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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N42_S260_s01_T2/ego/annotation/object/main/articulation.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N42_S260_s01_T2/ego/annotation/object/main/articulation.json
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+{
+  "parts": [
+    {
+      "part_id": "region_1",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_region_code": 1,
+      "name": "Door"
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+    {
+      "part_id": "region_3",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_region_code": 3,
+      "name": "Body of the Cabinet"
+    },
+    {
+      "part_id": "region_4",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_region_code": 4,
+      "name": "Drawer"
+    },
+    {
+      "part_id": "pose_Lockerbody",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_label": "Lockerbody"
+    },
+    {
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+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_label": "Lockerdrawer"
+    },
+    {
+      "part_id": "pose_Lockersldingdoor",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_label": "Lockersldingdoor"
+    },
+    {
+      "part_id": "asset_objs_new_3_align_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/assets/objs/new-3-align.obj",
+      "source_asset": "objs/new-3-align.obj",
+      "note": "Source asset; correspondence to motion part labels remains unverified"
+    },
+    {
+      "part_id": "asset_objs_new_2_align_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/assets/objs/new-2-align.obj",
+      "source_asset": "objs/new-2-align.obj",
+      "note": "Source asset; correspondence to motion part labels remains unverified"
+    },
+    {
+      "part_id": "asset_objs_new_2_____obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/assets/objs/new-2（复件）.obj",
+      "source_asset": "objs/new-2（复件）.obj",
+      "note": "Source asset; correspondence to motion part labels remains unverified"
+    },
+    {
+      "part_id": "asset_objs_new_0_align_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/assets/objs/new-0-align.obj",
+      "source_asset": "objs/new-0-align.obj",
+      "note": "Source asset; correspondence to motion part labels remains unverified"
+    },
+    {
+      "part_id": "asset_objs_new_2_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/assets/objs/new-2.obj",
+      "source_asset": "objs/new-2.obj",
+      "note": "Source asset; correspondence to motion part labels remains unverified"
+    },
+    {
+      "part_id": "asset_objs_new_3_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/assets/objs/new-3.obj",
+      "source_asset": "objs/new-3.obj",
+      "note": "Source asset; correspondence to motion part labels remains unverified"
+    },
+    {
+      "part_id": "asset_objs_new_0_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/assets/objs/new-0.obj",
+      "source_asset": "objs/new-0.obj",
+      "note": "Source asset; correspondence to motion part labels remains unverified"
+    }
+  ],
+  "joints": [],
+  "hierarchy_semantics": "semantic_containment",
+  "note": "Unassociated source region, motion and asset nodes; original CAD trees retained in assets"
+}
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N42_S260_s01_T2/ego/annotation/object/main/assets/meta.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N42_S260_s01_T2/ego/annotation/object/main/assets/meta.json
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@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N42_S260_s01_T2/ego/annotation/object/main/assets/mobility_v2.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N42_S260_s01_T2/ego/annotation/object/main/assets/mobility_v2.json
new file mode 100644
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--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N42_S260_s01_T2/ego/annotation/object/main/assets/mobility_v2.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N42_S260_s01_T2/ego/annotation/object/main/assets/objs/new-0-align.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N42_S260_s01_T2/ego/annotation/object/main/assets/objs/new-0-align.obj
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N42_S260_s01_T2/ego/annotation/object/main/assets/objs/new-0.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N42_S260_s01_T2/ego/annotation/object/main/assets/objs/new-0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5546a34d9f38146ea520c6a1dc2b771c6796ac24
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N42_S260_s01_T2/ego/annotation/object/main/assets/objs/new-0.obj
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N42_S260_s01_T2/ego/annotation/object/main/assets/objs/new-2-align.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N42_S260_s01_T2/ego/annotation/object/main/assets/objs/new-2-align.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e201fc00be610061ef7baf9a2f79b1321dbf2ed9
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N42_S260_s01_T2/ego/annotation/object/main/assets/objs/new-2-align.obj
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N42_S260_s01_T2/ego/annotation/object/main/assets/objs/new-2.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N42_S260_s01_T2/ego/annotation/object/main/assets/objs/new-2.obj
new file mode 100644
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diff --git "a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N42_S260_s01_T2/ego/annotation/object/main/assets/objs/new-2\357\274\210\345\244\215\344\273\266\357\274\211.obj" "b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N42_S260_s01_T2/ego/annotation/object/main/assets/objs/new-2\357\274\210\345\244\215\344\273\266\357\274\211.obj"
new file mode 100644
index 0000000000000000000000000000000000000000..1998a305cf4a4a1ceb2f18d4875085d5bb1d6f4a
--- /dev/null
+++ "b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N42_S260_s01_T2/ego/annotation/object/main/assets/objs/new-2\357\274\210\345\244\215\344\273\266\357\274\211.obj"
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N42_S260_s01_T2/ego/annotation/object/main/assets/objs/new-3-align.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N42_S260_s01_T2/ego/annotation/object/main/assets/objs/new-3-align.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9aeb1ceb0267991358355b3f97d0821f9ac8810
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N42_S260_s01_T2/ego/annotation/object/main/assets/objs/new-3-align.obj
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N42_S260_s01_T2/ego/annotation/object/main/assets/objs/new-3.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N42_S260_s01_T2/ego/annotation/object/main/assets/objs/new-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23552d445004d52aa689888a1ea02b7016430760
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N42_S260_s01_T2/ego/annotation/object/main/assets/objs/new-3.obj
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N42_S260_s01_T2/ego/annotation/object/main/assets/result.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N42_S260_s01_T2/ego/annotation/object/main/assets/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..256c7ee578c4776102800713daf60e632778e6a2
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N42_S260_s01_T2/ego/annotation/object/main/assets/result.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N42_S260_s01_T2/ego/annotation/object/main/metainfo.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N42_S260_s01_T2/ego/annotation/object/main/metainfo.json
new file mode 100644
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+  "category_id": 4,
+  "source_object_id": null,
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+    "annotation/object/main/assets/objs/new-2（复件）.obj",
+    "annotation/object/main/assets/objs/new-0-align.obj",
+    "annotation/object/main/assets/objs/new-2.obj",
+    "annotation/object/main/assets/objs/new-3.obj",
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+}
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N42_S260_s01_T2/ego/annotation/object/main/object.pt b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N42_S260_s01_T2/ego/annotation/object/main/object.pt
new file mode 100644
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N42_S260_s01_T2/ego/annotation/segment/instances.jsonl b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N42_S260_s01_T2/ego/annotation/segment/instances.jsonl
new file mode 100644
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N42_S260_s01_T2/ego/metainfo.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N42_S260_s01_T2/ego/metainfo.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2471d68649b63d67e57371a9618c2563d49e67c
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N42_S260_s01_T2/ego/metainfo.json
@@ -0,0 +1,863 @@
+{
+  "schema_version": "hand-warehouse/1.1",
+  "dataset_id": "HOI4D",
+  "release_id": "shared-v1.1",
+  "sequence_id": "ZY20210800004_H4_C4_N42_S260_s01_T2",
+  "camera_id": "ego",
+  "sample_type": "video",
+  "num_frames": 300,
+  "hand_slots": [
+    "left",
+    "right"
+  ],
+  "sampling": {
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+    "source_fps": null,
+    "frames_ref": "camera/frames.jsonl",
+    "selection": {
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+      "source_sequence": "ZY20210800004/H4/C4/N42/S260/s01/T2"
+    }
+  },
+  "camera": {
+    "model": "pinhole",
+    "schema_id": "camera/pinhole/v1",
+    "image_size": [
+      1920,
+      1080
+    ]
+  },
+  "components": {
+    "rgb": {
+      "available": true,
+      "schema_id": "rgb/uint8/v1",
+      "data_ref": "observation/rgb.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width",
+        "channel"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Verified source packet copy or lossless fixed-decoder RGB encoding"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_release.zip",
+        "member": "HOI4D_release/ZY20210800004/H4/C4/N42/S260/s01/T2/align_rgb/image.mp4"
+      },
+      "storage": {
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+        "codec": "h264",
+        "pixel_format": "yuv420p",
+        "encoded_size": [
+          1920,
+          1080
+        ],
+        "decoder": {
+          "name": "ffmpeg",
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "autorotate": false,
+          "color_space": "unknown",
+          "color_range": "unknown",
+          "color_primaries": "unknown",
+          "color_transfer": "unknown"
+        },
+        "encoder_parameters": {
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "stream_copy": true,
+          "keyframe_indices": [
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+            69,
+            191
+          ]
+        },
+        "source_lossy": "unknown",
+        "storage_fps": "15/1",
+        "timebase_role": "index_only",
+        "preserve_source_pts": true
+      },
+      "valid_ref": "observation/rgb_valid.pt",
+      "valid_axes": [
+        "T"
+      ]
+    },
+    "intrinsic": {
+      "available": true,
+      "schema_id": "camera/pinhole/v1",
+      "data_ref": "camera/camera.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/camera_params.zip",
+        "member": "camera_params/ZY20210800004/intrin.npy"
+      },
+      "valid_ref": "camera/camera.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "data_key": [
+        "intrinsic",
+        "data"
+      ],
+      "valid_key": [
+        "intrinsic",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "extrinsic": {
+      "available": true,
+      "schema_id": "transform/se3/v1",
+      "data_ref": "camera/camera.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_annotations.zip",
+        "member": "HOI4D_annotations/ZY20210800004/H4/C4/N42/S260/s01/T2/3Dseg/output.log"
+      },
+      "valid_ref": "camera/camera.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "convention": "T_camera_from_world",
+      "source_convention": "Open3D LOG camera-to-world; inverted",
+      "data_key": [
+        "extrinsic",
+        "data"
+      ],
+      "valid_key": [
+        "extrinsic",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "segment": {
+      "available": true,
+      "schema_id": "segment/uint16_labels/v1",
+      "data_ref": "annotation/segment/mask.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "storage": {
+        "profile": "mkv/uint16_ffv1/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray16le",
+        "encoded_size": [
+          1920,
+          1080
+        ],
+        "decoder": {
+          "name": "ffmpeg",
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "autorotate": false,
+          "color_space": "unknown",
+          "color_range": "unknown",
+          "color_primaries": "unknown",
+          "color_transfer": "unknown"
+        },
+        "encoder_parameters": {
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "name": "ffv1",
+          "arguments": [],
+          "threads": 2
+        },
+        "source_lossy": false,
+        "storage_fps": 30,
+        "timebase_role": "index_only"
+      },
+      "valid_ref": "annotation/segment/mask_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "segmentation_type": "part",
+      "mapping_ref": "annotation/segment/instances.jsonl",
+      "coverage": {
+        "kind": "unknown"
+      },
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source mask or shift_mask present with verified palette codes and entity/part mapping",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "scope": [
+          "T"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
+    "pose_main_pose_Lockerbody": {
+      "available": true,
+      "schema_id": "transform/se3/v1",
+      "data_ref": "annotation/object/main/object.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/object/main/object.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "convention": "T_camera_from_part",
+      "unit": "m",
+      "source_label": "Lockerbody",
+      "source_euler_order": "XYZ",
+      "definition": "https://github.com/hoi4d/ObjTracking/blob/main/process_data.py",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Matched source object record contains rotation and center; record identity retained",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "scope": [
+          "T"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      },
+      "data_key": [
+        "parts",
+        "pose_Lockerbody",
+        "pose",
+        "data"
+      ],
+      "valid_key": [
+        "parts",
+        "pose_Lockerbody",
+        "pose",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "dimensions_main_pose_Lockerbody": {
+      "available": true,
+      "schema_id": "object/dimensions/v1",
+      "data_ref": "annotation/object/main/object.pt",
+      "axes": [
+        "T",
+        "dimension"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/object/main/object.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "dimensions_semantics": "source_unspecified",
+      "unit": "m",
+      "scale_applied_to_mesh": false,
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Matched source object record contains dimensions; size/mesh relation remains source_unspecified",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "scope": [
+          "T"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      },
+      "data_key": [
+        "parts",
+        "pose_Lockerbody",
+        "dimensions",
+        "data"
+      ],
+      "valid_key": [
+        "parts",
+        "pose_Lockerbody",
+        "dimensions",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
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+}
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N43_S217_s04_T3/ego/annotation/object/main/articulation.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N43_S217_s04_T3/ego/annotation/object/main/articulation.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7d7ec6acc3af5a18700872d8a2482bbdd109ebe
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N43_S217_s04_T3/ego/annotation/object/main/articulation.json
@@ -0,0 +1,100 @@
+{
+  "parts": [
+    {
+      "part_id": "region_1",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_region_code": 1,
+      "name": "Door"
+    },
+    {
+      "part_id": "region_3",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_region_code": 3,
+      "name": "Body of the Cabinet"
+    },
+    {
+      "part_id": "region_4",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_region_code": 4,
+      "name": "Drawer"
+    },
+    {
+      "part_id": "pose_Lockerbody",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_label": "Lockerbody"
+    },
+    {
+      "part_id": "pose_Lockerdrawer",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_label": "Lockerdrawer"
+    },
+    {
+      "part_id": "pose_Lockersldingdoor",
+      "parent_id": null,
+      "has_model": false,
+      "mesh_ref": null,
+      "source_label": "Lockersldingdoor"
+    },
+    {
+      "part_id": "asset_objs_new_4_align_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/assets/objs/new-4-align.obj",
+      "source_asset": "objs/new-4-align.obj",
+      "note": "Source asset; correspondence to motion part labels remains unverified"
+    },
+    {
+      "part_id": "asset_objs_new_2_align_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/assets/objs/new-2-align.obj",
+      "source_asset": "objs/new-2-align.obj",
+      "note": "Source asset; correspondence to motion part labels remains unverified"
+    },
+    {
+      "part_id": "asset_objs_new_4_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/assets/objs/new-4.obj",
+      "source_asset": "objs/new-4.obj",
+      "note": "Source asset; correspondence to motion part labels remains unverified"
+    },
+    {
+      "part_id": "asset_objs_new_0_align_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/assets/objs/new-0-align.obj",
+      "source_asset": "objs/new-0-align.obj",
+      "note": "Source asset; correspondence to motion part labels remains unverified"
+    },
+    {
+      "part_id": "asset_objs_new_2_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/assets/objs/new-2.obj",
+      "source_asset": "objs/new-2.obj",
+      "note": "Source asset; correspondence to motion part labels remains unverified"
+    },
+    {
+      "part_id": "asset_objs_new_0_obj",
+      "parent_id": null,
+      "has_model": true,
+      "mesh_ref": "annotation/object/main/assets/objs/new-0.obj",
+      "source_asset": "objs/new-0.obj",
+      "note": "Source asset; correspondence to motion part labels remains unverified"
+    }
+  ],
+  "joints": [],
+  "hierarchy_semantics": "semantic_containment",
+  "note": "Unassociated source region, motion and asset nodes; original CAD trees retained in assets"
+}
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N43_S217_s04_T3/ego/annotation/object/main/assets/meta.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N43_S217_s04_T3/ego/annotation/object/main/assets/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d12580c66e51e33d2bcbe70f5aa976e7e4b27f78
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N43_S217_s04_T3/ego/annotation/object/main/assets/meta.json
@@ -0,0 +1 @@
+{"user_id": "leoly", "model_cat": "StorageFurniture", "model_id": "storageFurniture043", "version": "1", "anno_id": "538", "time_in_sec": "192"}
\ No newline at end of file
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N43_S217_s04_T3/ego/annotation/object/main/assets/mobility_v2.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N43_S217_s04_T3/ego/annotation/object/main/assets/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..4996619b3240b949dac082541a3a286e1655f50a
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N43_S217_s04_T3/ego/annotation/object/main/assets/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":-1,"joint":"沉重","name":"vertical_side_panel","parts":[{"id":8,"name":"vertical_side_panel","children":[]}],"jointData":{}},{"id":1,"parent":0,"joint":"铰链（旋转）","name":"cabinet_door_surface","parts":[{"id":7,"name":"cabinet_door_surface","children":[]}],"jointData":{"axis":{"origin":[0.10524123403616262,-0.1459531865438482,0],"direction":[0,0,1]},"limit":{"a":102.24,"b":-24.120000000000005,"noLimit":false}}},{"id":2,"parent":0,"joint":"滑动","name":"drawer_front","parts":[{"id":6,"name":"drawer_front","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[1,0,0]},"limit":{"a":0.01,"b":-0.17199999999999993,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}}]
\ No newline at end of file
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N43_S217_s04_T3/ego/annotation/object/main/assets/objs/new-0-align.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N43_S217_s04_T3/ego/annotation/object/main/assets/objs/new-0-align.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b185d1fbfbaf173839e4eb63f64e15b83a67cdf
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N43_S217_s04_T3/ego/annotation/object/main/assets/objs/new-0-align.obj
@@ -0,0 +1,13010 @@
+# Created by Open3D 
+# object name: new-0-align
+# number of vertices: 3278
+# number of triangles: 6450
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N43_S217_s04_T3/ego/annotation/object/main/assets/objs/new-0.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N43_S217_s04_T3/ego/annotation/object/main/assets/objs/new-0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d7031fb1d28b00b7e1682d3d83a4050ed459b94
--- /dev/null
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N43_S217_s04_T3/ego/annotation/object/main/assets/objs/new-2-align.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N43_S217_s04_T3/ego/annotation/object/main/assets/objs/new-2-align.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32cdcdcd585e836284ac8861a593c0004d5e72f8
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N43_S217_s04_T3/ego/annotation/object/main/assets/objs/new-2-align.obj
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N43_S217_s04_T3/ego/annotation/object/main/assets/objs/new-2.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N43_S217_s04_T3/ego/annotation/object/main/assets/objs/new-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48d6134f335d14539a412172462c304563def455
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N43_S217_s04_T3/ego/annotation/object/main/assets/objs/new-2.obj
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N43_S217_s04_T3/ego/annotation/object/main/assets/objs/new-4-align.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N43_S217_s04_T3/ego/annotation/object/main/assets/objs/new-4-align.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03b62fb3954c6df71a6db455a77dc442fe3eb0c5
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N43_S217_s04_T3/ego/annotation/object/main/assets/objs/new-4-align.obj
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N43_S217_s04_T3/ego/annotation/object/main/assets/objs/new-4.obj b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N43_S217_s04_T3/ego/annotation/object/main/assets/objs/new-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3764d59dc5b115ecb2e2979ff60eb72f073d165c
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N43_S217_s04_T3/ego/annotation/object/main/assets/result.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N43_S217_s04_T3/ego/annotation/object/main/assets/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b38fd3f1d4383fab1eba680a6fad9ae76c76a35
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N43_S217_s04_T3/ego/annotation/object/main/assets/result.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "storage_furniture", "text": "Storage Furniture", "children": [{"id": 1, "name": "cabinet", "text": "Cabinet", "children": [{"id": 2, "name": "cabinet_frame", "text": "Cabinet frame", "children": [{"id": 8, "name": "vertical_side_panel", "text": "Vertical side panel", "objs": ["new-4"]}]}, {"id": 3, "name": "cabinet_door", "text": "Cabinet door", "children": [{"id": 7, "name": "cabinet_door_surface", "text": "Cabinet door surface", "objs": ["new-0"]}]}, {"id": 4, "name": "drawer", "text": "Drawer", "children": [{"id": 5, "name": "drawer_box", "text": "Drawer box", "children": [{"id": 6, "name": "drawer_front", "text": "Drawer front", "objs": ["new-2"]}]}]}]}]}]
\ No newline at end of file
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N43_S217_s04_T3/ego/annotation/object/main/metainfo.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N43_S217_s04_T3/ego/annotation/object/main/metainfo.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc693aac4d7f3dfd1f5a4d8c8ab3cacf0f0193e9
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N43_S217_s04_T3/ego/annotation/object/main/metainfo.json
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+{
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+  "identity_scope": "sequence",
+  "scope_id": "ZY20210800004_H4_C4_N43_S217_s04_T3",
+  "source_locator": {
+    "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_annotations.zip",
+    "member": "HOI4D_annotations/ZY20210800004/H4/C4/N43/S217/s04/T3/2Dseg/shift_mask/00000.png",
+    "sha256": "054d9675897cbbcd81133c452549e8da50ae9445cfc3f852e284e4c206b03c72"
+  },
+  "has_model": true,
+  "category_id": 4,
+  "source_object_id": null,
+  "asset_refs": [
+    "annotation/object/main/assets/objs/new-4-align.obj",
+    "annotation/object/main/assets/objs/new-2-align.obj",
+    "annotation/object/main/assets/objs/new-4.obj",
+    "annotation/object/main/assets/objs/new-0-align.obj",
+    "annotation/object/main/assets/objs/new-2.obj",
+    "annotation/object/main/assets/objs/new-0.obj"
+  ],
+  "articulation_ref": "annotation/object/main/articulation.json"
+}
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N43_S217_s04_T3/ego/annotation/object/main/object.pt b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N43_S217_s04_T3/ego/annotation/object/main/object.pt
new file mode 100644
index 0000000000000000000000000000000000000000..0e7a46e774e1dea9a57032486123b670b6abe487
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N43_S217_s04_T3/ego/annotation/object/main/object.pt
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+size 74467
diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N43_S217_s04_T3/ego/annotation/segment/instances.jsonl b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N43_S217_s04_T3/ego/annotation/segment/instances.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ff0cddc176a2ccd7a9d6085666771545a37301f9
--- /dev/null
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diff --git a/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N43_S217_s04_T3/ego/metainfo.json b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N43_S217_s04_T3/ego/metainfo.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0e5874049badfa47da6ccd7b2bca324f550f8bc
--- /dev/null
+++ b/HOI4D/shared-v1.1/data/ZY20210800004_H4_C4_N43_S217_s04_T3/ego/metainfo.json
@@ -0,0 +1,842 @@
+{
+  "schema_version": "hand-warehouse/1.1",
+  "dataset_id": "HOI4D",
+  "release_id": "shared-v1.1",
+  "sequence_id": "ZY20210800004_H4_C4_N43_S217_s04_T3",
+  "camera_id": "ego",
+  "sample_type": "video",
+  "num_frames": 300,
+  "hand_slots": [
+    "left",
+    "right"
+  ],
+  "sampling": {
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+    "source_fps": null,
+    "frames_ref": "camera/frames.jsonl",
+    "selection": {
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+      "source_sequence": "ZY20210800004/H4/C4/N43/S217/s04/T3"
+    }
+  },
+  "camera": {
+    "model": "pinhole",
+    "schema_id": "camera/pinhole/v1",
+    "image_size": [
+      1920,
+      1080
+    ]
+  },
+  "components": {
+    "rgb": {
+      "available": true,
+      "schema_id": "rgb/uint8/v1",
+      "data_ref": "observation/rgb.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width",
+        "channel"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Verified source packet copy or lossless fixed-decoder RGB encoding"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_release.zip",
+        "member": "HOI4D_release/ZY20210800004/H4/C4/N43/S217/s04/T3/align_rgb/image.mp4"
+      },
+      "storage": {
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+        "codec": "h264",
+        "pixel_format": "yuv420p",
+        "encoded_size": [
+          1920,
+          1080
+        ],
+        "decoder": {
+          "name": "ffmpeg",
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "autorotate": false,
+          "color_space": "unknown",
+          "color_range": "unknown",
+          "color_primaries": "unknown",
+          "color_transfer": "unknown"
+        },
+        "encoder_parameters": {
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "stream_copy": true,
+          "keyframe_indices": [
+            0,
+            231
+          ]
+        },
+        "source_lossy": "unknown",
+        "storage_fps": "15/1",
+        "timebase_role": "index_only",
+        "preserve_source_pts": true
+      },
+      "valid_ref": "observation/rgb_valid.pt",
+      "valid_axes": [
+        "T"
+      ]
+    },
+    "intrinsic": {
+      "available": true,
+      "schema_id": "camera/pinhole/v1",
+      "data_ref": "camera/camera.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/camera_params.zip",
+        "member": "camera_params/ZY20210800004/intrin.npy"
+      },
+      "valid_ref": "camera/camera.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "data_key": [
+        "intrinsic",
+        "data"
+      ],
+      "valid_key": [
+        "intrinsic",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "extrinsic": {
+      "available": true,
+      "schema_id": "transform/se3/v1",
+      "data_ref": "camera/camera.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "file": "/data0/xuzhefeng/Datasets/HOI4D/raw/data/HOI4D_annotations.zip",
+        "member": "HOI4D_annotations/ZY20210800004/H4/C4/N43/S217/s04/T3/3Dseg/output.log"
+      },
+      "valid_ref": "camera/camera.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "convention": "T_camera_from_world",
+      "source_convention": "Open3D LOG camera-to-world; inverted",
+      "data_key": [
+        "extrinsic",
+        "data"
+      ],
+      "valid_key": [
+        "extrinsic",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "segment": {
+      "available": true,
+      "schema_id": "segment/uint16_labels/v1",
+      "data_ref": "annotation/segment/mask.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "storage": {
+        "profile": "mkv/uint16_ffv1/v1",
+        "codec": "ffv1",
+        "pixel_format": "gray16le",
+        "encoded_size": [
+          1920,
+          1080
+        ],
+        "decoder": {
+          "name": "ffmpeg",
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "autorotate": false,
+          "color_space": "unknown",
+          "color_range": "unknown",
+          "color_primaries": "unknown",
+          "color_transfer": "unknown"
+        },
+        "encoder_parameters": {
+          "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+          "name": "ffv1",
+          "arguments": [],
+          "threads": 2
+        },
+        "source_lossy": false,
+        "storage_fps": 30,
+        "timebase_role": "index_only"
+      },
+      "valid_ref": "annotation/segment/mask_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "segmentation_type": "part",
+      "mapping_ref": "annotation/segment/instances.jsonl",
+      "coverage": {
+        "kind": "unknown"
+      },
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Source mask or shift_mask present with verified palette codes and entity/part mapping",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "scope": [
+          "T"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      }
+    },
+    "pose_main_pose_Lockerbody": {
+      "available": true,
+      "schema_id": "transform/se3/v1",
+      "data_ref": "annotation/object/main/object.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/object/main/object.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "convention": "T_camera_from_part",
+      "unit": "m",
+      "source_label": "Lockerbody",
+      "source_euler_order": "XYZ",
+      "definition": "https://github.com/hoi4d/ObjTracking/blob/main/process_data.py",
+      "valid_policy": {
+        "revision": "usable-annotation-2026-09-20",
+        "meaning": "annotation usable for supervision, not merely record presence",
+        "source_rule": "Matched source object record contains rotation and center; record identity retained",
+        "source_locator": {
+          "frames_ref": "camera/frames.jsonl",
+          "source_field": "component_sources"
+        },
+        "scope": [
+          "T"
+        ],
+        "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+        "official_qa": {
+          "status": "not_provided",
+          "reason": "No separate applicable official QA in selected source inputs"
+        },
+        "local_excluded_frame_indices": [],
+        "local_exclusion_reasons": {},
+        "visibility_independent": true
+      },
+      "data_key": [
+        "parts",
+        "pose_Lockerbody",
+        "pose",
+        "data"
+      ],
+      "valid_key": [
+        "parts",
+        "pose_Lockerbody",
+        "pose",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "dimensions_main_pose_Lockerbody": {
+      "available": true,
+      "schema_id": "object/dimensions/v1",
+      "data_ref": "annotation/object/main/object.pt",
+      "axes": [
+        "T",
+        "dimension"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Copy source annotation; normalize storage only"
+      },
+      "source_locator": {
+        "frames_ref": "camera/frames.jsonl",
+        "source_field": "component_sources"
+      },
+      "valid_ref": "annotation/object/main/object.pt",
+      "valid_axes": [
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+          "color_range": "unknown",
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+          "color_space": "unknown",
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+          "color_transfer": "unknown"
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+        "timebase_role": "index_only"
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+        "width"
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+}