoder_parameters": {
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "name": "ffv1",
+          "arguments": [
+            "-level",
+            "3",
+            "-slices",
+            "16"
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+          "threads": 10
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+        "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"
+    },
+    "segment": {
+      "available": false,
+      "reason": "H2O provides no native segmentation; rendering deferred to v2.0",
+      "status": "source_missing"
+    },
+    "relations": {
+      "available": false,
+      "reason": "No source contact/grasp annotation",
+      "status": "source_missing"
+    }
+  },
+  "split": "train",
+  "view_type": "exo",
+  "split_scheme": "official_action_split",
+  "split_source_locator": {
+    "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/label_split.zip",
+    "member": "label_split/action_train.txt",
+    "record": 516
+  }
+}
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+      "valid_ref": "camera/intrinsic_valid.pt",
+      "valid_axes": [
+        "T"
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+    },
+    "extrinsic": {
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+      "schema_id": "transform/se3/v1",
+      "data_ref": "camera/extrinsic.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": "camera/extrinsic_valid.pt",
+      "valid_axes": [
+        "T"
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+      "convention": "T_camera_from_world",
+      "source_convention": "T_world_from_camera"
+    },
+    "mano": {
+      "available": true,
+      "schema_id": "mano/axis_angle61/v1",
+      "data_ref": "annotation/mano/motion.pt",
+      "axes": [
+        "T",
+        "hand",
+        "parameter"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/mano/motion_valid.pt",
+      "valid_axes": [
+        "T",
+        "hand"
+      ],
+      "model_profile": {
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+        "flat_hand_mean": true,
+        "left_shapedirs_correction": "not_applied",
+        "models": {
+          "left": {
+            "file": "MANO_LEFT.pkl",
+            "sha256": "c4022f7083f2ca7c78b2b3d595abbab52debd32b09d372b16923a801f0ea6a30"
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+          }
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+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Per-hand hand_pose_mano flag equals 1; corresponding side model available",
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+          "source_field": "component_sources"
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+        ],
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+          "reason": "No separate applicable official QA in selected source inputs"
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+        "local_exclusion_reasons": {},
+        "visibility_independent": true
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+      "schema_id": "keypoints/xyz/v1",
+      "data_ref": "annotation/keypoints/xyz.pt",
+      "axes": [
+        "T",
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+        "coordinate"
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+        "method": "Copy source annotation; normalize storage only"
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+        "hand",
+        "keypoint"
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+        "meaning": "annotation usable for supervision, not merely record presence",
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+          "reason": "No separate applicable official QA in selected source inputs"
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+      "data_ref": "annotation/object/chips/pose.pt",
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+        "column"
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+        "method": "Copy source annotation; normalize storage only"
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+        "source_field": "component_sources"
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+      "valid_axes": [
+        "T"
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+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source obj_pose_rt class equals this nonzero object class",
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+        "scope": [
+          "T"
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+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
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+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
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+        "local_exclusion_reasons": {},
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+      }
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+        "T",
+        "keypoint",
+        "coordinate"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/object/chips/keypoints/xyz_valid.pt",
+      "valid_axes": [
+        "T",
+        "keypoint"
+      ],
+      "keypoint_schema": "H2O_official_object21",
+      "keypoint_names": [
+        "center",
+        "corner_0",
+        "corner_1",
+        "corner_2",
+        "corner_3",
+        "corner_4",
+        "corner_5",
+        "corner_6",
+        "corner_7",
+        "edge_midpoint_0",
+        "edge_midpoint_1",
+        "edge_midpoint_2",
+        "edge_midpoint_3",
+        "edge_midpoint_4",
+        "edge_midpoint_5",
+        "edge_midpoint_6",
+        "edge_midpoint_7",
+        "edge_midpoint_8",
+        "edge_midpoint_9",
+        "edge_midpoint_10",
+        "edge_midpoint_11"
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+      "source_order": "official obj_point_order.jpg: center, 8 corners, 12 edge midpoints",
+      "unit": "m",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source obj_pose class equals this nonzero object class, broadcast to its 21 points",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
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+        "scope": [
+          "T",
+          "keypoint"
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+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
+    "mesh_chips": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/chips/assets/chips.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/object.zip",
+        "member": "object/chips/chips.obj"
+      },
+      "valid": true,
+      "unit": "m"
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+    "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": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources.depth",
+        "definition": "https://github.com/taeinkwon/h2oplayer/blob/main/utils.py",
+        "conversion": "registered millimetre camera-Z to metres; no viewer range clipping"
+      },
+      "storage": {
+        "profile": "mkv/depth_float32_bits/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray16le",
+        "encoded_size": [
+          2560,
+          720
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+        "decoder": {
+          "name": "ffmpeg",
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "autorotate": false,
+          "color_space": "unknown",
+          "color_range": "unknown",
+          "color_primaries": "unknown",
+          "color_transfer": "unknown"
+        },
+        "encoder_parameters": {
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "name": "ffv1",
+          "arguments": [
+            "-level",
+            "3",
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+          "threads": 10
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+        "source_lossy": false,
+        "storage_fps": 30,
+        "timebase_role": "index_only"
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+      "valid_storage": {
+        "profile": "mkv/bool_ffv1/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray",
+        "encoded_size": [
+          1280,
+          720
+        ],
+        "decoder": {
+          "name": "ffmpeg",
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "autorotate": false,
+          "color_space": "unknown",
+          "color_range": "unknown",
+          "color_primaries": "unknown",
+          "color_transfer": "unknown"
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+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "name": "ffv1",
+          "arguments": [
+            "-level",
+            "3",
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+            "16"
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+        "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"
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+      "unit": "m",
+      "depth_type": "z",
+      "depth_origin": "measured",
+      "invalid_value": "NaN"
+    },
+    "segment": {
+      "available": false,
+      "reason": "H2O provides no native segmentation; rendering deferred to v2.0",
+      "status": "source_missing"
+    },
+    "relations": {
+      "available": false,
+      "reason": "No source contact/grasp annotation",
+      "status": "source_missing"
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+  "split": "train",
+  "view_type": "exo",
+  "split_scheme": "official_action_split",
+  "split_source_locator": {
+    "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/label_split.zip",
+    "member": "label_split/action_train.txt",
+    "record": 516
+  }
+}
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+      "valid_axes": [
+        "T"
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+    },
+    "extrinsic": {
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+      "schema_id": "transform/se3/v1",
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+      "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": "camera/extrinsic_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "convention": "T_camera_from_world",
+      "source_convention": "T_world_from_camera"
+    },
+    "mano": {
+      "available": true,
+      "schema_id": "mano/axis_angle61/v1",
+      "data_ref": "annotation/mano/motion.pt",
+      "axes": [
+        "T",
+        "hand",
+        "parameter"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/mano/motion_valid.pt",
+      "valid_axes": [
+        "T",
+        "hand"
+      ],
+      "model_profile": {
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+        "flat_hand_mean": true,
+        "left_shapedirs_correction": "not_applied",
+        "models": {
+          "left": {
+            "file": "MANO_LEFT.pkl",
+            "sha256": "c4022f7083f2ca7c78b2b3d595abbab52debd32b09d372b16923a801f0ea6a30"
+          },
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+          }
+        }
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+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Per-hand hand_pose_mano flag equals 1; corresponding side model available",
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+          "source_field": "component_sources"
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+          "T",
+          "hand"
+        ],
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+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
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+        "local_exclusion_reasons": {},
+        "visibility_independent": true
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+    "keypoints_xyz": {
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+      "schema_id": "keypoints/xyz/v1",
+      "data_ref": "annotation/keypoints/xyz.pt",
+      "axes": [
+        "T",
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+        "keypoint",
+        "coordinate"
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+        "method": "Copy source annotation; normalize storage only"
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+        "T",
+        "hand",
+        "keypoint"
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+        "meaning": "annotation usable for supervision, not merely record presence",
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+          "T",
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+          "keypoint"
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+          "status": "not_provided",
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+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/chips/pose.pt",
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+        "row",
+        "column"
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+        "method": "Copy source annotation; normalize storage only"
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+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
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+        "T"
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+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source obj_pose_rt class equals this nonzero object class",
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+        },
+        "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"
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+        "local_exclusion_reasons": {},
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+      }
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+      "schema_id": "object_keypoints/camera/v1",
+      "data_ref": "annotation/object/chips/keypoints/xyz.pt",
+      "axes": [
+        "T",
+        "keypoint",
+        "coordinate"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
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+      "valid_ref": "annotation/object/chips/keypoints/xyz_valid.pt",
+      "valid_axes": [
+        "T",
+        "keypoint"
+      ],
+      "keypoint_schema": "H2O_official_object21",
+      "keypoint_names": [
+        "center",
+        "corner_0",
+        "corner_1",
+        "corner_2",
+        "corner_3",
+        "corner_4",
+        "corner_5",
+        "corner_6",
+        "corner_7",
+        "edge_midpoint_0",
+        "edge_midpoint_1",
+        "edge_midpoint_2",
+        "edge_midpoint_3",
+        "edge_midpoint_4",
+        "edge_midpoint_5",
+        "edge_midpoint_6",
+        "edge_midpoint_7",
+        "edge_midpoint_8",
+        "edge_midpoint_9",
+        "edge_midpoint_10",
+        "edge_midpoint_11"
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+      "source_order": "official obj_point_order.jpg: center, 8 corners, 12 edge midpoints",
+      "unit": "m",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source obj_pose class equals this nonzero object class, broadcast to its 21 points",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "scope": [
+          "T",
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+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
+    "mesh_chips": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/chips/assets/chips.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/object.zip",
+        "member": "object/chips/chips.obj"
+      },
+      "valid": true,
+      "unit": "m"
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+    "depth": {
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+      "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": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources.depth",
+        "definition": "https://github.com/taeinkwon/h2oplayer/blob/main/utils.py",
+        "conversion": "registered millimetre camera-Z to metres; no viewer range clipping"
+      },
+      "storage": {
+        "profile": "mkv/depth_float32_bits/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray16le",
+        "encoded_size": [
+          2560,
+          720
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+        "decoder": {
+          "name": "ffmpeg",
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "autorotate": false,
+          "color_space": "unknown",
+          "color_range": "unknown",
+          "color_primaries": "unknown",
+          "color_transfer": "unknown"
+        },
+        "encoder_parameters": {
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "name": "ffv1",
+          "arguments": [
+            "-level",
+            "3",
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+            "16"
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+          "threads": 10
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+        "source_lossy": false,
+        "storage_fps": 30,
+        "timebase_role": "index_only"
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+      "valid_storage": {
+        "profile": "mkv/bool_ffv1/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray",
+        "encoded_size": [
+          1280,
+          720
+        ],
+        "decoder": {
+          "name": "ffmpeg",
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "autorotate": false,
+          "color_space": "unknown",
+          "color_range": "unknown",
+          "color_primaries": "unknown",
+          "color_transfer": "unknown"
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+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "name": "ffv1",
+          "arguments": [
+            "-level",
+            "3",
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+            "16"
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+        "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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+    "segment": {
+      "available": false,
+      "reason": "H2O provides no native segmentation; rendering deferred to v2.0",
+      "status": "source_missing"
+    },
+    "relations": {
+      "available": false,
+      "reason": "No source contact/grasp annotation",
+      "status": "source_missing"
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+  },
+  "split": "train",
+  "view_type": "exo",
+  "split_scheme": "official_action_split",
+  "split_source_locator": {
+    "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/label_split.zip",
+    "member": "label_split/action_train.txt",
+    "record": 516
+  }
+}
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+        "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/subject3_v1_1.tar.gz",
+        "member": "subject3/h2/4/cam4/cam_intrinsics.txt",
+        "sha256": "1160f040484b3a86512b02f8225ee5f051c8a96dbd1cfb15e41d14c7487126e3"
+      },
+      "valid_ref": "camera/intrinsic_valid.pt",
+      "valid_axes": [
+        "T"
+      ]
+    },
+    "extrinsic": {
+      "available": true,
+      "schema_id": "transform/se3/v1",
+      "data_ref": "camera/extrinsic.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": "camera/extrinsic_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "convention": "T_camera_from_world",
+      "source_convention": "T_world_from_camera"
+    },
+    "mano": {
+      "available": true,
+      "schema_id": "mano/axis_angle61/v1",
+      "data_ref": "annotation/mano/motion.pt",
+      "axes": [
+        "T",
+        "hand",
+        "parameter"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/mano/motion_valid.pt",
+      "valid_axes": [
+        "T",
+        "hand"
+      ],
+      "model_profile": {
+        "version": "sha256:eab78181e459e156559df334b103d825e00c8711d2eeffee1cc176fb42051f4f",
+        "flat_hand_mean": true,
+        "left_shapedirs_correction": "not_applied",
+        "models": {
+          "left": {
+            "file": "MANO_LEFT.pkl",
+            "sha256": "c4022f7083f2ca7c78b2b3d595abbab52debd32b09d372b16923a801f0ea6a30"
+          },
+          "right": {
+            "file": "MANO_RIGHT.pkl",
+            "sha256": "45d60aa3b27ef9107a7afd4e00808f307fd91111e1cfa35afd5c4a62de264767"
+          }
+        }
+      },
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Per-hand hand_pose_mano flag equals 1; corresponding side model available",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "scope": [
+          "T",
+          "hand"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
+    "keypoints_xyz": {
+      "available": true,
+      "schema_id": "keypoints/xyz/v1",
+      "data_ref": "annotation/keypoints/xyz.pt",
+      "axes": [
+        "T",
+        "hand",
+        "keypoint",
+        "coordinate"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/keypoints/xyz_valid.pt",
+      "valid_axes": [
+        "T",
+        "hand",
+        "keypoint"
+      ],
+      "keypoint_schema": "mano21/v1",
+      "unit": "m",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Per-hand hand_pose flag equals 1, broadcast to that hand's 21 source points independently of MANO",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "scope": [
+          "T",
+          "hand",
+          "keypoint"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
+    "pose_chips": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/chips/pose.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/chips/pose_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "convention": "T_camera_from_object",
+      "unit": "m",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source obj_pose_rt class equals this nonzero object class",
+        "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
+      }
+    },
+    "points_chips": {
+      "available": true,
+      "schema_id": "object_keypoints/camera/v1",
+      "data_ref": "annotation/object/chips/keypoints/xyz.pt",
+      "axes": [
+        "T",
+        "keypoint",
+        "coordinate"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/object/chips/keypoints/xyz_valid.pt",
+      "valid_axes": [
+        "T",
+        "keypoint"
+      ],
+      "keypoint_schema": "H2O_official_object21",
+      "keypoint_names": [
+        "center",
+        "corner_0",
+        "corner_1",
+        "corner_2",
+        "corner_3",
+        "corner_4",
+        "corner_5",
+        "corner_6",
+        "corner_7",
+        "edge_midpoint_0",
+        "edge_midpoint_1",
+        "edge_midpoint_2",
+        "edge_midpoint_3",
+        "edge_midpoint_4",
+        "edge_midpoint_5",
+        "edge_midpoint_6",
+        "edge_midpoint_7",
+        "edge_midpoint_8",
+        "edge_midpoint_9",
+        "edge_midpoint_10",
+        "edge_midpoint_11"
+      ],
+      "source_order": "official obj_point_order.jpg: center, 8 corners, 12 edge midpoints",
+      "unit": "m",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source obj_pose class equals this nonzero object class, broadcast to its 21 points",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "scope": [
+          "T",
+          "keypoint"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
+    "mesh_chips": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/chips/assets/chips.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/object.zip",
+        "member": "object/chips/chips.obj"
+      },
+      "valid": true,
+      "unit": "m"
+    },
+    "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": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources.depth",
+        "definition": "https://github.com/taeinkwon/h2oplayer/blob/main/utils.py",
+        "conversion": "registered millimetre camera-Z to metres; no viewer range clipping"
+      },
+      "storage": {
+        "profile": "mkv/depth_float32_bits/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray16le",
+        "encoded_size": [
+          2560,
+          720
+        ],
+        "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": [
+            "-level",
+            "3",
+            "-slices",
+            "16"
+          ],
+          "threads": 10
+        },
+        "source_lossy": false,
+        "storage_fps": 30,
+        "timebase_role": "index_only"
+      },
+      "valid_storage": {
+        "profile": "mkv/bool_ffv1/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray",
+        "encoded_size": [
+          1280,
+          720
+        ],
+        "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": [
+            "-level",
+            "3",
+            "-slices",
+            "16"
+          ],
+          "threads": 10
+        },
+        "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"
+    },
+    "segment": {
+      "available": false,
+      "reason": "H2O provides no native segmentation; rendering deferred to v2.0",
+      "status": "source_missing"
+    },
+    "relations": {
+      "available": false,
+      "reason": "No source contact/grasp annotation",
+      "status": "source_missing"
+    }
+  },
+  "split": "train",
+  "view_type": "ego",
+  "split_scheme": "official_action_split",
+  "split_source_locator": {
+    "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/label_split.zip",
+    "member": "label_split/action_train.txt",
+    "record": 516
+  }
+}
diff --git a/H2O/shared-v1.0/data/subject3_h2_4/cam4/observation/depth.mkv b/H2O/shared-v1.0/data/subject3_h2_4/cam4/observation/depth.mkv
new file mode 100644
index 0000000000000000000000000000000000000000..009bceffc9ef8be3efc602afa8ae5fae1ca76cc4
--- /dev/null
+++ b/H2O/shared-v1.0/data/subject3_h2_4/cam4/observation/depth.mkv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7701ffc76905f13d42c37f0e1801b26bf7d6aaf9d6fdb3eebb9b10a7df3685e3
+size 214719346
diff --git a/H2O/shared-v1.0/data/subject3_h2_4/cam4/observation/depth_valid.mkv b/H2O/shared-v1.0/data/subject3_h2_4/cam4/observation/depth_valid.mkv
new file mode 100644
index 0000000000000000000000000000000000000000..3646947cb9e395aac4385c6fbe6c003314537b1c
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+++ b/H2O/shared-v1.0/data/subject3_h2_4/cam4/observation/depth_valid.mkv
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+version https://git-lfs.github.com/spec/v1
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+size 4229907
diff --git a/H2O/shared-v1.0/data/subject3_h2_4/cam4/observation/rgb.mkv b/H2O/shared-v1.0/data/subject3_h2_4/cam4/observation/rgb.mkv
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--- /dev/null
+++ b/H2O/shared-v1.0/data/subject3_h2_4/cam4/observation/rgb.mkv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 288671504
diff --git a/H2O/shared-v1.0/data/subject3_h2_4/cam4/observation/rgb_valid.pt b/H2O/shared-v1.0/data/subject3_h2_4/cam4/observation/rgb_valid.pt
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+++ b/H2O/shared-v1.0/data/subject3_h2_4/cam4/observation/rgb_valid.pt
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+version https://git-lfs.github.com/spec/v1
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diff --git a/H2O/shared-v1.0/data/subject3_h2_5/cam0/annotation/keypoints/xyz.pt b/H2O/shared-v1.0/data/subject3_h2_5/cam0/annotation/keypoints/xyz.pt
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+++ b/H2O/shared-v1.0/data/subject3_h2_5/cam0/annotation/keypoints/xyz.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/H2O/shared-v1.0/data/subject3_h2_5/cam0/annotation/keypoints/xyz_valid.pt b/H2O/shared-v1.0/data/subject3_h2_5/cam0/annotation/keypoints/xyz_valid.pt
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+++ b/H2O/shared-v1.0/data/subject3_h2_5/cam0/annotation/keypoints/xyz_valid.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/H2O/shared-v1.0/data/subject3_h2_5/cam0/annotation/mano/motion.pt b/H2O/shared-v1.0/data/subject3_h2_5/cam0/annotation/mano/motion.pt
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index 0000000000000000000000000000000000000000..9af63b4144da50f4fb7cd7c434e10105d9e380d5
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+size 276770
diff --git a/H2O/shared-v1.0/data/subject3_h2_5/cam0/annotation/mano/motion_valid.pt b/H2O/shared-v1.0/data/subject3_h2_5/cam0/annotation/mano/motion_valid.pt
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index 0000000000000000000000000000000000000000..ed45a8ec3dfa60e77b9f97f446be057047c6f9fc
--- /dev/null
+++ b/H2O/shared-v1.0/data/subject3_h2_5/cam0/annotation/mano/motion_valid.pt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/H2O/shared-v1.0/data/subject3_h2_5/cam0/annotation/object/spray/assets/lotion_spray.mtl b/H2O/shared-v1.0/data/subject3_h2_5/cam0/annotation/object/spray/assets/lotion_spray.mtl
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index 0000000000000000000000000000000000000000..dd2aac5422b8753516033abc11180f543d66b1f5
--- /dev/null
+++ b/H2O/shared-v1.0/data/subject3_h2_5/cam0/annotation/object/spray/assets/lotion_spray.mtl
@@ -0,0 +1,13 @@
+# Blender MTL File: 'lotion_spray.blend'
+# Material Count: 1
+
+newmtl Material.001
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 1
+map_Kd lotion_spray.png
diff --git a/H2O/shared-v1.0/data/subject3_h2_5/cam0/annotation/object/spray/assets/lotion_spray.obj b/H2O/shared-v1.0/data/subject3_h2_5/cam0/annotation/object/spray/assets/lotion_spray.obj
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index 0000000000000000000000000000000000000000..d4e1261adf9db46d959309b1850e0ab484c67aed
--- /dev/null
+++ b/H2O/shared-v1.0/data/subject3_h2_5/cam0/annotation/object/spray/assets/lotion_spray.obj
@@ -0,0 +1,15723 @@
+# Blender v2.82 (sub 7) OBJ File: 'lotion_spray.blend'
+# www.blender.org
+mtllib lotion_spray.mtl
+o lotion_spray_simple
+v 0.014095 0.020108 0.002896
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diff --git a/H2O/shared-v1.0/data/subject3_h2_5/cam0/camera/intrinsic_valid.pt b/H2O/shared-v1.0/data/subject3_h2_5/cam0/camera/intrinsic_valid.pt
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+      "axes": [
+        "T",
+        "hand",
+        "keypoint",
+        "coordinate"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/keypoints/xyz_valid.pt",
+      "valid_axes": [
+        "T",
+        "hand",
+        "keypoint"
+      ],
+      "keypoint_schema": "mano21/v1",
+      "unit": "m",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Per-hand hand_pose flag equals 1, broadcast to that hand's 21 source points independently of MANO",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "scope": [
+          "T",
+          "hand",
+          "keypoint"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
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+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/spray/pose.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/spray/pose_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "convention": "T_camera_from_object",
+      "unit": "m",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source obj_pose_rt class equals this nonzero object class",
+        "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
+      }
+    },
+    "points_spray": {
+      "available": true,
+      "schema_id": "object_keypoints/camera/v1",
+      "data_ref": "annotation/object/spray/keypoints/xyz.pt",
+      "axes": [
+        "T",
+        "keypoint",
+        "coordinate"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/object/spray/keypoints/xyz_valid.pt",
+      "valid_axes": [
+        "T",
+        "keypoint"
+      ],
+      "keypoint_schema": "H2O_official_object21",
+      "keypoint_names": [
+        "center",
+        "corner_0",
+        "corner_1",
+        "corner_2",
+        "corner_3",
+        "corner_4",
+        "corner_5",
+        "corner_6",
+        "corner_7",
+        "edge_midpoint_0",
+        "edge_midpoint_1",
+        "edge_midpoint_2",
+        "edge_midpoint_3",
+        "edge_midpoint_4",
+        "edge_midpoint_5",
+        "edge_midpoint_6",
+        "edge_midpoint_7",
+        "edge_midpoint_8",
+        "edge_midpoint_9",
+        "edge_midpoint_10",
+        "edge_midpoint_11"
+      ],
+      "source_order": "official obj_point_order.jpg: center, 8 corners, 12 edge midpoints",
+      "unit": "m",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source obj_pose class equals this nonzero object class, broadcast to its 21 points",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "scope": [
+          "T",
+          "keypoint"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
+    "mesh_spray": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/spray/assets/lotion_spray.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/object.zip",
+        "member": "object/spray/lotion_spray.obj"
+      },
+      "valid": true,
+      "unit": "m"
+    },
+    "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": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources.depth",
+        "definition": "https://github.com/taeinkwon/h2oplayer/blob/main/utils.py",
+        "conversion": "registered millimetre camera-Z to metres; no viewer range clipping"
+      },
+      "storage": {
+        "profile": "mkv/depth_float32_bits/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray16le",
+        "encoded_size": [
+          2560,
+          720
+        ],
+        "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": [
+            "-level",
+            "3",
+            "-slices",
+            "16"
+          ],
+          "threads": 10
+        },
+        "source_lossy": false,
+        "storage_fps": 30,
+        "timebase_role": "index_only"
+      },
+      "valid_storage": {
+        "profile": "mkv/bool_ffv1/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray",
+        "encoded_size": [
+          1280,
+          720
+        ],
+        "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": [
+            "-level",
+            "3",
+            "-slices",
+            "16"
+          ],
+          "threads": 10
+        },
+        "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"
+    },
+    "segment": {
+      "available": false,
+      "reason": "H2O provides no native segmentation; rendering deferred to v2.0",
+      "status": "source_missing"
+    },
+    "relations": {
+      "available": false,
+      "reason": "No source contact/grasp annotation",
+      "status": "source_missing"
+    }
+  },
+  "split": "train",
+  "view_type": "exo",
+  "split_scheme": "official_action_split",
+  "split_source_locator": {
+    "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/label_split.zip",
+    "member": "label_split/action_train.txt",
+    "record": 521
+  }
+}
diff --git a/H2O/shared-v1.0/data/subject3_h2_5/cam0/observation/depth.mkv b/H2O/shared-v1.0/data/subject3_h2_5/cam0/observation/depth.mkv
new file mode 100644
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--- /dev/null
+++ b/H2O/shared-v1.0/data/subject3_h2_5/cam0/observation/depth.mkv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/H2O/shared-v1.0/data/subject3_h2_5/cam0/observation/depth_valid.mkv b/H2O/shared-v1.0/data/subject3_h2_5/cam0/observation/depth_valid.mkv
new file mode 100644
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--- /dev/null
+++ b/H2O/shared-v1.0/data/subject3_h2_5/cam0/observation/depth_valid.mkv
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+version https://git-lfs.github.com/spec/v1
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diff --git a/H2O/shared-v1.0/data/subject3_h2_5/cam0/observation/rgb.mkv b/H2O/shared-v1.0/data/subject3_h2_5/cam0/observation/rgb.mkv
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+version https://git-lfs.github.com/spec/v1
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diff --git a/H2O/shared-v1.0/data/subject3_h2_5/cam0/observation/rgb_valid.pt b/H2O/shared-v1.0/data/subject3_h2_5/cam0/observation/rgb_valid.pt
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diff --git a/H2O/shared-v1.0/data/subject3_h2_5/cam1/annotation/keypoints/xyz.pt b/H2O/shared-v1.0/data/subject3_h2_5/cam1/annotation/keypoints/xyz.pt
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+version https://git-lfs.github.com/spec/v1
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diff --git a/H2O/shared-v1.0/data/subject3_h2_5/cam1/annotation/keypoints/xyz_valid.pt b/H2O/shared-v1.0/data/subject3_h2_5/cam1/annotation/keypoints/xyz_valid.pt
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+version https://git-lfs.github.com/spec/v1
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diff --git a/H2O/shared-v1.0/data/subject3_h2_5/cam1/annotation/mano/motion.pt b/H2O/shared-v1.0/data/subject3_h2_5/cam1/annotation/mano/motion.pt
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+version https://git-lfs.github.com/spec/v1
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+size 276770
diff --git a/H2O/shared-v1.0/data/subject3_h2_5/cam1/annotation/mano/motion_valid.pt b/H2O/shared-v1.0/data/subject3_h2_5/cam1/annotation/mano/motion_valid.pt
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+version https://git-lfs.github.com/spec/v1
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diff --git a/H2O/shared-v1.0/data/subject3_h2_5/cam1/annotation/object/spray/assets/lotion_spray.mtl b/H2O/shared-v1.0/data/subject3_h2_5/cam1/annotation/object/spray/assets/lotion_spray.mtl
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index 0000000000000000000000000000000000000000..dd2aac5422b8753516033abc11180f543d66b1f5
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+++ b/H2O/shared-v1.0/data/subject3_h2_5/cam1/annotation/object/spray/assets/lotion_spray.mtl
@@ -0,0 +1,13 @@
+# Blender MTL File: 'lotion_spray.blend'
+# Material Count: 1
+
+newmtl Material.001
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 1
+map_Kd lotion_spray.png
diff --git a/H2O/shared-v1.0/data/subject3_h2_5/cam1/annotation/object/spray/assets/lotion_spray.obj b/H2O/shared-v1.0/data/subject3_h2_5/cam1/annotation/object/spray/assets/lotion_spray.obj
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index 0000000000000000000000000000000000000000..d4e1261adf9db46d959309b1850e0ab484c67aed
--- /dev/null
+++ b/H2O/shared-v1.0/data/subject3_h2_5/cam1/annotation/object/spray/assets/lotion_spray.obj
@@ -0,0 +1,15723 @@
+# Blender v2.82 (sub 7) OBJ File: 'lotion_spray.blend'
+# www.blender.org
+mtllib lotion_spray.mtl
+o lotion_spray_simple
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+        "corner_1",
+        "corner_2",
+        "corner_3",
+        "corner_4",
+        "corner_5",
+        "corner_6",
+        "corner_7",
+        "edge_midpoint_0",
+        "edge_midpoint_1",
+        "edge_midpoint_2",
+        "edge_midpoint_3",
+        "edge_midpoint_4",
+        "edge_midpoint_5",
+        "edge_midpoint_6",
+        "edge_midpoint_7",
+        "edge_midpoint_8",
+        "edge_midpoint_9",
+        "edge_midpoint_10",
+        "edge_midpoint_11"
+      ],
+      "source_order": "official obj_point_order.jpg: center, 8 corners, 12 edge midpoints",
+      "unit": "m",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source obj_pose class equals this nonzero object class, broadcast to its 21 points",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "scope": [
+          "T",
+          "keypoint"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
+    "mesh_spray": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/spray/assets/lotion_spray.obj",
+      "axes": [
+        "vertex"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/object.zip",
+        "member": "object/spray/lotion_spray.obj"
+      },
+      "valid": true,
+      "unit": "m"
+    },
+    "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": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources.depth",
+        "definition": "https://github.com/taeinkwon/h2oplayer/blob/main/utils.py",
+        "conversion": "registered millimetre camera-Z to metres; no viewer range clipping"
+      },
+      "storage": {
+        "profile": "mkv/depth_float32_bits/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray16le",
+        "encoded_size": [
+          2560,
+          720
+        ],
+        "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": [
+            "-level",
+            "3",
+            "-slices",
+            "16"
+          ],
+          "threads": 10
+        },
+        "source_lossy": false,
+        "storage_fps": 30,
+        "timebase_role": "index_only"
+      },
+      "valid_storage": {
+        "profile": "mkv/bool_ffv1/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray",
+        "encoded_size": [
+          1280,
+          720
+        ],
+        "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": [
+            "-level",
+            "3",
+            "-slices",
+            "16"
+          ],
+          "threads": 10
+        },
+        "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"
+    },
+    "segment": {
+      "available": false,
+      "reason": "H2O provides no native segmentation; rendering deferred to v2.0",
+      "status": "source_missing"
+    },
+    "relations": {
+      "available": false,
+      "reason": "No source contact/grasp annotation",
+      "status": "source_missing"
+    }
+  },
+  "split": "train",
+  "view_type": "exo",
+  "split_scheme": "official_action_split",
+  "split_source_locator": {
+    "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/label_split.zip",
+    "member": "label_split/action_train.txt",
+    "record": 521
+  }
+}
diff --git a/H2O/shared-v1.0/data/subject3_h2_5/cam1/observation/depth.mkv b/H2O/shared-v1.0/data/subject3_h2_5/cam1/observation/depth.mkv
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diff --git a/H2O/shared-v1.0/data/subject3_h2_5/cam1/observation/depth_valid.mkv b/H2O/shared-v1.0/data/subject3_h2_5/cam1/observation/depth_valid.mkv
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+version https://git-lfs.github.com/spec/v1
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diff --git a/H2O/shared-v1.0/data/subject3_h2_5/cam2/annotation/keypoints/xyz_valid.pt b/H2O/shared-v1.0/data/subject3_h2_5/cam2/annotation/keypoints/xyz_valid.pt
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diff --git a/H2O/shared-v1.0/data/subject3_h2_5/cam2/annotation/object/spray/assets/lotion_spray.mtl b/H2O/shared-v1.0/data/subject3_h2_5/cam2/annotation/object/spray/assets/lotion_spray.mtl
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+++ b/H2O/shared-v1.0/data/subject3_h2_5/cam2/annotation/object/spray/assets/lotion_spray.mtl
@@ -0,0 +1,13 @@
+# Blender MTL File: 'lotion_spray.blend'
+# Material Count: 1
+
+newmtl Material.001
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 1
+map_Kd lotion_spray.png
diff --git a/H2O/shared-v1.0/data/subject3_h2_5/cam2/annotation/object/spray/assets/lotion_spray.obj b/H2O/shared-v1.0/data/subject3_h2_5/cam2/annotation/object/spray/assets/lotion_spray.obj
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index 0000000000000000000000000000000000000000..d4e1261adf9db46d959309b1850e0ab484c67aed
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+++ b/H2O/shared-v1.0/data/subject3_h2_5/cam2/annotation/object/spray/assets/lotion_spray.obj
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+# Blender v2.82 (sub 7) OBJ File: 'lotion_spray.blend'
+# www.blender.org
+mtllib lotion_spray.mtl
+o lotion_spray_simple
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