| { | |
| "schema_version": "hand-warehouse/1.1", | |
| "validity_revision": "usable-annotation-2026-09-20", | |
| "annotation_validity": { | |
| "meaning": "annotation usable for supervision, not merely record presence", | |
| "formula": "source_annotation_present AND numerical_checks_pass AND applicable_official_QA_pass AND NOT explicitly_reviewed_local_exclusion", | |
| "without_official_qa": "omit QA term; declare source rules; do not fabricate QA", | |
| "policy_field": "components.<name>.valid_policy", | |
| "visibility_is_independent": true, | |
| "invalid_float_value": "NaN", | |
| "hot3d": "broadcast per-camera frame manual QA conservatively to hand/object labels and pose-derived visibility; retain RGB and source calibration; keep native QA in raw and review report", | |
| "hot3d_visibility": "native visibility_ratio[%] already ranges from 0 to 1; do not divide by 100" | |
| }, | |
| "hand_slots": [ | |
| "left", | |
| "right" | |
| ], | |
| "view_metadata": { | |
| "required_fields": [ | |
| "schema_version", | |
| "dataset_id", | |
| "release_id", | |
| "sequence_id", | |
| "camera_id", | |
| "sample_type", | |
| "num_frames", | |
| "hand_slots", | |
| "sampling", | |
| "camera", | |
| "components", | |
| "split", | |
| "view_type" | |
| ], | |
| "view_type_values": [ | |
| "ego", | |
| "exo", | |
| "unknown" | |
| ], | |
| "view_type_policy": "required per camera view; use ego or exo whenever the source data or capture setup establishes the viewpoint; use unknown only when no trustworthy source determines it; never omit or guess", | |
| "schema_version": "hand-warehouse/1.1", | |
| "release_id": "shared-v1.1" | |
| }, | |
| "keypoints": { | |
| "mano21/v1": { | |
| "count": 21, | |
| "names": [ | |
| "wrist", | |
| "thumb_1", | |
| "thumb_2", | |
| "thumb_3", | |
| "thumb_4", | |
| "index_1", | |
| "index_2", | |
| "index_3", | |
| "index_4", | |
| "middle_1", | |
| "middle_2", | |
| "middle_3", | |
| "middle_4", | |
| "ring_1", | |
| "ring_2", | |
| "ring_3", | |
| "ring_4", | |
| "little_1", | |
| "little_2", | |
| "little_3", | |
| "little_4" | |
| ], | |
| "source_index_map": null, | |
| "note": "adapter maps official MANO joint and fingertip convention" | |
| }, | |
| "rhd21/v1": { | |
| "count": 21, | |
| "names": [ | |
| "wrist", | |
| "thumb_1", | |
| "thumb_2", | |
| "thumb_3", | |
| "thumb_4", | |
| "index_1", | |
| "index_2", | |
| "index_3", | |
| "index_4", | |
| "middle_1", | |
| "middle_2", | |
| "middle_3", | |
| "middle_4", | |
| "ring_1", | |
| "ring_2", | |
| "ring_3", | |
| "ring_4", | |
| "little_1", | |
| "little_2", | |
| "little_3", | |
| "little_4" | |
| ], | |
| "source_index_map_per_hand": [ | |
| 0, | |
| 4, | |
| 3, | |
| 2, | |
| 1, | |
| 8, | |
| 7, | |
| 6, | |
| 5, | |
| 12, | |
| 11, | |
| 10, | |
| 9, | |
| 16, | |
| 15, | |
| 14, | |
| 13, | |
| 20, | |
| 19, | |
| 18, | |
| 17 | |
| ] | |
| } | |
| }, | |
| "camera": { | |
| "opencv_fisheye4": { | |
| "K": [ | |
| 3, | |
| 3 | |
| ], | |
| "distortion": [ | |
| "k1", | |
| "k2", | |
| "k3", | |
| "k4" | |
| ], | |
| "projection": "theta=atan(r); theta_d=theta*(1+k1*theta^2+k2*theta^4+k3*theta^6+k4*theta^8); source ReInterHand" | |
| }, | |
| "pinhole": { | |
| "K": [ | |
| 3, | |
| 3 | |
| ] | |
| }, | |
| "fisheye624": { | |
| "parameters": [ | |
| "f", | |
| "cx", | |
| "cy", | |
| "k0", | |
| "k1", | |
| "k2", | |
| "k3", | |
| "k4", | |
| "k5", | |
| "p0", | |
| "p1", | |
| "s0", | |
| "s1", | |
| "s2", | |
| "s3" | |
| ] | |
| }, | |
| "rational8": { | |
| "K": [ | |
| 3, | |
| 3 | |
| ], | |
| "distortion": [ | |
| "k1", | |
| "k2", | |
| "p1", | |
| "p2", | |
| "k3", | |
| "k4", | |
| "k5", | |
| "k6" | |
| ] | |
| } | |
| }, | |
| "segmentation": { | |
| "segment/uint16_labels/v1": { | |
| "storage": "mask.mkv", | |
| "dtype": "uint16", | |
| "mapping": "instances.jsonl", | |
| "valid_shape": [ | |
| "T" | |
| ], | |
| "required_metadata": [ | |
| "segmentation_type", | |
| "coverage", | |
| "mapping_ref", | |
| "storage" | |
| ], | |
| "shape": [ | |
| "T", | |
| "H", | |
| "W" | |
| ], | |
| "reserved_codes": { | |
| "0": "unassigned", | |
| "65535": "ignore" | |
| }, | |
| "region_codes": [ | |
| 1, | |
| 65534 | |
| ], | |
| "allowed_storage_profiles": [ | |
| "mkv/uint16_ffv1/v1" | |
| ] | |
| }, | |
| "segment/instance_polygons/v1": { | |
| "storage": "polygons.jsonl", | |
| "mapping": "instances.jsonl", | |
| "frame_keys": [ | |
| "frame_index", | |
| "instances" | |
| ], | |
| "instance_keys": [ | |
| "mask_value", | |
| "polygons" | |
| ], | |
| "coordinate_unit": "pixel", | |
| "overlap_allowed": true, | |
| "valid_shape": [ | |
| "T" | |
| ], | |
| "required_metadata": [ | |
| "segmentation_type", | |
| "coverage", | |
| "mapping_ref" | |
| ], | |
| "polygon_shape": [ | |
| "N", | |
| 2 | |
| ], | |
| "holes_supported": false | |
| }, | |
| "segment/foreground_intensity/v1": { | |
| "storage": "mask.mkv", | |
| "dtype": "uint16", | |
| "value_range": [ | |
| 0, | |
| 255 | |
| ], | |
| "normalization_scale": 0.00392156862745098, | |
| "axes": [ | |
| "T", | |
| "height", | |
| "width" | |
| ], | |
| "meaning": "native hand foreground intensity; individual hand or union declared in metadata; not instance codes or calibrated probability", | |
| "zero": "background", | |
| "full_scale": "foreground", | |
| "mapping": "foreground_category in component metadata", | |
| "valid_shape": [ | |
| "T" | |
| ], | |
| "required_metadata": [ | |
| "segmentation_type", | |
| "coverage", | |
| "value_range", | |
| "normalization_scale", | |
| "foreground_category", | |
| "entity_id", | |
| "storage" | |
| ], | |
| "shape": [ | |
| "T", | |
| "H", | |
| "W" | |
| ], | |
| "allowed_storage_profiles": [ | |
| "mkv/uint16_ffv1/v1" | |
| ] | |
| } | |
| }, | |
| "note": "Registry for hand-warehouse/1.1. Read CONTRACT.md and MIGRATION.md. This is a declarative registry, not a JSON Schema document or executable validator. Runtime readers/converters/validators still require adaptation.", | |
| "components": { | |
| "mano/axis_angle61/v1": { | |
| "storage": "pt", | |
| "dtype": "float32", | |
| "shape": [ | |
| "T", | |
| 2, | |
| 61 | |
| ], | |
| "valid_shape": [ | |
| "T", | |
| 2 | |
| ], | |
| "unit": "m", | |
| "angle_unit": "rad", | |
| "coordinate_frame": "camera", | |
| "layout": { | |
| "pose_axis_angle": [ | |
| 0, | |
| 48 | |
| ], | |
| "shape": [ | |
| 48, | |
| 58 | |
| ], | |
| "translation": [ | |
| 58, | |
| 61 | |
| ] | |
| }, | |
| "allowed_storage_profiles": [ | |
| "pt/tensor_bundle/v1" | |
| ], | |
| "allowed_valid_storage_profiles": [ | |
| "pt/tensor_bundle/v1" | |
| ], | |
| "valid_storage": "pt", | |
| "tensor_container": "dict", | |
| "valid_dtype": "bool", | |
| "required_metadata": [ | |
| "data_ref", | |
| "data_key", | |
| "valid_ref", | |
| "valid_key", | |
| "storage", | |
| "valid_storage" | |
| ] | |
| }, | |
| "keypoints/uv/v1": { | |
| "storage": "pt", | |
| "dtype": "float32", | |
| "shape": [ | |
| "T", | |
| 2, | |
| 21, | |
| 2 | |
| ], | |
| "valid_shape": [ | |
| "T", | |
| 2, | |
| 21 | |
| ], | |
| "unit": "pixel", | |
| "required_metadata": [ | |
| "keypoint_schema", | |
| "data_ref", | |
| "data_key", | |
| "valid_ref", | |
| "valid_key", | |
| "storage", | |
| "valid_storage" | |
| ], | |
| "allowed_storage_profiles": [ | |
| "pt/tensor_bundle/v1" | |
| ], | |
| "allowed_valid_storage_profiles": [ | |
| "pt/tensor_bundle/v1" | |
| ], | |
| "valid_storage": "pt", | |
| "tensor_container": "dict", | |
| "valid_dtype": "bool" | |
| }, | |
| "keypoints/xyz/v1": { | |
| "storage": "pt", | |
| "dtype": "float32", | |
| "shape": [ | |
| "T", | |
| 2, | |
| 21, | |
| 3 | |
| ], | |
| "valid_shape": [ | |
| "T", | |
| 2, | |
| 21 | |
| ], | |
| "unit": "m", | |
| "required_metadata": [ | |
| "keypoint_schema", | |
| "data_ref", | |
| "data_key", | |
| "valid_ref", | |
| "valid_key", | |
| "storage", | |
| "valid_storage" | |
| ], | |
| "allowed_storage_profiles": [ | |
| "pt/tensor_bundle/v1" | |
| ], | |
| "allowed_valid_storage_profiles": [ | |
| "pt/tensor_bundle/v1" | |
| ], | |
| "valid_storage": "pt", | |
| "tensor_container": "dict", | |
| "valid_dtype": "bool" | |
| }, | |
| "depth/z_float32/v1": { | |
| "storage": "mkv", | |
| "dtype": "float32", | |
| "shape": [ | |
| "T", | |
| "H", | |
| "W" | |
| ], | |
| "valid_shape": [ | |
| "T", | |
| "H", | |
| "W" | |
| ], | |
| "unit": "m", | |
| "depth_type": "z", | |
| "pixel_grid": "current_rgb", | |
| "coordinate_frame": "current_rgb_camera", | |
| "valid_storage": "mkv", | |
| "allowed_storage_profiles": [ | |
| "mkv/depth_float32_bits/v1" | |
| ], | |
| "allowed_valid_storage_profiles": [ | |
| "mkv/bool_ffv1/v1" | |
| ], | |
| "required_metadata": [ | |
| "storage", | |
| "valid_storage", | |
| "depth_origin" | |
| ], | |
| "depth_origin_values": [ | |
| "measured", | |
| "rendered", | |
| "unknown" | |
| ] | |
| }, | |
| "transform/se3/v1": { | |
| "storage": "pt", | |
| "dtype": "float32", | |
| "shape": [ | |
| "T", | |
| 4, | |
| 4 | |
| ], | |
| "valid_shape": [ | |
| "T" | |
| ], | |
| "unit": "m", | |
| "required_metadata": [ | |
| "convention", | |
| "data_ref", | |
| "data_key", | |
| "valid_ref", | |
| "valid_key", | |
| "storage", | |
| "valid_storage" | |
| ], | |
| "allowed_storage_profiles": [ | |
| "pt/tensor_bundle/v1" | |
| ], | |
| "allowed_valid_storage_profiles": [ | |
| "pt/tensor_bundle/v1" | |
| ], | |
| "valid_storage": "pt", | |
| "tensor_container": "dict", | |
| "valid_dtype": "bool" | |
| }, | |
| "object/rigid/v1": { | |
| "storage": "pt", | |
| "dtype": "float32", | |
| "shape": [ | |
| "T", | |
| 4, | |
| 4 | |
| ], | |
| "valid_shape": [ | |
| "T" | |
| ], | |
| "unit": "m", | |
| "required_metadata": [ | |
| "convention", | |
| "data_ref", | |
| "data_key", | |
| "valid_ref", | |
| "valid_key", | |
| "storage", | |
| "valid_storage" | |
| ], | |
| "allowed_storage_profiles": [ | |
| "pt/tensor_bundle/v1" | |
| ], | |
| "allowed_valid_storage_profiles": [ | |
| "pt/tensor_bundle/v1" | |
| ], | |
| "valid_storage": "pt", | |
| "tensor_container": "dict", | |
| "valid_dtype": "bool" | |
| }, | |
| "camera/pinhole/v1": { | |
| "storage": "pt", | |
| "dtype": "float32", | |
| "shape": [ | |
| "T", | |
| 3, | |
| 3 | |
| ], | |
| "valid_shape": [ | |
| "T" | |
| ], | |
| "allowed_storage_profiles": [ | |
| "pt/tensor_bundle/v1" | |
| ], | |
| "allowed_valid_storage_profiles": [ | |
| "pt/tensor_bundle/v1" | |
| ], | |
| "valid_storage": "pt", | |
| "tensor_container": "dict", | |
| "valid_dtype": "bool", | |
| "required_metadata": [ | |
| "data_ref", | |
| "data_key", | |
| "valid_ref", | |
| "valid_key", | |
| "storage", | |
| "valid_storage" | |
| ] | |
| }, | |
| "camera/rational8/v1": { | |
| "storage": "pt", | |
| "dtype": "float32", | |
| "shape": [ | |
| "T", | |
| 3, | |
| 3 | |
| ], | |
| "valid_shape": [ | |
| "T" | |
| ], | |
| "allowed_storage_profiles": [ | |
| "pt/tensor_bundle/v1" | |
| ], | |
| "allowed_valid_storage_profiles": [ | |
| "pt/tensor_bundle/v1" | |
| ], | |
| "valid_storage": "pt", | |
| "tensor_container": "dict", | |
| "valid_dtype": "bool", | |
| "required_metadata": [ | |
| "data_ref", | |
| "data_key", | |
| "valid_ref", | |
| "valid_key", | |
| "storage", | |
| "valid_storage", | |
| "distortion_ref", | |
| "distortion_key", | |
| "distortion_valid_ref", | |
| "distortion_valid_key" | |
| ] | |
| }, | |
| "camera/opencv_fisheye4/v1": { | |
| "storage": "pt", | |
| "dtype": "float32", | |
| "shape": [ | |
| "T", | |
| 3, | |
| 3 | |
| ], | |
| "valid_shape": [ | |
| "T" | |
| ], | |
| "allowed_storage_profiles": [ | |
| "pt/tensor_bundle/v1" | |
| ], | |
| "allowed_valid_storage_profiles": [ | |
| "pt/tensor_bundle/v1" | |
| ], | |
| "valid_storage": "pt", | |
| "tensor_container": "dict", | |
| "valid_dtype": "bool", | |
| "required_metadata": [ | |
| "data_ref", | |
| "data_key", | |
| "valid_ref", | |
| "valid_key", | |
| "storage", | |
| "valid_storage", | |
| "distortion_ref", | |
| "distortion_key", | |
| "distortion_valid_ref", | |
| "distortion_valid_key" | |
| ] | |
| }, | |
| "camera/fisheye624/v1": { | |
| "storage": "pt", | |
| "dtype": "float32", | |
| "shape": [ | |
| "T", | |
| 15 | |
| ], | |
| "valid_shape": [ | |
| "T" | |
| ], | |
| "allowed_storage_profiles": [ | |
| "pt/tensor_bundle/v1" | |
| ], | |
| "allowed_valid_storage_profiles": [ | |
| "pt/tensor_bundle/v1" | |
| ], | |
| "valid_storage": "pt", | |
| "tensor_container": "dict", | |
| "valid_dtype": "bool", | |
| "required_metadata": [ | |
| "data_ref", | |
| "data_key", | |
| "valid_ref", | |
| "valid_key", | |
| "storage", | |
| "valid_storage" | |
| ] | |
| }, | |
| "camera/distortion8/v1": { | |
| "storage": "pt", | |
| "dtype": "float32", | |
| "shape": [ | |
| "T", | |
| 8 | |
| ], | |
| "valid_shape": [ | |
| "T" | |
| ], | |
| "allowed_storage_profiles": [ | |
| "pt/tensor_bundle/v1" | |
| ], | |
| "allowed_valid_storage_profiles": [ | |
| "pt/tensor_bundle/v1" | |
| ], | |
| "valid_storage": "pt", | |
| "tensor_container": "dict", | |
| "valid_dtype": "bool", | |
| "required_metadata": [ | |
| "data_ref", | |
| "data_key", | |
| "valid_ref", | |
| "valid_key", | |
| "storage", | |
| "valid_storage" | |
| ] | |
| }, | |
| "camera/fisheye4_distortion/v1": { | |
| "storage": "pt", | |
| "dtype": "float32", | |
| "shape": [ | |
| "T", | |
| 4 | |
| ], | |
| "valid_shape": [ | |
| "T" | |
| ], | |
| "allowed_storage_profiles": [ | |
| "pt/tensor_bundle/v1" | |
| ], | |
| "allowed_valid_storage_profiles": [ | |
| "pt/tensor_bundle/v1" | |
| ], | |
| "valid_storage": "pt", | |
| "tensor_container": "dict", | |
| "valid_dtype": "bool", | |
| "required_metadata": [ | |
| "data_ref", | |
| "data_key", | |
| "valid_ref", | |
| "valid_key", | |
| "storage", | |
| "valid_storage" | |
| ] | |
| }, | |
| "object/joint_state/v1": { | |
| "storage": "pt", | |
| "dtype": "float32", | |
| "shape": [ | |
| "T", | |
| "J" | |
| ], | |
| "valid_shape": [ | |
| "T", | |
| "J" | |
| ], | |
| "required_metadata": [ | |
| "joint_order", | |
| "data_ref", | |
| "data_key", | |
| "valid_ref", | |
| "valid_key", | |
| "storage", | |
| "valid_storage" | |
| ], | |
| "unit_rule": "revolute radians; prismatic metres; mixed types declared per joint", | |
| "allowed_storage_profiles": [ | |
| "pt/tensor_bundle/v1" | |
| ], | |
| "allowed_valid_storage_profiles": [ | |
| "pt/tensor_bundle/v1" | |
| ], | |
| "valid_storage": "pt", | |
| "tensor_container": "dict", | |
| "valid_dtype": "bool" | |
| }, | |
| "object_keypoints/camera/v1": { | |
| "storage": "pt", | |
| "dtype": "float32", | |
| "shape": [ | |
| "T", | |
| "K", | |
| 3 | |
| ], | |
| "valid_shape": [ | |
| "T", | |
| "K" | |
| ], | |
| "unit": "m", | |
| "coordinate_frame": "camera", | |
| "required_metadata": [ | |
| "keypoint_schema", | |
| "data_ref", | |
| "data_key", | |
| "valid_ref", | |
| "valid_key", | |
| "storage", | |
| "valid_storage" | |
| ], | |
| "allowed_storage_profiles": [ | |
| "pt/tensor_bundle/v1" | |
| ], | |
| "allowed_valid_storage_profiles": [ | |
| "pt/tensor_bundle/v1" | |
| ], | |
| "valid_storage": "pt", | |
| "tensor_container": "dict", | |
| "valid_dtype": "bool" | |
| }, | |
| "object/dimensions/v1": { | |
| "storage": "pt", | |
| "dtype": "float32", | |
| "shape": [ | |
| "T", | |
| 3 | |
| ], | |
| "valid_shape": [ | |
| "T" | |
| ], | |
| "unit": "m", | |
| "required_metadata": [ | |
| "dimensions_semantics", | |
| "data_ref", | |
| "data_key", | |
| "valid_ref", | |
| "valid_key", | |
| "storage", | |
| "valid_storage" | |
| ], | |
| "axis_order": [ | |
| "length", | |
| "width", | |
| "height" | |
| ], | |
| "scale_rule": "do not apply to mesh without source-supported size/scale relation", | |
| "allowed_storage_profiles": [ | |
| "pt/tensor_bundle/v1" | |
| ], | |
| "allowed_valid_storage_profiles": [ | |
| "pt/tensor_bundle/v1" | |
| ], | |
| "valid_storage": "pt", | |
| "tensor_container": "dict", | |
| "valid_dtype": "bool" | |
| }, | |
| "object_keypoints/template/v1": { | |
| "storage": "pt", | |
| "dtype": "float32", | |
| "shape": [ | |
| "K", | |
| 3 | |
| ], | |
| "valid_shape": [ | |
| "K" | |
| ], | |
| "unit": "m", | |
| "coordinate_frame": "object", | |
| "static": true, | |
| "required_metadata": [ | |
| "keypoint_schema", | |
| "data_ref", | |
| "data_key", | |
| "valid_ref", | |
| "valid_key", | |
| "storage", | |
| "valid_storage" | |
| ], | |
| "allowed_storage_profiles": [ | |
| "pt/tensor_bundle/v1" | |
| ], | |
| "allowed_valid_storage_profiles": [ | |
| "pt/tensor_bundle/v1" | |
| ], | |
| "valid_storage": "pt", | |
| "tensor_container": "dict", | |
| "valid_dtype": "bool" | |
| }, | |
| "mesh/obj/v1": { | |
| "storage": "obj", | |
| "unit": "m", | |
| "static": true, | |
| "valid_shape": [], | |
| "dependencies": "MTL and textures retained under owning object" | |
| }, | |
| "rgb/uint8/v1": { | |
| "storage": "mkv", | |
| "dtype": "uint8", | |
| "shape": [ | |
| "T", | |
| "H", | |
| "W", | |
| 3 | |
| ], | |
| "valid_shape": [ | |
| "T" | |
| ], | |
| "color_order": "RGB", | |
| "allowed_storage_profiles": [ | |
| "mkv/mjpeg_copy/v1", | |
| "mkv/source_copy/v1", | |
| "mkv/h264_rgb_lossless/v1", | |
| "mkv/ffv1_rgb/v1" | |
| ], | |
| "required_metadata": [ | |
| "storage" | |
| ] | |
| }, | |
| "contact/relations/v1": { | |
| "storage": "jsonl", | |
| "valid_shape": [ | |
| "T" | |
| ], | |
| "frame_keys": [ | |
| "frame_index", | |
| "relations" | |
| ], | |
| "absence_semantics": "no record is not a negative contact annotation" | |
| }, | |
| "contact/vertex_region/v1": { | |
| "storage": "pt", | |
| "dtype": "bool", | |
| "shape": [ | |
| "T", | |
| "V" | |
| ], | |
| "valid_shape": [ | |
| "T", | |
| "V" | |
| ], | |
| "required_metadata": [ | |
| "source_geometry_ref", | |
| "target_geometry_ref", | |
| "topology_id", | |
| "data_ref", | |
| "data_key", | |
| "valid_ref", | |
| "valid_key", | |
| "storage", | |
| "valid_storage" | |
| ], | |
| "pilot_status": "defined_not_empirically_validated", | |
| "allowed_storage_profiles": [ | |
| "pt/tensor_bundle/v1" | |
| ], | |
| "allowed_valid_storage_profiles": [ | |
| "pt/tensor_bundle/v1" | |
| ], | |
| "valid_storage": "pt", | |
| "tensor_container": "dict", | |
| "valid_dtype": "bool" | |
| }, | |
| "contact/vertex_distance/v1": { | |
| "storage": "pt", | |
| "dtype": "float32", | |
| "shape": [ | |
| "T", | |
| "V" | |
| ], | |
| "valid_shape": [ | |
| "T", | |
| "V" | |
| ], | |
| "unit": "m", | |
| "required_metadata": [ | |
| "source_geometry_ref", | |
| "target_geometry_ref", | |
| "topology_id", | |
| "distance_definition", | |
| "data_ref", | |
| "data_key", | |
| "valid_ref", | |
| "valid_key", | |
| "storage", | |
| "valid_storage" | |
| ], | |
| "pilot_status": "defined_not_empirically_validated", | |
| "allowed_storage_profiles": [ | |
| "pt/tensor_bundle/v1" | |
| ], | |
| "allowed_valid_storage_profiles": [ | |
| "pt/tensor_bundle/v1" | |
| ], | |
| "valid_storage": "pt", | |
| "tensor_container": "dict", | |
| "valid_dtype": "bool" | |
| }, | |
| "object/articulated/v1": { | |
| "storage": "json", | |
| "required_keys": [ | |
| "parts", | |
| "joints" | |
| ], | |
| "part_keys": [ | |
| "part_id", | |
| "parent_id", | |
| "has_model", | |
| "mesh_ref" | |
| ], | |
| "hierarchy_semantics": "declare mechanical articulation or semantic containment; containment alone does not imply joints", | |
| "acyclic": true | |
| }, | |
| "segment/uint16_labels/v1": { | |
| "storage": "mkv", | |
| "dtype": "uint16", | |
| "mapping": "instances.jsonl", | |
| "valid_shape": [ | |
| "T" | |
| ], | |
| "required_metadata": [ | |
| "segmentation_type", | |
| "coverage", | |
| "mapping_ref", | |
| "storage" | |
| ], | |
| "shape": [ | |
| "T", | |
| "H", | |
| "W" | |
| ], | |
| "reserved_codes": { | |
| "0": "unassigned", | |
| "65535": "ignore" | |
| }, | |
| "region_codes": [ | |
| 1, | |
| 65534 | |
| ], | |
| "allowed_storage_profiles": [ | |
| "mkv/uint16_ffv1/v1" | |
| ] | |
| }, | |
| "segment/instance_polygons/v1": { | |
| "storage": "jsonl", | |
| "mapping": "instances.jsonl", | |
| "frame_keys": [ | |
| "frame_index", | |
| "instances" | |
| ], | |
| "instance_keys": [ | |
| "mask_value", | |
| "polygons" | |
| ], | |
| "coordinate_unit": "pixel", | |
| "overlap_allowed": true, | |
| "valid_shape": [ | |
| "T" | |
| ], | |
| "required_metadata": [ | |
| "segmentation_type", | |
| "coverage", | |
| "mapping_ref" | |
| ], | |
| "polygon_shape": [ | |
| "N", | |
| 2 | |
| ], | |
| "holes_supported": false | |
| }, | |
| "segment/foreground_intensity/v1": { | |
| "storage": "mkv", | |
| "dtype": "uint16", | |
| "value_range": [ | |
| 0, | |
| 255 | |
| ], | |
| "normalization_scale": 0.00392156862745098, | |
| "axes": [ | |
| "T", | |
| "height", | |
| "width" | |
| ], | |
| "meaning": "native hand foreground intensity; individual hand or union declared in metadata; not instance codes or calibrated probability", | |
| "zero": "background", | |
| "full_scale": "foreground", | |
| "mapping": "foreground_category in component metadata", | |
| "valid_shape": [ | |
| "T" | |
| ], | |
| "required_metadata": [ | |
| "segmentation_type", | |
| "coverage", | |
| "value_range", | |
| "normalization_scale", | |
| "foreground_category", | |
| "entity_id", | |
| "storage" | |
| ], | |
| "shape": [ | |
| "T", | |
| "H", | |
| "W" | |
| ], | |
| "allowed_storage_profiles": [ | |
| "mkv/uint16_ffv1/v1" | |
| ] | |
| }, | |
| "object/vertex_part_ids/v1": { | |
| "storage": "pt", | |
| "tensor_container": "dict", | |
| "dtype": "int64", | |
| "shape": [ | |
| "V" | |
| ], | |
| "valid_shape": [ | |
| "V" | |
| ], | |
| "valid_dtype": "bool", | |
| "static": true, | |
| "unknown_value": -1, | |
| "valid_rule": "data != -1; every valid integer resolves in part_id_mapping", | |
| "required_metadata": [ | |
| "mesh_ref", | |
| "topology_id", | |
| "part_id_mapping", | |
| "data_ref", | |
| "data_key", | |
| "valid_ref", | |
| "valid_key", | |
| "storage", | |
| "valid_storage" | |
| ], | |
| "allowed_storage_profiles": [ | |
| "pt/tensor_bundle/v1" | |
| ], | |
| "allowed_valid_storage_profiles": [ | |
| "pt/tensor_bundle/v1" | |
| ], | |
| "valid_storage": "pt" | |
| } | |
| }, | |
| "storage_revision": "lossless-video-2026-09-18", | |
| "sampling": { | |
| "image": { | |
| "single": { | |
| "T": 1 | |
| }, | |
| "independent": { | |
| "T": ">=2", | |
| "required_frame_fields": [ | |
| "sample_id", | |
| "source_locator" | |
| ], | |
| "temporal_relationship": false | |
| }, | |
| "source_fps": null | |
| }, | |
| "video": { | |
| "sampling_types": [ | |
| "dense", | |
| "sparse" | |
| ] | |
| } | |
| }, | |
| "storage_profiles": { | |
| "mkv/mjpeg_copy/v1": { | |
| "container": "matroska", | |
| "codec": "mjpeg", | |
| "method": "stream_copy_from_source_jpeg", | |
| "logical_dtype": "uint8", | |
| "decoded_pixel_format": "rgb24", | |
| "validation": [ | |
| "source_jpeg_packet_sha256_exact", | |
| "all_packet_count_order_and_dimensions_exact", | |
| "deterministic_decoded_rgb_sample_exact", | |
| "pilot_and_final_selected_whole_sequences_decoded_rgb_exact" | |
| ], | |
| "validation_policy": { | |
| "id": "jpeg-packets-all-rgb-sample16/v1", | |
| "sample_count_per_view": 16, | |
| "short_views": "all_frames_if_T_less_than_16", | |
| "fixed_indices": "0,T-1,T//4,T//2,3*T//4, deduplicated", | |
| "remaining_indices": "sample without replacement to min(T,16) using Python random.Random(seed)", | |
| "seed": "first 8 bytes of SHA256(sequence_id/camera_id/20260920), big-endian integer", | |
| "report": "policy, exact selected frame indices, seed, separate packet and pixel coverage", | |
| "legacy_all_frame_pixel_proofs": "still accepted; preserve historical evidence" | |
| } | |
| }, | |
| "mkv/source_copy/v1": { | |
| "container": "matroska", | |
| "codec": "source_codec_declared_in_metadata", | |
| "method": "stream_copy_only", | |
| "logical_dtype": "uint8", | |
| "decoded_pixel_format": "rgb24", | |
| "validation": [ | |
| "no_reencoding", | |
| "all_decoded_rgb_frames_exact", | |
| "presentation_frame_order_exact" | |
| ] | |
| }, | |
| "mkv/h264_rgb_lossless/v1": { | |
| "container": "matroska", | |
| "codec": "h264", | |
| "encoder": "libx264rgb", | |
| "crf": 0, | |
| "decoded_pixel_format": "rgb24", | |
| "logical_dtype": "uint8", | |
| "gop": "declared_in_encoder_parameters", | |
| "validation": [ | |
| "all_decoded_rgb_frames_exact" | |
| ], | |
| "forbidden": [ | |
| "lossy_rate_control", | |
| "rgb_to_yuv420_subsampling" | |
| ] | |
| }, | |
| "mkv/ffv1_rgb/v1": { | |
| "container": "matroska", | |
| "codec": "ffv1", | |
| "decoded_pixel_format": "rgb24", | |
| "logical_dtype": "uint8", | |
| "validation": [ | |
| "all_decoded_rgb_frames_exact" | |
| ] | |
| }, | |
| "mkv/depth_float32_bits/v1": { | |
| "container": "matroska", | |
| "codec": "ffv1", | |
| "pixel_format": "gray16le", | |
| "logical_dtype": "float32", | |
| "logical_shape": [ | |
| "T", | |
| "H", | |
| "W" | |
| ], | |
| "encoded_shape": [ | |
| "T", | |
| "H", | |
| "2*W" | |
| ], | |
| "packing": "IEEE754 little-endian float32 bits; low uint16 in first W columns, high uint16 in last W columns", | |
| "decode": "reinterpret_float32(uint32(low) | (uint32(high) << 16))", | |
| "validation": [ | |
| "all_float32_bits_exact_including_nan" | |
| ] | |
| }, | |
| "mkv/bool_ffv1/v1": { | |
| "container": "matroska", | |
| "codec": "ffv1", | |
| "pixel_format": "gray", | |
| "logical_dtype": "bool", | |
| "stored_values": [ | |
| 0, | |
| 1 | |
| ], | |
| "validation": [ | |
| "all_bool_values_exact" | |
| ] | |
| }, | |
| "mkv/uint16_ffv1/v1": { | |
| "container": "matroska", | |
| "codec": "ffv1", | |
| "pixel_formats": [ | |
| "gray", | |
| "gray16le" | |
| ], | |
| "logical_dtype": "uint16", | |
| "gray_condition": "all values <=255; decode by exact uint8-to-uint16 promotion", | |
| "validation": [ | |
| "all_integer_values_exact" | |
| ] | |
| }, | |
| "pt/tensor_bundle/v1": { | |
| "container": "pytorch_pt", | |
| "root_type": "dict", | |
| "dictionary_key_type": "nonempty_string", | |
| "allowed_value_types": [ | |
| "dict", | |
| "CPU torch.Tensor" | |
| ], | |
| "tensor_entry": { | |
| "required_keys": [ | |
| "data", | |
| "valid" | |
| ], | |
| "additional_keys": false, | |
| "data_type": "CPU torch.Tensor", | |
| "valid_type": "CPU torch.Tensor", | |
| "valid_dtype": "bool" | |
| }, | |
| "metadata_location": "metainfo.json; do not duplicate strings, paths or custom objects inside bundles", | |
| "missing_entry": "omit entire entry; never fabricate absent modalities", | |
| "load": { | |
| "map_location": "cpu", | |
| "weights_only": true | |
| }, | |
| "valid_shape_rule": "Use the specific component or attribute valid_shape; do not infer broadcasting or share validity across independent fields.", | |
| "validation": [ | |
| "registered layout and key resolution", | |
| "CPU tensors only", | |
| "schema dtype and shape", | |
| "independent bool validity", | |
| "frame alignment unchanged", | |
| "invalid floating positions NaN", | |
| "pure migration exact data bytes and validity equality" | |
| ], | |
| "not_applicable_to": [ | |
| "media payloads", | |
| "media standalone validity tensors", | |
| "JSONL standalone validity tensors" | |
| ] | |
| } | |
| }, | |
| "video_metadata": { | |
| "required": [ | |
| "profile", | |
| "codec", | |
| "pixel_format", | |
| "encoded_size", | |
| "decoder", | |
| "encoder_parameters", | |
| "source_lossy" | |
| ], | |
| "source_lossy_values": [ | |
| true, | |
| false, | |
| "unknown" | |
| ], | |
| "timebase_role": "index_only", | |
| "lossless_reference": "source compressed packets or fixed-decoder source pixels; depth uses normalized standard float32 bits", | |
| "selection": "choose smaller complete candidate only after exact roundtrip validation" | |
| }, | |
| "tensor_storage_revision": "tensor-bundle-2026-10-09", | |
| "release_layout": { | |
| "directory": "shared-v1.1", | |
| "release_id": "shared-v1.1", | |
| "migration": "Upgrade each dataset in place under shared-v1.0 during maintenance, validate completely, then rename to shared-v1.1; do not retain duplicate published trees. See MIGRATION.md." | |
| }, | |
| "tensor_attributes": { | |
| "visibility": { | |
| "storage_profile": "pt/tensor_bundle/v1", | |
| "allowed_dtypes": [ | |
| "bool", | |
| "float32" | |
| ], | |
| "visibility_types": [ | |
| "boolean", | |
| "ratio" | |
| ], | |
| "ratio_range": [ | |
| 0, | |
| 1 | |
| ], | |
| "scopes": { | |
| "whole_hand": { | |
| "shape": [ | |
| "T", | |
| 2 | |
| ], | |
| "valid_shape": [ | |
| "T", | |
| 2 | |
| ] | |
| }, | |
| "hand_keypoint": { | |
| "shape": [ | |
| "T", | |
| 2, | |
| "K" | |
| ], | |
| "valid_shape": [ | |
| "T", | |
| 2, | |
| "K" | |
| ] | |
| }, | |
| "object": { | |
| "shape": [ | |
| "T" | |
| ], | |
| "valid_shape": [ | |
| "T" | |
| ] | |
| } | |
| }, | |
| "required_metadata": [ | |
| "data_ref", | |
| "data_key", | |
| "axes", | |
| "dtype", | |
| "visibility_type", | |
| "meaning", | |
| "valid_ref", | |
| "valid_key", | |
| "valid_axes", | |
| "storage", | |
| "valid_storage", | |
| "provenance", | |
| "source_locator" | |
| ], | |
| "valid_dtype": "bool", | |
| "unknown": "valid=false; ratio data NaN; boolean data is not interpretable without valid", | |
| "all_known": "explicit all-true bool tensor; do not infer from pose validity", | |
| "note": "No source visibility means omit. Expand explicitly declared all-known scalar validity during migration without changing semantics." | |
| } | |
| }, | |
| "tensor_bundles": { | |
| "camera": { | |
| "path": "camera/camera.pt", | |
| "entries": { | |
| "intrinsic": { | |
| "schema_ids": [ | |
| "camera/pinhole/v1", | |
| "camera/rational8/v1", | |
| "camera/opencv_fisheye4/v1", | |
| "camera/fisheye624/v1" | |
| ] | |
| }, | |
| "extrinsic": { | |
| "schema_ids": [ | |
| "transform/se3/v1" | |
| ] | |
| }, | |
| "distortion": { | |
| "schema_ids": [ | |
| "camera/distortion8/v1", | |
| "camera/fisheye4_distortion/v1" | |
| ] | |
| } | |
| } | |
| }, | |
| "mano": { | |
| "path": "annotation/mano/mano.pt", | |
| "entries": { | |
| "motion": { | |
| "schema_ids": [ | |
| "mano/axis_angle61/v1" | |
| ] | |
| }, | |
| "visibility": { | |
| "attribute_id": "visibility", | |
| "scope": "whole_hand" | |
| } | |
| } | |
| }, | |
| "keypoints": { | |
| "path": "annotation/keypoints/keypoints.pt", | |
| "entries": { | |
| "uv": { | |
| "schema_ids": [ | |
| "keypoints/uv/v1" | |
| ] | |
| }, | |
| "xyz": { | |
| "schema_ids": [ | |
| "keypoints/xyz/v1" | |
| ] | |
| }, | |
| "visibility": { | |
| "attribute_id": "visibility", | |
| "scope": "hand_keypoint" | |
| }, | |
| "whole_hand_visibility": { | |
| "attribute_id": "visibility", | |
| "scope": "whole_hand" | |
| } | |
| } | |
| }, | |
| "object": { | |
| "path": "annotation/object/<object_id>/object.pt", | |
| "entries": { | |
| "pose": { | |
| "schema_ids": [ | |
| "object/rigid/v1" | |
| ] | |
| }, | |
| "visibility": { | |
| "attribute_id": "visibility", | |
| "scope": "object" | |
| }, | |
| "dimensions": { | |
| "schema_ids": [ | |
| "object/dimensions/v1" | |
| ] | |
| }, | |
| "joint_state": { | |
| "schema_ids": [ | |
| "object/joint_state/v1" | |
| ] | |
| }, | |
| "keypoints/xyz": { | |
| "schema_ids": [ | |
| "object_keypoints/camera/v1" | |
| ] | |
| }, | |
| "keypoints/template_xyz": { | |
| "schema_ids": [ | |
| "object_keypoints/template/v1" | |
| ] | |
| }, | |
| "parts/<part_id>/pose": { | |
| "schema_ids": [ | |
| "transform/se3/v1" | |
| ], | |
| "convention": "T_camera_from_part" | |
| }, | |
| "parts/<part_id>/dimensions": { | |
| "schema_ids": [ | |
| "object/dimensions/v1" | |
| ] | |
| }, | |
| "parts/<part_id>/keypoints/xyz": { | |
| "schema_ids": [ | |
| "object_keypoints/camera/v1" | |
| ] | |
| }, | |
| "parts/<part_id>/keypoints/template_xyz": { | |
| "schema_ids": [ | |
| "object_keypoints/template/v1" | |
| ], | |
| "coordinate_frame": "part" | |
| }, | |
| "meshes/<mesh_id>/vertex_part_ids": { | |
| "schema_ids": [ | |
| "object/vertex_part_ids/v1" | |
| ] | |
| } | |
| } | |
| }, | |
| "contact_pair": { | |
| "path": "annotation/contact/<subject_id>__<object_id>/contact.pt", | |
| "entries": { | |
| "vertex_region": { | |
| "schema_ids": [ | |
| "contact/vertex_region/v1" | |
| ] | |
| }, | |
| "vertex_distance": { | |
| "schema_ids": [ | |
| "contact/vertex_distance/v1" | |
| ] | |
| } | |
| } | |
| } | |
| }, | |
| "bundle_layout_rules": { | |
| "entry_path_syntax": "Slash-separated dictionary keys in this registry only; serialize references as string arrays. Angle-bracket placeholders resolve to registered IDs, not literal keys.", | |
| "entry_leaves": [ | |
| "data", | |
| "valid" | |
| ], | |
| "additional_entries": false, | |
| "all_entries_optional": true, | |
| "omit_empty_bundles": true, | |
| "identifiers": "object/part/mesh and contact entity IDs must resolve in metadata; reject empty, dot, dot-dot or slash-containing IDs", | |
| "per_view": true, | |
| "no_cross_object_or_camera_merge": true, | |
| "numeric_field_valid_ref_equals_data_ref": true, | |
| "attributes_must_be_registered": true | |
| }, | |
| "reference_rules": { | |
| "file_paths": { | |
| "base": "current camera view root", | |
| "format": "relative POSIX", | |
| "reject": [ | |
| "absolute paths", | |
| "parent traversal", | |
| "external URLs", | |
| "unresolved placeholders" | |
| ] | |
| }, | |
| "dictionary_keys": { | |
| "type": "array", | |
| "item_type": "nonempty_string", | |
| "min_items": 1, | |
| "traversal": "literal nested dictionary lookup; never eval; no automatic flattening", | |
| "data_terminal": "data", | |
| "valid_terminal": "valid", | |
| "target_type": "CPU torch.Tensor" | |
| }, | |
| "bundle_component": { | |
| "required": [ | |
| "data_ref", | |
| "data_key", | |
| "valid_ref", | |
| "valid_key", | |
| "storage", | |
| "valid_storage" | |
| ], | |
| "same_file": true, | |
| "same_entry_prefix": true, | |
| "storage_profile": "pt/tensor_bundle/v1", | |
| "valid_storage_profile": "pt/tensor_bundle/v1" | |
| }, | |
| "media_jsonl": { | |
| "forbidden": [ | |
| "data_key", | |
| "valid_key" | |
| ], | |
| "preserve_original_valid_ref": true, | |
| "standalone_valid_pt_root": "CPU bool torch.Tensor; not dict", | |
| "do_not_label_standalone_valid_as_bundle": true | |
| }, | |
| "camera_distortion": { | |
| "models": { | |
| "rational8": "camera/distortion8/v1", | |
| "opencv_fisheye4": "camera/fisheye4_distortion/v1" | |
| }, | |
| "required": [ | |
| "distortion_ref", | |
| "distortion_key", | |
| "distortion_valid_ref", | |
| "distortion_valid_key" | |
| ], | |
| "distortion_ref": "camera/camera.pt", | |
| "distortion_key": [ | |
| "distortion", | |
| "data" | |
| ], | |
| "distortion_valid_ref": "camera/camera.pt", | |
| "distortion_valid_key": [ | |
| "distortion", | |
| "valid" | |
| ], | |
| "valid_equals_intrinsic_valid": true, | |
| "models_without_separate_distortion": [ | |
| "pinhole", | |
| "fisheye624" | |
| ] | |
| }, | |
| "reader_cache": "Cache bundle by resolved file path; loading different fields must not repeatedly deserialize the file." | |
| }, | |
| "standalone_validity": { | |
| "rgb": { | |
| "data_ref": "observation/rgb.mkv", | |
| "valid_ref": "observation/rgb_valid.pt", | |
| "dtype": "bool", | |
| "shape": [ | |
| "T" | |
| ], | |
| "container": "pt", | |
| "root_type": "CPU Tensor" | |
| }, | |
| "segment": { | |
| "data_refs": [ | |
| "annotation/segment/mask.mkv", | |
| "annotation/segment/polygons.jsonl" | |
| ], | |
| "valid_ref": "preserve source release reference; normally annotation/segment/mask_valid.pt", | |
| "dtype": "bool", | |
| "shape": [ | |
| "T" | |
| ], | |
| "container": "pt", | |
| "root_type": "CPU Tensor" | |
| }, | |
| "relations": { | |
| "data_ref": "annotation/contact/relations.jsonl", | |
| "valid_ref": "annotation/contact/relations_valid.pt", | |
| "dtype": "bool", | |
| "shape": [ | |
| "T" | |
| ], | |
| "container": "pt", | |
| "root_type": "CPU Tensor" | |
| }, | |
| "depth": { | |
| "data_ref": "observation/depth.mkv", | |
| "valid_ref": "observation/depth_valid.mkv", | |
| "dtype": "bool", | |
| "shape": [ | |
| "T", | |
| "H", | |
| "W" | |
| ], | |
| "profile": "mkv/bool_ffv1/v1" | |
| } | |
| } | |
| } | |